Open3D (C++ API)  0.11.0
Namespaces | Data Structures | Typedefs | Enumerations | Functions | Variables
open3d::utility Namespace Reference

Namespaces

 detail_
 
 filesystem
 

Data Structures

class  bad_optional_access
 
class  ConsoleProgressBar
 
struct  ConsoleProgressUpdater
 update_progress(double percent) functor for ConsoleProgressBar More...
 
struct  constexpr_optional_base
 
union  constexpr_storage_t
 
class  CountingProgressReporter
 
class  FPSTimer
 
struct  hash_eigen
 
struct  hash_enum_class
 
struct  hash_tuple
 
struct  hash_tuple< std::tuple< TT... > >
 
class  IJsonConvertible
 
struct  in_place_index_t
 
struct  in_place_t
 
struct  in_place_type_t
 
class  Logger
 
struct  MiniVec
 
struct  nullopt_t
 
class  optional
 
class  optional< T & >
 
class  optional< T && >
 
struct  optional_base
 
class  ScopeTimer
 
union  storage_t
 
class  Timer
 
struct  trivial_init_t
 
class  VerbosityContextManager
 

Typedefs

using Matrix4d_allocator = Eigen::aligned_allocator< Eigen::Matrix4d >
 
using Matrix6d_allocator = Eigen::aligned_allocator< Eigen::Matrix6d >
 
using Vector2d_allocator = Eigen::aligned_allocator< Eigen::Vector2d >
 
using Vector3uint8_allocator = Eigen::aligned_allocator< Eigen::Vector3uint8 >
 
using Vector4i_allocator = Eigen::aligned_allocator< Eigen::Vector4i >
 
using Vector4d_allocator = Eigen::aligned_allocator< Eigen::Vector4d >
 
using Vector6d_allocator = Eigen::aligned_allocator< Eigen::Vector6d >
 
template<class T >
using OptionalBase = typename std::conditional< std::is_trivially_destructible< T >::value, constexpr_optional_base< typename std::remove_const< T >::type >, optional_base< typename std::remove_const< T >::type > >::type
 

Enumerations

enum  VerbosityLevel { VerbosityLevel::Error = 0, VerbosityLevel::Warning = 1, VerbosityLevel::Info = 2, VerbosityLevel::Debug = 3 }
 

Functions

std::string GetCurrentTimeStamp ()
 
std::string GetProgramOptionAsString (int argc, char **argv, const std::string &option, const std::string &default_value)
 
int GetProgramOptionAsInt (int argc, char **argv, const std::string &option, const int default_value)
 
double GetProgramOptionAsDouble (int argc, char **argv, const std::string &option, const double default_value)
 
Eigen::VectorXd GetProgramOptionAsEigenVectorXd (int argc, char **argv, const std::string &option, const Eigen::VectorXd default_value)
 
bool ProgramOptionExists (int argc, char **argv, const std::string &option)
 
bool ProgramOptionExistsAny (int argc, char **argv, const std::vector< std::string > &options)
 
void SetVerbosityLevel (VerbosityLevel level)
 
VerbosityLevel GetVerbosityLevel ()
 Get global verbosity level of Open3D. More...
 
template<typename... Args>
void LogError (const char *format, const Args &... args)
 
template<typename... Args>
void LogWarning (const char *format, const Args &... args)
 
template<typename... Args>
void LogInfo (const char *format, const Args &... args)
 
template<typename... Args>
void LogDebug (const char *format, const Args &... args)
 
std::tuple< bool, Eigen::VectorXd > SolveLinearSystemPSD (const Eigen::MatrixXd &A, const Eigen::VectorXd &b, bool prefer_sparse, bool check_symmetric, bool check_det, bool check_psd)
 Function to solve Ax=b. More...
 
