Open3D (C++ API)  0.16.1
PointCloud.h
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26 
27 #pragma once
28 
29 #include <unordered_map>
30 
31 #include "open3d/core/Tensor.h"
32 
33 namespace open3d {
34 namespace t {
35 namespace geometry {
36 namespace kernel {
37 namespace pointcloud {
38 
39 void Unproject(const core::Tensor& depth,
40  utility::optional<std::reference_wrapper<const core::Tensor>>
41  image_colors,
42  core::Tensor& points,
43  utility::optional<std::reference_wrapper<core::Tensor>> colors,
44  const core::Tensor& intrinsics,
45  const core::Tensor& extrinsics,
46  float depth_scale,
47  float depth_max,
48  int64_t stride);
49 
50 void Project(
51  core::Tensor& depth,
52  utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
53  const core::Tensor& points,
54  utility::optional<std::reference_wrapper<const core::Tensor>> colors,
55  const core::Tensor& intrinsics,
56  const core::Tensor& extrinsics,
57  float depth_scale,
58  float depth_max);
59 
60 void GetPointMaskWithinAABB(const core::Tensor& points,
61  const core::Tensor& min_bound,
62  const core::Tensor& max_bound,
63  core::Tensor& mask);
64 
66  const core::Tensor& center,
67  const core::Tensor& rotation,
68  const core::Tensor& extent,
69  core::Tensor& mask);
70 
71 void UnprojectCPU(
72  const core::Tensor& depth,
73  utility::optional<std::reference_wrapper<const core::Tensor>>
74  image_colors,
76  utility::optional<std::reference_wrapper<core::Tensor>> colors,
77  const core::Tensor& intrinsics,
78  const core::Tensor& extrinsics,
79  float depth_scale,
80  float depth_max,
81  int64_t stride);
82 
83 void ProjectCPU(
84  core::Tensor& depth,
85  utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
86  const core::Tensor& points,
87  utility::optional<std::reference_wrapper<const core::Tensor>> colors,
88  const core::Tensor& intrinsics,
89  const core::Tensor& extrinsics,
90  float depth_scale,
91  float depth_max);
92 
94  const core::Tensor& min_bound,
95  const core::Tensor& max_bound,
96  core::Tensor& mask);
97 
99  const core::Tensor& center,
100  const core::Tensor& rotation,
101  const core::Tensor& extent,
102  core::Tensor& mask);
103 
104 void NormalizeNormalsCPU(core::Tensor& normals);
105 
107  const core::Tensor& direction);
108 
110  core::Tensor& normals,
111  const core::Tensor& camera);
112 
114  const core::Tensor& normals,
115  const core::Tensor& indices,
116  const core::Tensor& counts,
117  core::Tensor& mask,
118  double angle_threshold);
119 
120 #ifdef BUILD_CUDA_MODULE
121 void UnprojectCUDA(
122  const core::Tensor& depth,
123  utility::optional<std::reference_wrapper<const core::Tensor>>
124  image_colors,
126  utility::optional<std::reference_wrapper<core::Tensor>> colors,
127  const core::Tensor& intrinsics,
128  const core::Tensor& extrinsics,
129  float depth_scale,
130  float depth_max,
131  int64_t stride);
132 
133 void ProjectCUDA(
134  core::Tensor& depth,
135  utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
136  const core::Tensor& points,
137  utility::optional<std::reference_wrapper<const core::Tensor>> colors,
138  const core::Tensor& intrinsics,
139  const core::Tensor& extrinsics,
140  float depth_scale,
141  float depth_max);
142 
143 void GetPointMaskWithinAABBCUDA(const core::Tensor& points,
144  const core::Tensor& min_bound,
145  const core::Tensor& max_bound,
146  core::Tensor& mask);
147 
148 void GetPointMaskWithinOBBCUDA(const core::Tensor& points,
149  const core::Tensor& center,
150  const core::Tensor& rotation,
151  const core::Tensor& extent,
152  core::Tensor& mask);
153 
154 void NormalizeNormalsCUDA(core::Tensor& normals);
155 
156 void OrientNormalsToAlignWithDirectionCUDA(core::Tensor& normals,
157  const core::Tensor& direction);
158 
159 void OrientNormalsTowardsCameraLocationCUDA(const core::Tensor& points,
160  core::Tensor& normals,
161  const core::Tensor& camera);
162 
163 void ComputeBoundaryPointsCUDA(const core::Tensor& points,
164  const core::Tensor& normals,
165  const core::Tensor& indices,
166  const core::Tensor& counts,
167  core::Tensor& mask,
168  double angle_threshold);
169 #endif
170 
172  core::Tensor& covariances,
173  const double& radius,
174  const int64_t& max_nn);
175 
177  core::Tensor& covariances,
178  const int64_t& max_nn);
179 
181  core::Tensor& covariances,
182  const double& radius);
183 
184 void EstimateNormalsFromCovariancesCPU(const core::Tensor& covariances,
185  core::Tensor& normals,
186  const bool has_normals);
187 
189  const core::Tensor& normals,
190  const core::Tensor& colors,
191  core::Tensor& color_gradient,
192  const double& radius,
193  const int64_t& max_nn);
194 
196  const core::Tensor& normals,
197  const core::Tensor& colors,
