Open3D (C++ API)  0.19.0
Data Structures | Typedefs | Functions
open3d::t::geometry::kernel::voxel_grid Namespace Reference

Data Structures

struct  Coord3i
 
struct  Coord3iHash
 
struct  MiniVecCache
 

Typedefs

using index_t = int
 
using ArrayIndexer = TArrayIndexer< index_t >
 

Functions

void PointCloudTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
 
void DepthTouch (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
 
void GetVoxelCoordinatesAndFlattenedIndices (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
 
void Integrate (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_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, core::Tensor &fragment_buffer)
 
void RayCast (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
 
void ExtractPointCloud (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, int &valid_size)
 
void ExtractTriangleMesh (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 TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, int &vertex_count)
 
void PointCloudTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &points, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc)
 CPU. More...
 
void DepthTouchCPU (std::shared_ptr< core::HashMap > &hashmap, const core::Tensor &depth, const core::Tensor &intrinsic, const core::Tensor &extrinsic, core::Tensor &voxel_block_coords, index_t voxel_grid_resolution, float voxel_size, float sdf_trunc, float depth_scale, float depth_max, index_t stride)
 
void GetVoxelCoordinatesAndFlattenedIndicesCPU (const core::Tensor &buf_indices, const core::Tensor &block_keys, core::Tensor &voxel_coords, core::Tensor &flattened_indices, index_t block_resolution, float voxel_size)
 
template<typename input_depth_t , typename input_color_t , typename tsdf_t , typename weight_t , typename color_t >
void IntegrateCPU (const core::Tensor &depth, const core::Tensor &color, const core::Tensor &block_indices, const core::Tensor &block_keys, TensorMap &block_value_map, const core::Tensor &depth_intrinsic, const core::Tensor &color_intrinsic, const core::Tensor &extrinsic, index_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, core::Tensor &fragment_buffer)
 
template<typename tsdf_t , typename weight_t , typename color_t >
void RayCastCPU (std::shared_ptr< core::HashMap > &hashmap, const TensorMap &block_value_map, const core::Tensor &range_map, TensorMap &renderings_map, const core::Tensor &intrinsic, const core::Tensor &extrinsic, index_t h, index_t w, index_t block_resolution, float voxel_size, float depth_scale, float depth_min, float depth_max, float weight_threshold, float trunc_voxel_multiplier, int range_map_down_factor)
 
template<typename tsdf_t , typename weight_t , typename color_t >
void ExtractPointCloudCPU (const core::Tensor &block_indices, const core::Tensor &nb_block_indices, const core::Tensor &nb_block_masks, const core::Tensor &block_keys, const TensorMap &block_value_map, core::Tensor &points, core::Tensor &normals, core::Tensor &colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &valid_size)
 
template<typename tsdf_t , typename weight_t , typename color_t >
void ExtractTriangleMeshCPU (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 TensorMap &block_value_map, core::Tensor &vertices, core::Tensor &triangles, core::Tensor &vertex_normals, core::Tensor &vertex_colors, index_t block_resolution, float voxel_size, float weight_threshold, index_t &vertex_count)
 
template void IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t > (FN_ARGUMENTS)
 
template void IntegrateCPU< uint16_t, uint8_t, float, float, float > (FN_ARGUMENTS)
 
template void IntegrateCPU< float, float, float, uint16_t, uint16_t > (FN_ARGUMENTS)
 
template void IntegrateCPU< float, float, float, float, float > (FN_ARGUMENTS)
 
template void RayCastCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
 
template void RayCastCPU< float, float, float > (FN_ARGUMENTS)
 
template void ExtractPointCloudCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
 
template void ExtractPointCloudCPU< float, float, float > (FN_ARGUMENTS)
 
template void ExtractTriangleMeshCPU< float, uint16_t, uint16_t > (FN_ARGUMENTS)
 
template void ExtractTriangleMeshCPU< float, float, float > (FN_ARGUMENTS)
 