Eigen::Matrix4d TransformVector6dToMatrix4d (const Eigen::Vector6d &input)
 
Eigen::Vector6d TransformMatrix4dToVector6d (const Eigen::Matrix4d &input)
 
std::tuple< bool, Eigen::Matrix4d > SolveJacobianSystemAndObtainExtrinsicMatrix (const Eigen::Matrix6d &JTJ, const Eigen::Vector6d &JTr)
 
std::tuple< bool, std::vector< Eigen::Matrix4d, Matrix4d_allocator > > SolveJacobianSystemAndObtainExtrinsicMatrixArray (const Eigen::MatrixXd &JTJ, const Eigen::VectorXd &JTr)
 
template<typename MatType , typename VecType >
std::tuple< MatType, VecType, double > ComputeJTJandJTr (std::function< void(int, VecType &, double &, double &)> f, int iteration_num, bool verbose)
 
template<typename MatType , typename VecType >
std::tuple< MatType, VecType, double > ComputeJTJandJTr (std::function< void(int, std::vector< VecType, Eigen::aligned_allocator< VecType >> &, std::vector< double > &)> f, int iteration_num, bool verbose)
 
template std::tuple< Eigen::Matrix6d, Eigen::Vector6d, double > ComputeJTJandJTr (std::function< void(int, Eigen::Vector6d &, double &, double &)> f, int iteration_num, bool verbose)
 
template std::tuple< Eigen::Matrix6d, Eigen::Vector6d, double > ComputeJTJandJTr (std::function< void(int, std::vector< Eigen::Vector6d, Vector6d_allocator > &, std::vector< double > &)> f, int iteration_num, bool verbose)
 
Eigen::Matrix3d RotationMatrixX (double radians)
 
Eigen::Matrix3d RotationMatrixY (double radians)
 
Eigen::Matrix3d RotationMatrixZ (double radians)
 
Eigen::Vector3uint8 ColorToUint8 (const Eigen::Vector3d &color)
 
Eigen::Vector3d ColorToDouble (uint8_t r, uint8_t g, uint8_t b)
 Color conversion from uint8_t 0-255 to double [0,1]. More...
 
Eigen::Vector3d ColorToDouble (const Eigen::Vector3uint8 &rgb)
 
template<typename IdxType >
Eigen::Matrix3d ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< IdxType > &indices)
 Function to compute the covariance matrix of a set of points. More...
 
template<typename IdxType >
std::tuple< Eigen::Vector3d, Eigen::Matrix3d > ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< IdxType > &indices)
 Function to compute the mean and covariance matrix of a set of points. More...
 
template Eigen::Matrix3d ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< size_t > &indices)
 
template std::tuple< Eigen::Vector3d, Eigen::Matrix3d > ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< size_t > &indices)
 
template Eigen::Matrix3d ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< int > &indices)
 
template std::tuple< Eigen::Vector3d, Eigen::Matrix3d > ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< int > &indices)
 
void SplitString (std::vector< std::string > &tokens, const std::string &str, const std::string &delimiters, bool trim_empty_str)
 
std::string & LeftStripString (std::string &str, const std::string &chars)
 
std::string & RightStripString (std::string &str, const std::string &chars)
 
std::string & StripString (std::string &str, const std::string &chars)
 
std::string ToLower (const std::string &s)
 Convert string to the lower case. More...
 
std::string ToUpper (const std::string &s)
 Convert string to the upper case. More...
 
size_t WordLength (const std::string &doc, size_t start_pos, const std::string &valid_chars)
 
void Sleep (int milliseconds)
 
int UniformRandInt (const int min, const int max)
 
int DivUp (int x, int y)
 Computes the quotient of x/y with rounding up. More...
 
template<typename T >
T UniformRandFloatBinaryFriendly (unsigned int power=5)
 
template<int N>
FN_SPECIFIERS MiniVec< float, N > floor (const MiniVec< float, N > &a)
 
template<int N>
FN_SPECIFIERS MiniVec< double, N > floor (const MiniVec< double, N > &a)
 
template<class T , int N>
FN_SPECIFIERS bool operator== (const MiniVec< T, N > &a, const MiniVec< T, N > &b)
 
template<class T , int N>
FN_SPECIFIERS bool operator!= (const MiniVec< T, N > &a, const MiniVec< T, N > &b)
 
template<class T , int N>
FN_SPECIFIERS MiniVec< T, N > operator- (const MiniVec< T, N > &a)
 
