Open3D (C++ API)  0.19.0
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FillInLinearSystem.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#include "open3d/core/CUDAUtils.h"
9#include "open3d/core/Tensor.h"
10namespace open3d {
11namespace t {
12namespace pipelines {
13namespace kernel {
14
15void FillInRigidAlignmentTerm(core::Tensor &AtA,
16 core::Tensor &Atb,
17 core::Tensor &residual,
18 const core::Tensor &Ti_qs,
19 const core::Tensor &Tj_qs,
20 const core::Tensor &Ri_normal_ps,
21 int i,
22 int j,
23 float threshold);
24
25void FillInSLACAlignmentTerm(core::Tensor &AtA,
26 core::Tensor &Atb,
27 core::Tensor &residual,
28 const core::Tensor &Ti_qs,
29 const core::Tensor &Tj_qs,
30 const core::Tensor &normal_ps,
31 const core::Tensor &Ri_normal_ps,
32 const core::Tensor &RjT_Ri_normal_ps,
33 const core::Tensor &cgrid_idx_ps,
34 const core::Tensor &cgrid_idx_qs,
35 const core::Tensor &cgrid_ratio_qs,
36 const core::Tensor &cgrid_ratio_ps,
37 int i,
38 int j,
39 int n,
40 float threshold);
41
42void FillInSLACRegularizerTerm(core::Tensor &AtA,
43 core::Tensor &Atb,
44 core::Tensor &residual,
45 const core::Tensor &grid_idx,
46 const core::Tensor &grid_nbs_idx,
47 const core::Tensor &grid_nbs_mask,
48 const core::Tensor &positions_init,
49 const core::Tensor &positions_curr,
50 float weight,
51 int n,
52 int anchor_idx);
53
54void FillInRigidAlignmentTermCPU(core::Tensor &AtA,
55 core::Tensor &Atb,
56 core::Tensor &residual,
57 const core::Tensor &Ti_qs,
58 const core::Tensor &Tj_qs,
59 const core::Tensor &Ri_normal_ps,
60 int i,
61 int j,
62 float threshold);
63
64void FillInSLACAlignmentTermCPU(core::Tensor &AtA,
65 core::Tensor &Atb,
66 core::Tensor &residual,
67 const core::Tensor &Ti_qs,
68 const core::Tensor &Tj_qs,
69 const core::Tensor &normal_ps,
70 const core::Tensor &Ri_normal_ps,
71 const core::Tensor &RjT_Ri_normal_ps,
72 const core::Tensor &cgrid_idx_ps,
73 const core::Tensor &cgrid_idx_qs,
74 const core::Tensor &cgrid_ratio_qs,
75 const core::Tensor &cgrid_ratio_ps,
76 int i,
77 int j,
78 int n,
79 float threshold);
80
81void FillInSLACRegularizerTermCPU(core::Tensor &AtA,
82 core::Tensor &Atb,
83 core::Tensor &residual,
84 const core::Tensor &grid_idx,
85 const core::Tensor &grid_nbs_idx,
86 const core::Tensor &grid_nbs_mask,
87 const core::Tensor &positions_init,
88 const core::Tensor &positions_curr,
89 float weight,
90 int n,
91 int anchor_idx);
92
93#ifdef BUILD_CUDA_MODULE
94void FillInRigidAlignmentTermCUDA(core::Tensor &AtA,
95 core::Tensor &Atb,
96 core::Tensor &residual,
97 const core::Tensor &Ti_qs,
98 const core::Tensor &Tj_qs,
99 const core::Tensor &Ri_normal_ps,
100 int i,
101 int j,
102 float threshold);
103
104void FillInSLACAlignmentTermCUDA(core::Tensor &AtA,
105 core::Tensor &Atb,
106 core::Tensor &residual,
107 const core::Tensor &Ti_qs,
108 const core::Tensor &Tj_qs,
109 const core::Tensor &normal_ps,
110 const core::Tensor &Ri_normal_ps,
111 const core::Tensor &RjT_Ri_normal_ps,
112 const core::Tensor &cgrid_idx_ps,
113 const core::Tensor &cgrid_idx_qs,
114 const core::Tensor &cgrid_ratio_qs,
115 const core::Tensor &cgrid_ratio_ps,
116 int i,
117 int j,
118 int n,
119 float threshold);
120
121void FillInSLACRegularizerTermCUDA(core::Tensor &AtA,
122 core::Tensor &Atb,
123 core::Tensor &residual,
124 const core::Tensor &grid_idx,
125 const core::Tensor &grid_nbs_idx,
