open3d::t::pipelines::kernel Namespace Reference

Namespaces
	odometry

Functions
core::Tensor	ComputePosePointToPlane (const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &target_normals, const pipelines::registration::CorrespondenceSet &correspondences)
	Computes pose for point to plane registration method. More...
std::tuple< core::Tensor, core::Tensor >	ComputeRtPointToPoint (const core::Tensor &source_points, const core::Tensor &target_points, const pipelines::registration::CorrespondenceSet &correspondences)
	Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method. More...
void	ComputePosePointToPlaneCPU (const float *source_points_ptr, const float *target_points_ptr, const float *target_normals_ptr, const int64_t *correspondences_first, const int64_t *correspondences_second, const int n, core::Tensor &pose, const core::Dtype &dtype, const core::Device &device)
void	ComputeRtPointToPointCPU (const float *source_points_ptr, const float *target_points_ptr, const int64_t *correspondences_first, const int64_t *correspondences_second, const int n, core::Tensor &R, core::Tensor &t, const core::Dtype dtype, const core::Device device)
OPEN3D_HOST_DEVICE bool	GetJacobianPointToPlane (int64_t workload_idx, const float *source_points_ptr, const float *target_points_ptr, const float *target_normals_ptr, const int64_t *correspondence_first, const int64_t *correspondence_second, float *J_ij, float &r)
void	FillInRigidAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
void	FillInSLACAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
void	FillInSLACRegularizerTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
void	FillInRigidAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
void	FillInSLACAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
void	FillInSLACRegularizerTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
OPEN3D_HOST_DEVICE void	matmul3x3_3x1 (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22, float v0, float v1, float v2, float &o0, float &o1, float &o2)
OPEN3D_HOST_DEVICE void	matmul3x3_3x3 (float a00, float a01, float a02, float a10, float a11, float a12, float a20, float a21, float a22, float b00, float b01, float b02, float b10, float b11, float b12, float b20, float b21, float b22, float &c00, float &c01, float &c02, float &c10, float &c11, float &c12, float &c20, float &c21, float &c22)
OPEN3D_HOST_DEVICE float	det3x3 (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
core::Tensor	RtToTransformation (const core::Tensor &R, const core::Tensor &t)
	Convert rotation and translation to the transformation matrix. More...
core::Tensor	PoseToTransformation (const core::Tensor &pose)
	Convert pose to the transformation matrix. More...
void	DecodeAndSolve6x6 (const core::Tensor &A_reduction, core::Tensor &delta, float &inlier_residual, int &inlier_count)
	Decodes a 6x6 linear system from a compressed 29x1 tensor. More...
template<typename scalar_t >
OPEN3D_HOST_DEVICE void	PoseToTransformationImpl (scalar_t *transformation_ptr, const scalar_t *pose_ptr)
	Shared implementation for PoseToTransformation function. More...

Function Documentation

ComputePosePointToPlane()

core::Tensor open3d::t::pipelines::kernel::ComputePosePointToPlane	(	const core::Tensor &	source_points,
		const core::Tensor &	target_points,
		const core::Tensor &	target_normals,
		const pipelines::registration::CorrespondenceSet &	correspondences
	)

Computes pose for point to plane registration method.

Parameters

source_points	source points indexed according to correspondences.
target_points	target points indexed according to correspondences.
target_normals	target normals indexed according to correspondences.
correspondences	CorrespondenceSet. [refer to definition in /cpp/open3d/t/pipelines/registration/TransformationEstimation.h].

Returns

Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float32, where alpha, beta, gamma are the Euler angles in the ZYX order.

ComputePosePointToPlaneCPU()

void open3d::t::pipelines::kernel::ComputePosePointToPlaneCPU	(	const float *	source_points_ptr,
		const float *	target_points_ptr,
		const float *	target_normals_ptr,
		const int64_t *	correspondences_first,
		const int64_t *	correspondences_second,
		const int	n,
		core::Tensor &	pose,
		const core::Dtype &	dtype,
		const core::Device &	device
	)

ComputeRtPointToPoint()

std::tuple< core::Tensor, core::Tensor > open3d::t::pipelines::kernel::ComputeRtPointToPoint	(	const core::Tensor &	source_points,
		const core::Tensor &	target_points,
		const pipelines::registration::CorrespondenceSet &	correspondences
	)

Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method.

Parameters

source_points	source points indexed according to correspondences.
target_points	target points indexed according to correspondences.
correspondences	CorrespondenceSet. [refer to definition in /cpp/open3d/t/pipelines/registration/TransformationEstimation.h].

Returns

tuple of (R, t). [Dtype: Float32].