template<class T >
constexpr T && constexpr_forward (typename std::remove_reference< T >::type &t) noexcept
 
template<class T >
constexpr T && constexpr_forward (typename std::remove_reference< T >::type &&t) noexcept
 
template<class T >
constexpr std::remove_reference< T >::type && constexpr_move (T &&t) noexcept
 
template<class T >
constexpr bool operator== (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator!= (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator< (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator> (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator<= (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator>= (const optional< T > &x, const optional< T > &y)
 
template<class T >
constexpr bool operator== (const optional< T > &x, nullopt_t) noexcept
 
template<class T >
constexpr bool operator== (nullopt_t, const optional< T > &x) noexcept
 
template<class T >
constexpr bool operator!= (const optional< T > &x, nullopt_t) noexcept
 
template<class T >
constexpr bool operator!= (nullopt_t, const optional< T > &x) noexcept
 
template<class T >
constexpr bool operator< (const optional< T > &, nullopt_t) noexcept
 
template<class T >
constexpr bool operator< (nullopt_t, const optional< T > &x) noexcept
 
template<class T >
constexpr bool operator<= (const optional< T > &x, nullopt_t) noexcept
 
template<class T >
constexpr bool operator<= (nullopt_t, const optional< T > &) noexcept
 
template<class T >
constexpr bool operator> (const optional< T > &x, nullopt_t) noexcept
 
template<class T >
constexpr bool operator> (nullopt_t, const optional< T > &) noexcept
 
template<class T >
constexpr bool operator>= (const optional< T > &, nullopt_t) noexcept
 
template<class T >
constexpr bool operator>= (nullopt_t, const optional< T > &x) noexcept
 
template<class T >
constexpr bool operator== (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator== (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator!= (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator!= (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator< (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator> (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator> (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator< (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator>= (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator<= (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator<= (const optional< T > &x, const T &v)
 
template<class T >
constexpr bool operator>= (const T &v, const optional< T > &x)
 
template<class T >
constexpr bool operator== (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator== (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator!= (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator!= (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator< (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator> (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator> (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator< (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator>= (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator<= (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator<= (const optional< T &> &x, const T &v)
 
template<class T >
constexpr bool operator>= (const T &v, const optional< T &> &x)
 
template<class T >
constexpr bool operator== (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator== (const T &v, const optional< const T &> &x)
 
template<class T >
constexpr bool operator!= (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator!= (const T &v, const optional< const T &> &x)
 
template<class T >
constexpr bool operator< (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator> (const T &v, const optional< const T &> &x)
 
template<class T >
constexpr bool operator> (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator< (const T &v, const optional< const T &> &x)
 
template<class T >
constexpr bool operator>= (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator<= (const T &v, const optional< const T &> &x)
 
template<class T >
constexpr bool operator<= (const optional< const T &> &x, const T &v)
 
template<class T >
constexpr bool operator>= (const T &v, const optional< const T &> &x)
 
template<class T >
void swap (optional< T > &x, optional< T > &y) noexcept(noexcept(x.swap(y)))
 
template<class T >
constexpr optional< typename std::decay< T >::type > make_optional (T &&v)
 
template<class X >
constexpr optional< X & > make_optional (std::reference_wrapper< X > v)
 
template<class Tin , class Tout >
void InclusivePrefixSum (const Tin *first, const Tin *last, Tout *out)
 

Variables

constexpr in_place_t in_place {}
 
constexpr struct open3d::utility::trivial_init_t trivial_init
 
constexpr nullopt_t nullopt {nullopt_t::init()}
 

Typedef Documentation

◆ Matrix4d_allocator

using open3d::utility::Matrix4d_allocator = typedef Eigen::aligned_allocator<Eigen::Matrix4d>

◆ Matrix6d_allocator

using open3d::utility::Matrix6d_allocator = typedef Eigen::aligned_allocator<Eigen::Matrix6d>

