open3d::t::geometry::kernel::tsdf Namespace Reference

Data Structures
struct	BlockCache
struct	ColoredVoxel16i
struct	ColoredVoxel32f
struct	Coord3i
struct	Coord3iHash
struct	Voxel32f

Functions
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	Touch (std::shared_ptr< core::Hashmap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, int64_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
void	Integrate (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, core::Tensor &block_values, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int64_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void	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)
void	RayCast (std::shared_ptr< core::DeviceHashmap > &hashmap, const core::Tensor &block_values, const core::Tensor &range_map, core::Tensor &vertex_map, core::Tensor &depth_map, core::Tensor &color_map, core::Tensor &normal_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int64_t block_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_min, float depth_max, float weight_threshold)
void	ExtractSurfacePoints (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const core::Tensor &block_values, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> normals, utility::optional< std::reference_wrapper< core::Tensor >> colors, int64_t block_resolution, float voxel_size, float weight_threshold, int &valid_size)
void	ExtractSurfaceMesh (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 core::Tensor &block_values, core::Tensor &vertices, core::Tensor &triangles, utility::optional< std::reference_wrapper< core::Tensor >> vertex_normals, utility::optional< std::reference_wrapper< core::Tensor >> vertex_colors, int64_t block_resolution, float voxel_size, float weight_threshold, int &vertex_count)
void	TouchCPU (std::shared_ptr< core::Hashmap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, int64_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
void	IntegrateCPU (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, core::Tensor &block_values, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int64_t resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max)
void	EstimateRangeCPU (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)
void	RayCastCPU (std::shared_ptr< core::DeviceHashmap > &hashmap, const core::Tensor &block_values, const core::Tensor &range_map, core::Tensor &vertex_map, core::Tensor &depth_map, core::Tensor &color_map, core::Tensor &normal_map, const core::Tensor &intrinsics, const core::Tensor &extrinsics, int h, int w, int64_t block_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_min, float depth_max, float weight_threshold)
void	ExtractSurfacePointsCPU (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const core::Tensor &block_values, core::Tensor &points, utility::optional< std::reference_wrapper< core::Tensor >> normals, utility::optional< std::reference_wrapper< core::Tensor >> colors, int64_t block_resolution, float voxel_size, float weight_threshold, int &valid_size)
void	ExtractSurfaceMeshCPU (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 core::Tensor &block_values, core::Tensor &vertices, core::Tensor &triangles, utility::optional< std::reference_wrapper< core::Tensor >> vertex_normals, utility::optional< std::reference_wrapper< core::Tensor >> vertex_colors, int64_t block_resolution, float voxel_size, float weight_threshold, int &vertex_count)

Function Documentation

DeviceGetNormalAt()

template<typename voxel_t >

OPEN3D_DEVICE void open3d::t::geometry::kernel::tsdf::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::t::geometry::kernel::tsdf::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

EstimateRange()

void open3d::t::geometry::kernel::tsdf::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
	)

EstimateRangeCPU()

void open3d::t::geometry::kernel::tsdf::EstimateRangeCPU	(	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
	)

ExtractSurfaceMesh()

void open3d::t::geometry::kernel::tsdf::ExtractSurfaceMesh	(	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 core::Tensor &	block_values,
		core::Tensor &	vertices,
		core::Tensor &	triangles,
		utility::optional< std::reference_wrapper< core::Tensor >>	vertex_normals,
		utility::optional< std::reference_wrapper< core::Tensor >>	vertex_colors,
		int64_t	block_resolution,
		float	voxel_size,
		float	weight_threshold,
		int &	vertex_count
	)

ExtractSurfaceMeshCPU()

void open3d::t::geometry::kernel::tsdf::ExtractSurfaceMeshCPU	(	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 core::Tensor &	block_values,
		core::Tensor &	vertices,
		core::Tensor &	triangles,
		utility::optional< std::reference_wrapper< core::Tensor >>	vertex_normals,
		utility::optional< std::reference_wrapper< core::Tensor >>	vertex_colors,
		int64_t	block_resolution,
		float	voxel_size,
		float	weight_threshold,
		int &	vertex_count
	)

