open3d::core::kernel Namespace Reference

Data Structures
struct	ColoredVoxel16i
struct	ColoredVoxel32f
struct	Coord3i
struct	Coord3iHash
class	CPUArgReductionEngine
class	CPULauncher
class	CPUReductionEngine
class	NDArrayIndexer
class	TransformIndexer
	Helper class for converting coordinates/indices between 3D/3D, 3D/2D, 2D/3D. More...
struct	Voxel32f

Enumerations
enum	BinaryEWOpCode {   BinaryEWOpCode::Add, BinaryEWOpCode::Sub, BinaryEWOpCode::Mul, BinaryEWOpCode::Div,   BinaryEWOpCode::LogicalAnd, BinaryEWOpCode::LogicalOr, BinaryEWOpCode::LogicalXor, BinaryEWOpCode::Gt,   BinaryEWOpCode::Lt, BinaryEWOpCode::Ge, BinaryEWOpCode::Le, BinaryEWOpCode::Eq,   BinaryEWOpCode::Ne }
enum	GeneralEWOpCode {   GeneralEWOpCode::Unproject, GeneralEWOpCode::TSDFIntegrate, GeneralEWOpCode::TSDFTouch, GeneralEWOpCode::TSDFPointExtraction,   GeneralEWOpCode::TSDFMeshExtraction, GeneralEWOpCode::RayCasting }
enum	ReductionOpCode {   ReductionOpCode::Sum, ReductionOpCode::Prod, ReductionOpCode::Min, ReductionOpCode::Max,   ReductionOpCode::ArgMin, ReductionOpCode::ArgMax, ReductionOpCode::All, ReductionOpCode::Any }
enum	UnaryEWOpCode {   UnaryEWOpCode::Sqrt, UnaryEWOpCode::Sin, UnaryEWOpCode::Cos, UnaryEWOpCode::Neg,   UnaryEWOpCode::Exp, UnaryEWOpCode::Abs, UnaryEWOpCode::LogicalNot }

Functions
void	BinaryEW (const Tensor &lhs, const Tensor &rhs, Tensor &dst, BinaryEWOpCode op_code)
void	BinaryEWCPU (const Tensor &lhs, const Tensor &rhs, Tensor &dst, BinaryEWOpCode op_code)
void	Add (const Tensor &lhs, const Tensor &rhs, Tensor &dst)
void	Sub (const Tensor &lhs, const Tensor &rhs, Tensor &dst)
void	Mul (const Tensor &lhs, const Tensor &rhs, Tensor &dst)
void	Div (const Tensor &lhs, const Tensor &rhs, Tensor &dst)
void	GeneralEW (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts, GeneralEWOpCode op_code)
void	GeneralEWCPU (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts, GeneralEWOpCode op_code)
void	CPUTSDFTouchKernel (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts)
template<typename voxel_t >
OPEN3D_DEVICE voxel_t *	DeviceGetVoxelAt (int xo, int yo, int zo, int curr_block_idx, int resolution, const NDArrayIndexer &nb_block_masks_indexer, const NDArrayIndexer &nb_block_indices_indexer, const NDArrayIndexer &blocks_indexer)
template<typename voxel_t >
OPEN3D_DEVICE void	DeviceGetNormalAt (int xo, int yo, int zo, int curr_block_idx, float *n, int resolution, float voxel_size, const NDArrayIndexer &nb_block_masks_indexer, const NDArrayIndexer &nb_block_indices_indexer, const NDArrayIndexer &blocks_indexer)
void	CPUUnprojectKernel (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts)
void	CPUTSDFIntegrateKernel (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts)
void	CPUPointExtractionKernel (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts)
void	CPUMeshExtractionKernel (const std::unordered_map< std::string, Tensor > &srcs, std::unordered_map< std::string, Tensor > &dsts)
void	IndexGet (const Tensor &src, Tensor &dst, const std::vector< Tensor > &index_tensors, const SizeVector &indexed_shape, const SizeVector &indexed_strides)
void	IndexSet (const Tensor &src, Tensor &dst, const std::vector< Tensor > &index_tensors, const SizeVector &indexed_shape, const SizeVector &indexed_strides)
void	IndexGetCPU (const Tensor &src, Tensor &dst, const std::vector< Tensor > &index_tensors, const SizeVector &indexed_shape, const SizeVector &indexed_strides)
void	IndexSetCPU (const Tensor &src, Tensor &dst, const std::vector< Tensor > &index_tensors, const SizeVector &indexed_shape, const SizeVector &indexed_strides)
void	TestLinalgIntegration ()
Tensor	NonZero (const Tensor &src)
Tensor	NonZeroCPU (const Tensor &src)
int	GetMaxThreads ()
bool	InParallel ()
void	Reduction (const Tensor &src, Tensor &dst, const SizeVector &dims, bool keepdim, ReductionOpCode op_code)
void	ReductionCPU (const Tensor &src, Tensor &dst, const SizeVector &dims, bool keepdim, ReductionOpCode op_code)
void	UnaryEW (const Tensor &src, Tensor &dst, UnaryEWOpCode op_code)
void	Copy (const Tensor &src, Tensor &dst)
void	UnaryEWCPU (const Tensor &src, Tensor &dst, UnaryEWOpCode op_code)
void	CopyCPU (const Tensor &src, Tensor &dst)