◆ OptionalBase

template<class T >
using open3d::utility::OptionalBase = typedef typename std::conditional< std::is_trivially_destructible<T>::value, constexpr_optional_base<typename std::remove_const< T>::type>, optional_base<typename std::remove_const<T>::type> >::type

◆ Vector2d_allocator

using open3d::utility::Vector2d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector2d>

◆ Vector3uint8_allocator

using open3d::utility::Vector3uint8_allocator = typedef Eigen::aligned_allocator<Eigen::Vector3uint8>

◆ Vector4d_allocator

using open3d::utility::Vector4d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector4d>

◆ Vector4i_allocator

using open3d::utility::Vector4i_allocator = typedef Eigen::aligned_allocator<Eigen::Vector4i>

◆ Vector6d_allocator

using open3d::utility::Vector6d_allocator = typedef Eigen::aligned_allocator<Eigen::Vector6d>

Enumeration Type Documentation

◆ VerbosityLevel

enum open3d::utility::VerbosityLevel
strong
Enumerator
Error 

LogError throws now a runtime_error with the given error message. This should be used if there is no point in continuing the given algorithm at some point and the error is not returned in another way (e.g., via a bool/int as return value).

Warning 

LogWarning is used if an error occured, but the error is also signaled via a return value (i.e., there is no need to throw an exception). This warning should further be used, if the algorithms encounters a state that does not break its continuation, but the output is likely not to be what the user expected.

Info 

LogInfo is used to inform the user with expected output, e.g, pressed a key in the visualizer prints helping information.

Debug 

LogDebug is used to print debug/additional information on the state of the algorithm.

Function Documentation

◆ ColorToDouble() [1/2]

Eigen::Vector3d open3d::utility::ColorToDouble ( uint8_t  r,
uint8_t  g,
uint8_t  b 
)

Color conversion from uint8_t 0-255 to double [0,1].

◆ ColorToDouble() [2/2]

Eigen::Vector3d open3d::utility::ColorToDouble ( const Eigen::Vector3uint8 &  rgb)

◆ ColorToUint8()

Eigen::Vector3uint8 open3d::utility::ColorToUint8 ( const Eigen::Vector3d &  color)

Color conversion from double [0,1] to uint8_t 0-255; this does proper clipping and rounding

◆ ComputeCovariance() [1/3]

template<typename IdxType >
Eigen::Matrix3d open3d::utility::ComputeCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< IdxType > &  indices 
)

Function to compute the covariance matrix of a set of points.

◆ ComputeCovariance() [2/3]

template Eigen::Matrix3d open3d::utility::ComputeCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< size_t > &  indices 
)

◆ ComputeCovariance() [3/3]

template Eigen::Matrix3d open3d::utility::ComputeCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< int > &  indices 
)

◆ ComputeJTJandJTr() [1/4]

template<typename MatType , typename VecType >
std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr ( std::function< void(int, VecType &, double &, double &)>  f,
int  iteration_num,
bool  verbose = true 
)

Function to compute JTJ and Jtr Input: function pointer f and total number of rows of Jacobian matrix Output: JTJ, JTr, sum of r^2 Note: f takes index of row, and outputs corresponding residual and row vector.

◆ ComputeJTJandJTr() [2/4]

template<typename MatType , typename VecType >
std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr ( )

Function to compute JTJ and Jtr Input: function pointer f and total number of rows of Jacobian matrix Output: JTJ, JTr, sum of r^2 Note: f takes index of row, and outputs corresponding residual and row vector.

◆ ComputeJTJandJTr() [3/4]

template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr ( std::function< void(int, Eigen::Vector6d &, double &, double &)>  f,
int  iteration_num,
bool  verbose 
)

◆ ComputeJTJandJTr() [4/4]

template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr ( std::function< void(int, std::vector< Eigen::Vector6d, Vector6d_allocator > &, std::vector< double > &)>  f,
int  iteration_num,
bool  verbose 
)

◆ ComputeMeanAndCovariance() [1/3]

template<typename IdxType >
std::tuple< Eigen::Vector3d, Eigen::Matrix3d > open3d::utility::ComputeMeanAndCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< IdxType > &  indices 
)

Function to compute the mean and covariance matrix of a set of points.

