VoxelBlockGrid.cpp File Reference

(5c982c7 (Thu Apr 18 12:15:13 2024 -0700))

#include "open3d/t/geometry/kernel/VoxelBlockGrid.h"
#include <vector>
#include "open3d/core/CUDAUtils.h"
#include "open3d/core/ShapeUtil.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/hashmap/HashMap.h"
#include "open3d/utility/Logging.h"

Namespaces
	open3d
	open3d::t
	open3d::t::geometry
	open3d::t::geometry::kernel
	open3d::t::geometry::kernel::voxel_grid

Macros
#define	DISPATCH_VALUE_DTYPE_TO_TEMPLATE(WEIGHT_DTYPE, COLOR_DTYPE, ...)
#define	DISPATCH_INPUT_DTYPE_TO_TEMPLATE(DEPTH_DTYPE, COLOR_DTYPE, ...)

Functions
void	open3d::t::geometry::kernel::voxel_grid::PointCloudTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
void	open3d::t::geometry::kernel::voxel_grid::DepthTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
void	open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndices (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
void	open3d::t::geometry::kernel::voxel_grid::Integrate (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void	open3d::t::geometry::kernel::voxel_grid::EstimateRange (const core::Tensor &block_keys, core::Tensor &range_minmax_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int down_factor, int64_t block_resolution, float voxel_size, float depth_min, float depth_max, core::Tensor &fragment_buffer)
void	open3d::t::geometry::kernel::voxel_grid::RayCast (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
void	open3d::t::geometry::kernel::voxel_grid::ExtractPointCloud (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, int &valid_size)
void	open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMesh (const core::Tensor &block_indices, const core::Tensor &inv_block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, int &vertex_count)

Macro Definition Documentation

DISPATCH_INPUT_DTYPE_TO_TEMPLATE

#define DISPATCH_INPUT_DTYPE_TO_TEMPLATE	(		DEPTH_DTYPE,
			COLOR_DTYPE,
			...
	)

Value:

    [&] {                                                                      \
        if (DEPTH_DTYPE == open3d::core::Float32 &&                            \
            COLOR_DTYPE == open3d::core::Float32) {                            \
            using input_depth_t = float;                                       \
            using input_color_t = float;                                       \
            return __VA_ARGS__();                                              \
        } else if (DEPTH_DTYPE == open3d::core::UInt16 &&                      \
                   COLOR_DTYPE == open3d::core::UInt8) {                       \
            using input_depth_t = uint16_t;                                    \
            using input_color_t = uint8_t;                                     \
            return __VA_ARGS__();                                              \
        } else {                                                               \
            utility::LogError(                                                 \
                    "Unsupported input data type combination. Expected "       \
                    "(float, float) or (uint16, uint8), but received ({} {})", \
                    DEPTH_DTYPE.ToString(), COLOR_DTYPE.ToString());           \
        }                                                                      \
    }()

DISPATCH_VALUE_DTYPE_TO_TEMPLATE

#define DISPATCH_VALUE_DTYPE_TO_TEMPLATE	(		WEIGHT_DTYPE,
			COLOR_DTYPE,
			...
	)

Value:

    [&] {                                                                   \
        if (WEIGHT_DTYPE == open3d::core::Float32 &&                        \
            COLOR_DTYPE == open3d::core::Float32) {                         \
            using weight_t = float;                                         \
            using color_t = float;                                          \
            return __VA_ARGS__();                                           \
        } else if (WEIGHT_DTYPE == open3d::core::UInt16 &&                  \
                   COLOR_DTYPE == open3d::core::UInt16) {                   \
            using weight_t = uint16_t;                                      \
            using color_t = uint16_t;                                       \
            return __VA_ARGS__();                                           \
        } else {                                                            \
            utility::LogError(                                              \
                    "Unsupported value data type combination. Expected "    \
                    "(float, float) or (uint16, uint16), but received ({} " \
                    "{}).",                                                 \
                    WEIGHT_DTYPE.ToString(), COLOR_DTYPE.ToString());       \
        }                                                                   \
    }()