Variables
const std::unordered_set< BinaryEWOpCode, utility::hash_enum_class >	s_boolean_binary_ew_op_codes
const int64_t	MAX_RESOLUTION_DIMS = 4

Enumeration Type Documentation

BinaryEWOpCode

enum open3d::core::kernel::BinaryEWOpCode

strong

Enumerator
Add
Sub
Mul
Div
LogicalAnd
LogicalOr
LogicalXor
Gt
Lt
Ge
Le
Eq
Ne

GeneralEWOpCode

enum open3d::core::kernel::GeneralEWOpCode

strong

Enumerator
Unproject
TSDFIntegrate
TSDFTouch
TSDFPointExtraction
TSDFMeshExtraction
RayCasting

ReductionOpCode

enum open3d::core::kernel::ReductionOpCode

strong

Enumerator
Sum
Prod
Min
Max
ArgMin
ArgMax
All
Any

UnaryEWOpCode

enum open3d::core::kernel::UnaryEWOpCode

strong

Enumerator
Sqrt
Sin
Cos
Neg
Exp
Abs
LogicalNot

Function Documentation

Add()

void open3d::core::kernel::Add ( const Tensor &  lhs, const Tensor &  rhs, Tensor &  dst  )

inline

BinaryEW()

void open3d::core::kernel::BinaryEW	(	const Tensor &	lhs,
		const Tensor &	rhs,
		Tensor &	dst,
		BinaryEWOpCode	op_code
	)

BinaryEWCPU()

void open3d::core::kernel::BinaryEWCPU	(	const Tensor &	lhs,
		const Tensor &	rhs,
		Tensor &	dst,
		BinaryEWOpCode	op_code
	)

Copy()

void open3d::core::kernel::Copy	(	const Tensor &	src,
		Tensor &	dst
	)

CopyCPU()

void open3d::core::kernel::CopyCPU	(	const Tensor &	src,
		Tensor &	dst
	)

CPUMeshExtractionKernel()

void open3d::core::kernel::CPUMeshExtractionKernel	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts
	)

CPUPointExtractionKernel()

void open3d::core::kernel::CPUPointExtractionKernel	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts
	)

Coordinate transform

CPUTSDFIntegrateKernel()

void open3d::core::kernel::CPUTSDFIntegrateKernel	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts
	)

Coordinate transform

CPUTSDFTouchKernel()

void open3d::core::kernel::CPUTSDFTouchKernel	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts
	)

CPUUnprojectKernel()

void open3d::core::kernel::CPUUnprojectKernel	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts
	)

DeviceGetNormalAt()

template<typename voxel_t >

OPEN3D_DEVICE void open3d::core::kernel::DeviceGetNormalAt ( int  xo, int  yo, int  zo, int  curr_block_idx, float *  n, int  resolution, float  voxel_size, const NDArrayIndexer &  nb_block_masks_indexer, const NDArrayIndexer &  nb_block_indices_indexer, const NDArrayIndexer &  blocks_indexer  )

inline

DeviceGetVoxelAt()

template<typename voxel_t >

OPEN3D_DEVICE voxel_t* open3d::core::kernel::DeviceGetVoxelAt ( int  xo, int  yo, int  zo, int  curr_block_idx, int  resolution, const NDArrayIndexer &  nb_block_masks_indexer, const NDArrayIndexer &  nb_block_indices_indexer, const NDArrayIndexer &  blocks_indexer  )

inline

Div()

void open3d::core::kernel::Div ( const Tensor &  lhs, const Tensor &  rhs, Tensor &  dst  )

inline

GeneralEW()

void open3d::core::kernel::GeneralEW	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts,
		GeneralEWOpCode	op_code
	)