◆ ComputeMeanAndCovariance() [2/3]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< size_t > &  indices 
)

◆ ComputeMeanAndCovariance() [3/3]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance ( const std::vector< Eigen::Vector3d > &  points,
const std::vector< int > &  indices 
)

◆ constexpr_forward() [1/2]

template<class T >
constexpr T&& open3d::utility::constexpr_forward ( typename std::remove_reference< T >::type &  t)
inlinenoexcept

◆ constexpr_forward() [2/2]

template<class T >
constexpr T&& open3d::utility::constexpr_forward ( typename std::remove_reference< T >::type &&  t)
inlinenoexcept

◆ constexpr_move()

template<class T >
constexpr std::remove_reference<T>::type&& open3d::utility::constexpr_move ( T &&  t)
inlinenoexcept

◆ DivUp()

int open3d::utility::DivUp ( int  x,
int  y 
)
inline

Computes the quotient of x/y with rounding up.

◆ floor() [1/2]

template<int N>
FN_SPECIFIERS MiniVec<float, N> open3d::utility::floor ( const MiniVec< float, N > &  a)

◆ floor() [2/2]

template<int N>
FN_SPECIFIERS MiniVec<double, N> open3d::utility::floor ( const MiniVec< double, N > &  a)

◆ GetCurrentTimeStamp()

std::string open3d::utility::GetCurrentTimeStamp ( )

◆ GetProgramOptionAsDouble()

double open3d::utility::GetProgramOptionAsDouble ( int  argc,
char **  argv,
const std::string &  option,
const double  default_value 
)

◆ GetProgramOptionAsEigenVectorXd()

Eigen::VectorXd open3d::utility::GetProgramOptionAsEigenVectorXd ( int  argc,
char **  argv,
const std::string &  option,
const Eigen::VectorXd  default_value 
)

◆ GetProgramOptionAsInt()

int open3d::utility::GetProgramOptionAsInt ( int  argc,
char **  argv,
const std::string &  option,
const int  default_value 
)

◆ GetProgramOptionAsString()

std::string open3d::utility::GetProgramOptionAsString ( int  argc,
char **  argv,
const std::string &  option,
const std::string &  default_value 
)

◆ GetVerbosityLevel()

VerbosityLevel open3d::utility::GetVerbosityLevel ( )
inline

Get global verbosity level of Open3D.

◆ InclusivePrefixSum()

template<class Tin , class Tout >
void open3d::utility::InclusivePrefixSum ( const Tin *  first,
const Tin *  last,
Tout *  out 
)

◆ LeftStripString()

std::string & open3d::utility::LeftStripString ( std::string &  str,
const std::string &  chars 
)

◆ LogDebug()

template<typename... Args>
void open3d::utility::LogDebug ( const char *  format,
const Args &...  args 
)
inline

◆ LogError()

template<typename... Args>
void open3d::utility::LogError ( const char *  format,
const Args &...  args 
)
inline

◆ LogInfo()

template<typename... Args>
void open3d::utility::LogInfo ( const char *  format,
const Args &...  args 
)
inline

◆ LogWarning()

template<typename... Args>
void open3d::utility::LogWarning ( const char *  format,
const Args &...  args 
)
inline

◆ make_optional() [1/2]

template<class T >
constexpr optional<typename std::decay<T>::type> open3d::utility::make_optional ( T &&  v)

◆ make_optional() [2/2]

template<class X >
constexpr optional<X&> open3d::utility::make_optional ( std::reference_wrapper< X >  v)

◆ operator!=() [1/10]

template<class T , int N>
FN_SPECIFIERS bool open3d::utility::operator!= ( const MiniVec< T, N > &  a,
const MiniVec< T, N > &  b 
)

◆ operator!=() [2/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator!=() [3/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const optional< T > &  x,
nullopt_t   
)
noexcept

◆ operator!=() [4/10]

template<class T >
constexpr bool open3d::utility::operator!= ( nullopt_t  ,
const optional< T > &  x 
)
noexcept