126 const core::Tensor &grid_nbs_mask,
127 const core::Tensor &positions_init,
128 const core::Tensor &positions_curr,
129 float weight,
130 int n,
131 int anchor_idx);
132
133#endif
134#ifdef BUILD_SYCL_MODULE
135void FillInRigidAlignmentTermSYCL(core::Tensor &AtA,
136 core::Tensor &Atb,
137 core::Tensor &residual,
138 const core::Tensor &Ti_qs,
139 const core::Tensor &Tj_qs,
140 const core::Tensor &Ri_normal_ps,
141 int i,
142 int j,
143 float threshold);
144
145void FillInSLACAlignmentTermSYCL(core::Tensor &AtA,
146 core::Tensor &Atb,
147 core::Tensor &residual,
148 const core::Tensor &Ti_qs,
149 const core::Tensor &Tj_qs,
150 const core::Tensor &normal_ps,
151 const core::Tensor &Ri_normal_ps,
152 const core::Tensor &RjT_Ri_normal_ps,
153 const core::Tensor &cgrid_idx_ps,
154 const core::Tensor &cgrid_idx_qs,
155 const core::Tensor &cgrid_ratio_qs,
156 const core::Tensor &cgrid_ratio_ps,
157 int i,
158 int j,
159 int n,
160 float threshold);
161
162void FillInSLACRegularizerTermSYCL(core::Tensor &AtA,
163 core::Tensor &Atb,
164 core::Tensor &residual,
165 const core::Tensor &grid_idx,
166 const core::Tensor &grid_nbs_idx,
167 const core::Tensor &grid_nbs_mask,
168 const core::Tensor &positions_init,
169 const core::Tensor &positions_curr,
170 float weight,
171 int n,
172 int anchor_idx);
173
174#endif
175
176} // namespace kernel
177} // namespace pipelines
178} // namespace t
179} // namespace open3d
CUDAUtils.h
Common CUDA utilities.
weight
Real weight
Definition SurfaceReconstructionPoisson.cpp:267
t
double t
Definition SurfaceReconstructionPoisson.cpp:172
open3d::t::pipelines::kernel::FillInSLACAlignmentTermCPU
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)
Definition FillInLinearSystemImpl.h:145
open3d::t::pipelines::kernel::FillInSLACRegularizerTerm
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)
Definition FillInLinearSystem.cpp:149
open3d::t::pipelines::kernel::FillInRigidAlignmentTermCPU
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)
Definition FillInLinearSystemImpl.h:42
open3d::t::pipelines::kernel::FillInRigidAlignmentTermSYCL
void FillInRigidAlignmentTermSYCL(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)
Definition FillInLinearSystemSYCL.cpp:48
open3d::t::pipelines::kernel::FillInSLACAlignmentTermSYCL
void FillInSLACAlignmentTermSYCL(core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_Cps, const core::Tensor &Tj_Cqs, const core::Tensor &Cnormal_ps, const core::Tensor &Ri_Cnormal_ps, const core::Tensor &RjT_Ri_Cnormal_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_frags, float threshold)
Definition FillInLinearSystemSYCL.cpp:145
open3d::t::pipelines::kernel::FillInSLACAlignmentTerm
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)
Definition FillInLinearSystem.cpp:76
open3d::t::pipelines::kernel::FillInSLACRegularizerTermSYCL
void FillInSLACRegularizerTermSYCL(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_frags, int anchor_idx)
Definition FillInLinearSystemSYCL.cpp:396
open3d::t::pipelines::kernel::FillInRigidAlignmentTerm
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)
Definition FillInLinearSystem.cpp:18
open3d::t::pipelines::kernel::FillInSLACRegularizerTermCPU
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)
Definition FillInLinearSystemImpl.h:292
open3d
Definition PinholeCameraIntrinsic.cpp:16
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