PointCloud.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
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// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
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#pragma once

#include <unordered_map>

#include "open3d/core/Tensor.h"

namespace open3d {
namespace t {
namespace geometry {
namespace kernel {
namespace pointcloud {

void Unproject(const core::Tensor& depth,
               utility::optional<std::reference_wrapper<const core::Tensor>>
                       image_colors,
               core::Tensor& points,
               utility::optional<std::reference_wrapper<core::Tensor>> colors,
               const core::Tensor& intrinsics,
               const core::Tensor& extrinsics,
               float depth_scale,
               float depth_max,
               int64_t stride);

void Project(
        core::Tensor& depth,
        utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
        const core::Tensor& points,
        utility::optional<std::reference_wrapper<const core::Tensor>> colors,
        const core::Tensor& intrinsics,
        const core::Tensor& extrinsics,
        float depth_scale,
        float depth_max);

void UnprojectCPU(
        const core::Tensor& depth,
        utility::optional<std::reference_wrapper<const core::Tensor>>
                image_colors,
        core::Tensor& points,
        utility::optional<std::reference_wrapper<core::Tensor>> colors,
        const core::Tensor& intrinsics,
        const core::Tensor& extrinsics,
        float depth_scale,
        float depth_max,
        int64_t stride);

void ProjectCPU(
        core::Tensor& depth,
        utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
        const core::Tensor& points,
        utility::optional<std::reference_wrapper<const core::Tensor>> colors,
        const core::Tensor& intrinsics,
        const core::Tensor& extrinsics,
        float depth_scale,
        float depth_max);

#ifdef BUILD_CUDA_MODULE
void UnprojectCUDA(
        const core::Tensor& depth,
        utility::optional<std::reference_wrapper<const core::Tensor>>
                image_colors,
        core::Tensor& points,
        utility::optional<std::reference_wrapper<core::Tensor>> colors,
        const core::Tensor& intrinsics,
        const core::Tensor& extrinsics,
        float depth_scale,
        float depth_max,
        int64_t stride);

void ProjectCUDA(
        core::Tensor& depth,
        utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
        const core::Tensor& points,
        utility::optional<std::reference_wrapper<const core::Tensor>> colors,
        const core::Tensor& intrinsics,
        const core::Tensor& extrinsics,
        float depth_scale,
        float depth_max);
#endif

}  // namespace pointcloud
}  // namespace kernel
}  // namespace geometry
}  // namespace t
}  // namespace open3d