◆ operator!=() [5/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const optional< T > &  x,
const T &  v 
)

◆ operator!=() [6/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const T &  v,
const optional< T > &  x 
)

◆ operator!=() [7/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const optional< T &> &  x,
const T &  v 
)

◆ operator!=() [8/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const T &  v,
const optional< T &> &  x 
)

◆ operator!=() [9/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const optional< const T &> &  x,
const T &  v 
)

◆ operator!=() [10/10]

template<class T >
constexpr bool open3d::utility::operator!= ( const T &  v,
const optional< const T &> &  x 
)

◆ operator-()

template<class T , int N>
FN_SPECIFIERS MiniVec<T, N> open3d::utility::operator- ( const MiniVec< T, N > &  a)

◆ operator<() [1/9]

template<class T >
constexpr bool open3d::utility::operator< ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator<() [2/9]

template<class T >
constexpr bool open3d::utility::operator< ( const optional< T > &  ,
nullopt_t   
)
noexcept

◆ operator<() [3/9]

template<class T >
constexpr bool open3d::utility::operator< ( nullopt_t  ,
const optional< T > &  x 
)
noexcept

◆ operator<() [4/9]

template<class T >
constexpr bool open3d::utility::operator< ( const optional< T > &  x,
const T &  v 
)

◆ operator<() [5/9]

template<class T >
constexpr bool open3d::utility::operator< ( const T &  v,
const optional< T > &  x 
)

◆ operator<() [6/9]

template<class T >
constexpr bool open3d::utility::operator< ( const optional< T &> &  x,
const T &  v 
)

◆ operator<() [7/9]

template<class T >
constexpr bool open3d::utility::operator< ( const T &  v,
const optional< T &> &  x 
)

◆ operator<() [8/9]

template<class T >
constexpr bool open3d::utility::operator< ( const optional< const T &> &  x,
const T &  v 
)

◆ operator<() [9/9]

template<class T >
constexpr bool open3d::utility::operator< ( const T &  v,
const optional< const T &> &  x 
)

◆ operator<=() [1/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator<=() [2/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const optional< T > &  x,
nullopt_t   
)
noexcept

◆ operator<=() [3/9]

template<class T >
constexpr bool open3d::utility::operator<= ( nullopt_t  ,
const optional< T > &   
)
noexcept

◆ operator<=() [4/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const T &  v,
const optional< T > &  x 
)

◆ operator<=() [5/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const optional< T > &  x,
const T &  v 
)

◆ operator<=() [6/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const T &  v,
const optional< T &> &  x 
)

◆ operator<=() [7/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const optional< T &> &  x,
const T &  v 
)

◆ operator<=() [8/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const T &  v,
const optional< const T &> &  x 
)

◆ operator<=() [9/9]

template<class T >
constexpr bool open3d::utility::operator<= ( const optional< const T &> &  x,
const T &  v 
)

◆ operator==() [1/10]

template<class T , int N>
FN_SPECIFIERS bool open3d::utility::operator== ( const MiniVec< T, N > &  a,
const MiniVec< T, N > &  b 
)

◆ operator==() [2/10]

template<class T >
constexpr bool open3d::utility::operator== ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator==() [3/10]

template<class T >
constexpr bool open3d::utility::operator== ( const optional< T > &  x,
nullopt_t   
)
noexcept

◆ operator==() [4/10]

template<class T >
constexpr bool open3d::utility::operator== ( nullopt_t  ,
const optional< T > &  x 
)
noexcept

◆ operator==() [5/10]

template<class T >
constexpr bool open3d::utility::operator== ( const optional< T > &  x,
const T &  v 
)

◆ operator==() [6/10]

template<class T >
constexpr bool open3d::utility::operator== ( const T &  v,
const optional< T > &  x 
)

◆ operator==() [7/10]

template<class T >
constexpr bool open3d::utility::operator== ( const optional< T &> &  x,
const T &  v 
)

◆ operator==() [8/10]

template<class T >
constexpr bool open3d::utility::operator== ( const T &  v,
const optional< T &> &  x 
)