GeneralEWCPU()

void open3d::core::kernel::GeneralEWCPU	(	const std::unordered_map< std::string, Tensor > &	srcs,
		std::unordered_map< std::string, Tensor > &	dsts,
		GeneralEWOpCode	op_code
	)

GetMaxThreads()

int open3d::core::kernel::GetMaxThreads ( )

inline

IndexGet()

void open3d::core::kernel::IndexGet	(	const Tensor &	src,
		Tensor &	dst,
		const std::vector< Tensor > &	index_tensors,
		const SizeVector &	indexed_shape,
		const SizeVector &	indexed_strides
	)

IndexGetCPU()

void open3d::core::kernel::IndexGetCPU	(	const Tensor &	src,
		Tensor &	dst,
		const std::vector< Tensor > &	index_tensors,
		const SizeVector &	indexed_shape,
		const SizeVector &	indexed_strides
	)

IndexSet()

void open3d::core::kernel::IndexSet	(	const Tensor &	src,
		Tensor &	dst,
		const std::vector< Tensor > &	index_tensors,
		const SizeVector &	indexed_shape,
		const SizeVector &	indexed_strides
	)

IndexSetCPU()

void open3d::core::kernel::IndexSetCPU	(	const Tensor &	src,
		Tensor &	dst,
		const std::vector< Tensor > &	index_tensors,
		const SizeVector &	indexed_shape,
		const SizeVector &	indexed_strides
	)

InParallel()

bool open3d::core::kernel::InParallel ( )

inline

Mul()

void open3d::core::kernel::Mul ( const Tensor &  lhs, const Tensor &  rhs, Tensor &  dst  )

inline

NonZero()

Tensor open3d::core::kernel::NonZero

(

const Tensor &

src

)

NonZeroCPU()

Tensor open3d::core::kernel::NonZeroCPU

(

const Tensor &

src

)

Reduction()

void open3d::core::kernel::Reduction	(	const Tensor &	src,
		Tensor &	dst,
		const SizeVector &	dims,
		bool	keepdim,
		ReductionOpCode	op_code
	)

ReductionCPU()

void open3d::core::kernel::ReductionCPU	(	const Tensor &	src,
		Tensor &	dst,
		const SizeVector &	dims,
		bool	keepdim,
		ReductionOpCode	op_code
	)

Sub()

void open3d::core::kernel::Sub ( const Tensor &  lhs, const Tensor &  rhs, Tensor &  dst  )

inline

TestLinalgIntegration()

void open3d::core::kernel::TestLinalgIntegration

(

)

UnaryEW()

void open3d::core::kernel::UnaryEW	(	const Tensor &	src,
		Tensor &	dst,
		UnaryEWOpCode	op_code
	)

UnaryEWCPU()

void open3d::core::kernel::UnaryEWCPU	(	const Tensor &	src,
		Tensor &	dst,
		UnaryEWOpCode	op_code
	)

Variable Documentation

MAX_RESOLUTION_DIMS

const int64_t open3d::core::kernel::MAX_RESOLUTION_DIMS = 4

Convert between ND coordinates and their corresponding linear offsets. Input ndarray tensor must be contiguous. Internal shape conversions: 1D: index (x), [channel (c)] 2D: height (y), weight (x), [channel (c)] 3D: depth (z), height (y), width (x), [channel (c)] 4D: time (t), depth (z), height (y), width (x), [channel (c)] External indexing order: 1D: x 2D: x, y 3D: x, y, z 4D: x, y, z, t

s_boolean_binary_ew_op_codes

const std::unordered_set< BinaryEWOpCode, utility::hash_enum_class > open3d::core::kernel::s_boolean_binary_ew_op_codes

Initial value:

{
                BinaryEWOpCode::LogicalAnd, BinaryEWOpCode::LogicalOr,
                BinaryEWOpCode::LogicalXor, BinaryEWOpCode::Gt,
                BinaryEWOpCode::Lt,         BinaryEWOpCode::Ge,
                BinaryEWOpCode::Le,         BinaryEWOpCode::Eq,
                BinaryEWOpCode::Ne,
        }