ComputeRtPointToPointCPU()

void open3d::t::pipelines::kernel::ComputeRtPointToPointCPU	(	const float *	source_points_ptr,
		const float *	target_points_ptr,
		const int64_t *	correspondences_first,
		const int64_t *	correspondences_second,
		const int	n,
		core::Tensor &	R,
		core::Tensor &	t,
		const core::Dtype	dtype,
		const core::Device	device
	)

DecodeAndSolve6x6()

void open3d::t::pipelines::kernel::DecodeAndSolve6x6	(	const core::Tensor &	A_reduction,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count
	)

Decodes a 6x6 linear system from a compressed 29x1 tensor.

Parameters

A_reduction	1x29 tensor storing a linear system, (21 for matrix, 6 for , 1 for residual, 1 for inlier count).
delta	6d tensor for a se3 tangent vector.
inlier_residual	Float residual for the inliers.
inlier_count	Int number of inliers.

det3x3()

OPEN3D_HOST_DEVICE float open3d::t::pipelines::kernel::det3x3 ( float  m00, float  m01, float  m02, float  m10, float  m11, float  m12, float  m20, float  m21, float  m22  )

inline

FillInRigidAlignmentTerm()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_ps,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	Ri_normal_ps,
		int	i,
		int	j,
		float	threshold
	)

FillInRigidAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_qs,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	Ri_normal_ps,
		int	i,
		int	j,
		float	threshold
	)

FillInSLACAlignmentTerm()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_ps,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	normal_ps,
		const core::Tensor &	Ri_normal_ps,
		const core::Tensor &	RjT_Ri_normal_ps,
		const core::Tensor &	cgrid_idx_ps,
		const core::Tensor &	cgrid_idx_qs,
		const core::Tensor &	cgrid_ratio_qs,
		const core::Tensor &	cgrid_ratio_ps,
		int	i,
		int	j,
		int	n,
		float	threshold
	)

FillInSLACAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_qs,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	normal_ps,
		const core::Tensor &	Ri_normal_ps,
		const core::Tensor &	RjT_Ri_normal_ps,
		const core::Tensor &	cgrid_idx_ps,
		const core::Tensor &	cgrid_idx_qs,
		const core::Tensor &	cgrid_ratio_qs,
		const core::Tensor &	cgrid_ratio_ps,
		int	i,
		int	j,
		int	n,
		float	threshold
	)

FillInSLACRegularizerTerm()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	grid_idx,
		const core::Tensor &	grid_nbs_idx,
		const core::Tensor &	grid_nbs_mask,
		const core::Tensor &	positions_init,
		const core::Tensor &	positions_curr,
		float	weight,
		int	n,
		int	anchor_idx
	)

FillInSLACRegularizerTermCPU()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	grid_idx,
		const core::Tensor &	grid_nbs_idx,
		const core::Tensor &	grid_nbs_mask,
		const core::Tensor &	positions_init,
		const core::Tensor &	positions_curr,
		float	weight,
		int	n,
		int	anchor_idx
	)

GetJacobianPointToPlane()

OPEN3D_HOST_DEVICE bool open3d::t::pipelines::kernel::GetJacobianPointToPlane ( int64_t  workload_idx, const float *  source_points_ptr, const float *  target_points_ptr, const float *  target_normals_ptr, const int64_t *  correspondence_first, const int64_t *  correspondence_second, float *  J_ij, float &  r  )

inline

matmul3x3_3x1()

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::matmul3x3_3x1 ( float  m00, float  m01, float  m02, float  m10, float  m11, float  m12, float  m20, float  m21, float  m22, float  v0, float  v1, float  v2, float &  o0, float &  o1, float &  o2  )

inline

matmul3x3_3x3()

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::matmul3x3_3x3 ( float  a00, float  a01, float  a02, float  a10, float  a11, float  a12, float  a20, float  a21, float  a22, float  b00, float  b01, float  b02, float  b10, float  b11, float  b12, float  b20, float  b21, float  b22, float &  c00, float &  c01, float &  c02, float &  c10, float &  c11, float &  c12, float &  c20, float &  c21, float &  c22  )

inline

PoseToTransformation()

core::Tensor open3d::t::pipelines::kernel::PoseToTransformation

(

const core::Tensor &

pose

)

Convert pose to the transformation matrix.

Parameters

pose	Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float32, where alpha, beta, gamma are the Euler angles in the ZYX order.

Returns

Transformation, a tensor of shape {4, 4}, dtype and device same as pose.

PoseToTransformationImpl()

template<typename scalar_t >

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::PoseToTransformationImpl ( scalar_t *  transformation_ptr, const scalar_t *  pose_ptr  )

inline

Shared implementation for PoseToTransformation function.

RtToTransformation()

core::Tensor open3d::t::pipelines::kernel::RtToTransformation	(	const core::Tensor &	R,
		const core::Tensor &	t
	)

Convert rotation and translation to the transformation matrix.

Parameters

R	Rotation, a tensor of shape {3, 3}.
t	Translation, a tensor of shape {3,}.

Returns

Transformation, a tensor of shape {4, 4}, dtype and device same as R and t.