◆ operator==() [9/10]

template<class T >
constexpr bool open3d::utility::operator== ( const optional< const T &> &  x,
const T &  v 
)

◆ operator==() [10/10]

template<class T >
constexpr bool open3d::utility::operator== ( const T &  v,
const optional< const T &> &  x 
)

◆ operator>() [1/9]

template<class T >
constexpr bool open3d::utility::operator> ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator>() [2/9]

template<class T >
constexpr bool open3d::utility::operator> ( const optional< T > &  x,
nullopt_t   
)
noexcept

◆ operator>() [3/9]

template<class T >
constexpr bool open3d::utility::operator> ( nullopt_t  ,
const optional< T > &   
)
noexcept

◆ operator>() [4/9]

template<class T >
constexpr bool open3d::utility::operator> ( const T &  v,
const optional< T > &  x 
)

◆ operator>() [5/9]

template<class T >
constexpr bool open3d::utility::operator> ( const optional< T > &  x,
const T &  v 
)

◆ operator>() [6/9]

template<class T >
constexpr bool open3d::utility::operator> ( const T &  v,
const optional< T &> &  x 
)

◆ operator>() [7/9]

template<class T >
constexpr bool open3d::utility::operator> ( const optional< T &> &  x,
const T &  v 
)

◆ operator>() [8/9]

template<class T >
constexpr bool open3d::utility::operator> ( const T &  v,
const optional< const T &> &  x 
)

◆ operator>() [9/9]

template<class T >
constexpr bool open3d::utility::operator> ( const optional< const T &> &  x,
const T &  v 
)

◆ operator>=() [1/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const optional< T > &  x,
const optional< T > &  y 
)

◆ operator>=() [2/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const optional< T > &  ,
nullopt_t   
)
noexcept

◆ operator>=() [3/9]

template<class T >
constexpr bool open3d::utility::operator>= ( nullopt_t  ,
const optional< T > &  x 
)
noexcept

◆ operator>=() [4/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const optional< T > &  x,
const T &  v 
)

◆ operator>=() [5/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const T &  v,
const optional< T > &  x 
)

◆ operator>=() [6/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const optional< T &> &  x,
const T &  v 
)

◆ operator>=() [7/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const T &  v,
const optional< T &> &  x 
)

◆ operator>=() [8/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const optional< const T &> &  x,
const T &  v 
)

◆ operator>=() [9/9]

template<class T >
constexpr bool open3d::utility::operator>= ( const T &  v,
const optional< const T &> &  x 
)

◆ ProgramOptionExists()

bool open3d::utility::ProgramOptionExists ( int  argc,
char **  argv,
const std::string &  option 
)

◆ ProgramOptionExistsAny()

bool open3d::utility::ProgramOptionExistsAny ( int  argc,
char **  argv,
const std::vector< std::string > &  options 
)

◆ RightStripString()

std::string & open3d::utility::RightStripString ( std::string &  str,
const std::string &  chars 
)

◆ RotationMatrixX()

Eigen::Matrix3d open3d::utility::RotationMatrixX ( double  radians)

◆ RotationMatrixY()

Eigen::Matrix3d open3d::utility::RotationMatrixY ( double  radians)

◆ RotationMatrixZ()

Eigen::Matrix3d open3d::utility::RotationMatrixZ ( double  radians)

◆ SetVerbosityLevel()

void open3d::utility::SetVerbosityLevel ( VerbosityLevel  level)
inline

Set global verbosity level of Open3D

Parameters
levelMessages with equal or less than verbosity_level verbosity will be printed.

◆ Sleep()

void open3d::utility::Sleep ( int  milliseconds)

◆ SolveJacobianSystemAndObtainExtrinsicMatrix()

std::tuple< bool, Eigen::Matrix4d > open3d::utility::SolveJacobianSystemAndObtainExtrinsicMatrix ( const Eigen::Matrix6d &  JTJ,
const Eigen::Vector6d &  JTr 
)

Function to solve Jacobian system Input: 6x6 Jacobian matrix and 6-dim residual vector. Output: tuple of is_success, 4x4 extrinsic matrices.