ExtractSurfacePoints()

void open3d::t::geometry::kernel::tsdf::ExtractSurfacePoints	(	const core::Tensor &	block_indices,
		const core::Tensor &	nb_block_indices,
		const core::Tensor &	nb_block_masks,
		const core::Tensor &	block_keys,
		const core::Tensor &	block_values,
		core::Tensor &	points,
		utility::optional< std::reference_wrapper< core::Tensor >>	normals,
		utility::optional< std::reference_wrapper< core::Tensor >>	colors,
		int64_t	block_resolution,
		float	voxel_size,
		float	weight_threshold,
		int &	valid_size
	)

ExtractSurfacePointsCPU()

void open3d::t::geometry::kernel::tsdf::ExtractSurfacePointsCPU	(	const core::Tensor &	block_indices,
		const core::Tensor &	nb_block_indices,
		const core::Tensor &	nb_block_masks,
		const core::Tensor &	block_keys,
		const core::Tensor &	block_values,
		core::Tensor &	points,
		utility::optional< std::reference_wrapper< core::Tensor >>	normals,
		utility::optional< std::reference_wrapper< core::Tensor >>	colors,
		int64_t	block_resolution,
		float	voxel_size,
		float	weight_threshold,
		int &	valid_size
	)

Coordinate transform

Coordinate transform

Integrate()

void open3d::t::geometry::kernel::tsdf::Integrate	(	const core::Tensor &	depth,
		const core::Tensor &	color,
		const core::Tensor &	block_indices,
		const core::Tensor &	block_keys,
		core::Tensor &	block_values,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		int64_t	resolution,
		float	voxel_size,
		float	sdf_trunc,
		float	depth_scale,
		float	depth_max
	)

IntegrateCPU()

void open3d::t::geometry::kernel::tsdf::IntegrateCPU	(	const core::Tensor &	depth,
		const core::Tensor &	color,
		const core::Tensor &	block_indices,
		const core::Tensor &	block_keys,
		core::Tensor &	block_values,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		int64_t	resolution,
		float	voxel_size,
		float	sdf_trunc,
		float	depth_scale,
		float	depth_max
	)

Coordinate transform

Coordinate transform

RayCast()

void open3d::t::geometry::kernel::tsdf::RayCast	(	std::shared_ptr< core::DeviceHashmap > &	hashmap,
		const core::Tensor &	block_values,
		const core::Tensor &	range_map,
		core::Tensor &	vertex_map,
		core::Tensor &	depth_map,
		core::Tensor &	color_map,
		core::Tensor &	normal_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		int	h,
		int	w,
		int64_t	block_resolution,
		float	voxel_size,
		float	sdf_trunc,
		float	depth_scale,
		float	depth_min,
		float	depth_max,
		float	weight_threshold
	)

RayCastCPU()

void open3d::t::geometry::kernel::tsdf::RayCastCPU	(	std::shared_ptr< core::DeviceHashmap > &	hashmap,
		const core::Tensor &	block_values,
		const core::Tensor &	range_map,
		core::Tensor &	vertex_map,
		core::Tensor &	depth_map,
		core::Tensor &	color_map,
		core::Tensor &	normal_map,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics,
		int	h,
		int	w,
		int64_t	block_resolution,
		float	voxel_size,
		float	sdf_trunc,
		float	depth_scale,
		float	depth_min,
		float	depth_max,
		float	weight_threshold
	)

Touch()

void open3d::t::geometry::kernel::tsdf::Touch	(	std::shared_ptr< core::Hashmap > &	hashmap,
		const core::Tensor &	points,
		core::Tensor &	voxel_block_coords,
		int64_t	voxel_grid_resolution,
		float	voxel_size,
		float	sdf_trunc
	)

TouchCPU()

void open3d::t::geometry::kernel::tsdf::TouchCPU	(	std::shared_ptr< core::Hashmap > &	hashmap,
		const core::Tensor &	points,
		core::Tensor &	voxel_block_coords,
		int64_t	voxel_grid_resolution,
		float	voxel_size,
		float	sdf_trunc
	)