198  core::Tensor& color_gradient,
199  const int64_t& max_nn);
200 
202  const core::Tensor& normals,
203  const core::Tensor& colors,
204  core::Tensor& color_gradient,
205  const double& radius);
206 
207 #ifdef BUILD_CUDA_MODULE
208 void EstimateCovariancesUsingHybridSearchCUDA(const core::Tensor& points,
209  core::Tensor& covariances,
210  const double& radius,
211  const int64_t& max_nn);
212 
213 void EstimateCovariancesUsingKNNSearchCUDA(const core::Tensor& points,
214  core::Tensor& covariances,
215  const int64_t& max_nn);
216 
217 void EstimateCovariancesUsingRadiusSearchCUDA(const core::Tensor& points,
218  core::Tensor& covariances,
219  const double& radius);
220 
221 void EstimateNormalsFromCovariancesCUDA(const core::Tensor& covariances,
222  core::Tensor& normals,
223  const bool has_normals);
224 
225 void EstimateColorGradientsUsingHybridSearchCUDA(const core::Tensor& points,
226  const core::Tensor& normals,
227  const core::Tensor& colors,
228  core::Tensor& color_gradient,
229  const double& radius,
230  const int64_t& max_nn);
231 
232 void EstimateColorGradientsUsingKNNSearchCUDA(const core::Tensor& points,
233  const core::Tensor& normals,
234  const core::Tensor& colors,
235  core::Tensor& color_gradient,
236  const int64_t& max_nn);
237 
238 void EstimateColorGradientsUsingRadiusSearchCUDA(const core::Tensor& points,
239  const core::Tensor& normals,
240  const core::Tensor& colors,
241  core::Tensor& color_gradient,
242  const double& radius);
243 #endif
244 
245 } // namespace pointcloud
246 } // namespace kernel
247 } // namespace geometry
248 } // namespace t
249 } // namespace open3d
size_t stride
Definition: TriangleMeshBuffers.cpp:184
Definition: Tensor.h:51
Definition: Optional.h:278
bool has_normals
Definition: FilePCD.cpp:80
int points
Definition: FilePCD.cpp:73
void EstimateCovariancesUsingHybridSearchCPU(const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)
Definition: PointCloudImpl.h:537
void GetPointMaskWithinAABB(const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
Definition: PointCloud.cpp:119
void EstimateCovariancesUsingRadiusSearchCPU(const core::Tensor &points, core::Tensor &covariances, const double &radius)
Definition: PointCloudImpl.h:587
void UnprojectCPU(const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor >> image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
Definition: PointCloudImpl.h:63
void EstimateNormalsFromCovariancesCPU(const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)
Definition: PointCloudImpl.h:954
void OrientNormalsTowardsCameraLocationCPU(const core::Tensor &points, core::Tensor &normals, const core::Tensor &camera)
Definition: PointCloudImpl.h:260
void ProjectCPU(core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor >> image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
Definition: PointCloudCPU.cpp:37
void GetPointMaskWithinAABBCPU(const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
Definition: PointCloudImpl.h:161
void ComputeBoundaryPointsCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &counts, core::Tensor &mask, double angle_threshold)
Definition: PointCloudImpl.h:395
void EstimateColorGradientsUsingKNNSearchCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const int64_t &max_nn)
Definition: PointCloudImpl.h:1160
void Unproject(const core::Tensor &depth, utility::optional< std::reference_wrapper< const core::Tensor >> image_colors, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max, int64_t stride)
Definition: PointCloud.cpp:42
void NormalizeNormalsCPU(core::Tensor &normals)
Definition: PointCloudImpl.h:195
void Project(core::Tensor &depth, utility::optional< std::reference_wrapper< core::Tensor >> image_colors, const core::Tensor &points, utility::optional< std::reference_wrapper< const core::Tensor >> colors, const core::Tensor &intrinsics, const core::Tensor &extrinsics, float depth_scale, float depth_max)
Definition: PointCloud.cpp:81
void GetPointMaskWithinOBB(const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
void EstimateColorGradientsUsingRadiusSearchCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius)
Definition: PointCloudImpl.h:1215
void GetPointMaskWithinOBBCPU(const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
void EstimateColorGradientsUsingHybridSearchCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius, const int64_t &max_nn)
Definition: PointCloudImpl.h:1108
void OrientNormalsToAlignWithDirectionCPU(core::Tensor &normals, const core::Tensor &direction)
Definition: PointCloudImpl.h:226
void EstimateCovariancesUsingKNNSearchCPU(const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)
Definition: PointCloudImpl.h:636
Definition: PinholeCameraIntrinsic.cpp:35