◆ SolveJacobianSystemAndObtainExtrinsicMatrixArray()

std::tuple< bool, std::vector< Eigen::Matrix4d, Matrix4d_allocator > > open3d::utility::SolveJacobianSystemAndObtainExtrinsicMatrixArray ( const Eigen::MatrixXd &  JTJ,
const Eigen::VectorXd &  JTr 
)

Function to solve Jacobian system Input: 6nx6n Jacobian matrix and 6n-dim residual vector. Output: tuple of is_success, n 4x4 motion matrices.

◆ SolveLinearSystemPSD()

std::tuple< bool, Eigen::VectorXd > open3d::utility::SolveLinearSystemPSD ( const Eigen::MatrixXd &  A,
const Eigen::VectorXd &  b,
bool  prefer_sparse,
bool  check_symmetric,
bool  check_det,
bool  check_psd 
)

Function to solve Ax=b.

◆ SplitString()

void open3d::utility::SplitString ( std::vector< std::string > &  tokens,
const std::string &  str,
const std::string &  delimiters = " ",
bool  trim_empty_str = true 
)

Function to split a string, mimics boost::split http://stackoverflow.com/questions/236129/split-a-string-in-c

◆ StripString()

std::string & open3d::utility::StripString ( std::string &  str,
const std::string &  chars = "\\\\\ " 
)

Strip empty charactors in front and after string. Similar to Python's str.strip()

◆ swap()

template<class T >
void open3d::utility::swap ( optional< T > &  x,
optional< T > &  y 
)
noexcept

◆ ToLower()

std::string open3d::utility::ToLower ( const std::string &  str)

Convert string to the lower case.

◆ ToUpper()

std::string open3d::utility::ToUpper ( const std::string &  str)

Convert string to the upper case.

◆ TransformMatrix4dToVector6d()

Eigen::Vector6d open3d::utility::TransformMatrix4dToVector6d ( const Eigen::Matrix4d &  input)

Function to transform 4D motion matrix to 6D motion vector this is consistent with the matlab function in the Aerospace Toolbox Reference: https://github.com/qianyizh/ElasticReconstruction/blob/master/Matlab_Toolbox/Core/mrEvaluateRegistration.m

◆ TransformVector6dToMatrix4d()

Eigen::Matrix4d open3d::utility::TransformVector6dToMatrix4d ( const Eigen::Vector6d &  input)

Function to transform 6D motion vector to 4D motion matrix Reference: https://eigen.tuxfamily.org/dox/group__TutorialGeometry.html#TutorialGeoTransform

◆ UniformRandFloatBinaryFriendly()

template<typename T >
T open3d::utility::UniformRandFloatBinaryFriendly ( unsigned int  power = 5)

Uniformly distributed binary-friendly floating point number in [0, 1).

Binary-friendly means that the random number can be represented by floating point with a few bits of mantissa. The binary-friendliness is useful for unit testing since it reduces the chances of numerical errors.

E.g.

  • 0.9 is not representable by floating point accurately, the actual value stored in a float32 is 0.89999997615814208984375...
  • 0.875 = 0.5 + 0.25 + 0.125, is binary-friendly.
Parameters
powerThe possible random numbers are: n * 1 / (2 ^ power), where n = 0, 1, 2, ..., (2 ^ power - 1).

◆ UniformRandInt()

int open3d::utility::UniformRandInt ( const int  min,
const int  max 
)

Thread-safe function returning a pseudo-random integer. The integer is drawn from a uniform distribution bounded by min and max (inclusive)

◆ WordLength()

size_t open3d::utility::WordLength ( const std::string &  doc,
size_t  start_pos,
const std::string &  valid_chars = "_" 
)

String util: find length of current word staring from a position By default, alpha numeric chars and chars in valid_chars are considered as valid charactors in a word

Variable Documentation

◆ in_place

constexpr in_place_t open3d::utility::in_place {}

◆ nullopt

constexpr nullopt_t open3d::utility::nullopt {nullopt_t::init()}

◆ trivial_init

constexpr struct open3d::utility::trivial_init_t open3d::utility::trivial_init
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