open3d::utility Namespace Reference

Namespaces
	filesystem
	hash_eigen
	hash_tuple

Data Structures
class	ConsoleProgressBar
class	FPSTimer
class	IJsonConvertible
class	Logger
class	ScopeTimer
class	Timer

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	Vector4i_allocator = Eigen::aligned_allocator< Eigen::Vector4i >
using	Vector4d_allocator = Eigen::aligned_allocator< Eigen::Vector4d >
using	Vector6d_allocator = Eigen::aligned_allocator< Eigen::Vector6d >

Enumerations
enum	VerbosityLevel {   VerbosityLevel::Off = 0, VerbosityLevel::Fatal = 1, VerbosityLevel::Error = 2, VerbosityLevel::Warning = 3,   VerbosityLevel::Info = 4, VerbosityLevel::Debug = 5 }

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 ()
template<typename... Args>
void	LogFatal (const char *format, const Args &... args)
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)
template<typename... Args>
void	LogFatalf (const char *format, const Args &... args)
template<typename... Args>
void	LogErrorf (const char *format, const Args &... args)
template<typename... Args>
void	LogWarningf (const char *format, const Args &... args)
template<typename... Args>
void	LogInfof (const char *format, const Args &... args)
template<typename... Args>
void	LogDebugf (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 &)> 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 &)> 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)
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)
size_t	WordLength (const std::string &doc, size_t start_pos, const std::string &valid_chars)
void	Sleep (int milliseconds)

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>

Vector2d_allocator

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

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
Off
Fatal
Error
Warning
Info
Debug

Function Documentation

ComputeJTJandJTr() [1/4]

template<typename MatType , typename VecType >

std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr	(	std::function< void(int, VecType &, 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 &)>	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
	)

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

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

LogDebugf()

template<typename... Args>

void open3d::utility::LogDebugf ( const char *  format, const Args &...  args  )

inline

LogError()

template<typename... Args>

void open3d::utility::LogError ( const char *  format, const Args &...  args  )

inline

LogErrorf()

template<typename... Args>

void open3d::utility::LogErrorf ( const char *  format, const Args &...  args  )

inline

LogFatal()

template<typename... Args>

void open3d::utility::LogFatal ( const char *  format, const Args &...  args  )

inline

LogFatalf()

template<typename... Args>

void open3d::utility::LogFatalf ( const char *  format, const Args &...  args  )

inline

LogInfo()

template<typename... Args>

void open3d::utility::LogInfo ( const char *  format, const Args &...  args  )

inline

LogInfof()

template<typename... Args>

void open3d::utility::LogInfof ( const char *  format, const Args &...  args  )

inline

LogWarning()

template<typename... Args>

void open3d::utility::LogWarning ( const char *  format, const Args &...  args  )

inline

LogWarningf()

template<typename... Args>

void open3d::utility::LogWarningf ( const char *  format, const Args &...  args  )

inline

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

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()

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

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