OPEN3D_DEVICE index_t DeviceGetLinearIdx (index_t xo, index_t yo, index_t zo, index_t curr_block_idx, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)
 
template<typename tsdf_t >
OPEN3D_DEVICE void DeviceGetNormal (const tsdf_t *tsdf_base_ptr, index_t xo, index_t yo, index_t zo, index_t curr_block_idx, float *n, index_t resolution, const ArrayIndexer &nb_block_masks_indexer, const ArrayIndexer &nb_block_indices_indexer)
 

Typedef Documentation

◆ ArrayIndexer

using open3d::t::geometry::kernel::voxel_grid::ArrayIndexer = typedef TArrayIndexer<index_t>

◆ index_t

typedef int open3d::t::geometry::kernel::voxel_grid::index_t

Function Documentation

◆ DepthTouch()

void open3d::t::geometry::kernel::voxel_grid::DepthTouch ( std::shared_ptr< core::HashMap > &  hashmap,
const core::Tensor &  depth,
const core::Tensor &  intrinsic,
const core::Tensor &  extrinsic,
core::Tensor &  voxel_block_coords,
index_t  voxel_grid_resolution,
float  voxel_size,
float  sdf_trunc,
float  depth_scale,
float  depth_max,
index_t  stride 
)

◆ DepthTouchCPU()

void open3d::t::geometry::kernel::voxel_grid::DepthTouchCPU ( std::shared_ptr< core::HashMap > &  hashmap,
const core::Tensor &  depth,
const core::Tensor &  intrinsic,
const core::Tensor &  extrinsic,
core::Tensor &  voxel_block_coords,
index_t  voxel_grid_resolution,
float  voxel_size,
float  sdf_trunc,
float  depth_scale,
float  depth_max,
index_t  stride 
)

◆ DeviceGetLinearIdx()

OPEN3D_DEVICE index_t open3d::t::geometry::kernel::voxel_grid::DeviceGetLinearIdx ( index_t  xo,
index_t  yo,
index_t  zo,
index_t  curr_block_idx,
index_t  resolution,
const ArrayIndexer &  nb_block_masks_indexer,
const ArrayIndexer &  nb_block_indices_indexer 
)
inline

◆ DeviceGetNormal()

template<typename tsdf_t >
OPEN3D_DEVICE void open3d::t::geometry::kernel::voxel_grid::DeviceGetNormal ( const tsdf_t *  tsdf_base_ptr,
index_t  xo,
index_t  yo,
index_t  zo,
index_t  curr_block_idx,
float *  n,
index_t  resolution,
const ArrayIndexer &  nb_block_masks_indexer,
const ArrayIndexer &  nb_block_indices_indexer 
)
inline

◆ EstimateRange()

void open3d::t::geometry::kernel::voxel_grid::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,
core::Tensor &  fragment_buffer 
)

◆ EstimateRangeCPU()

void open3d::t::geometry::kernel::voxel_grid::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,
core::Tensor &  fragment_buffer 
)

◆ ExtractPointCloud()

void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloud ( const core::Tensor &  block_indices,
const core::Tensor &  nb_block_indices,
const core::Tensor &  nb_block_masks,
const core::Tensor &  block_keys,
const TensorMap &  block_value_map,
core::Tensor &  points,
core::Tensor &  normals,
core::Tensor &  colors,
index_t  block_resolution,
float  voxel_size,
float  weight_threshold,
int &  valid_size 
)

◆ ExtractPointCloudCPU()

template<typename tsdf_t , typename weight_t , typename color_t >
void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU ( const core::Tensor &  block_indices,
const core::Tensor &  nb_block_indices,
const core::Tensor &  nb_block_masks,
const core::Tensor &  block_keys,
const TensorMap &  block_value_map,
core::Tensor &  points,
core::Tensor &  normals,
core::Tensor &  colors,
index_t  block_resolution,
float  voxel_size,
float  weight_threshold,
index_t &  valid_size 
)

Coordinate transform

Coordinate transform

◆ ExtractPointCloudCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, float, float > ( FN_ARGUMENTS  )

◆ ExtractPointCloudCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractPointCloudCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS  )

◆ ExtractTriangleMesh()

void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMesh ( 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 TensorMap &  block_value_map,
core::Tensor &  vertices,
core::Tensor &  triangles,
core::Tensor &  vertex_normals,
core::Tensor &  vertex_colors,
index_t  block_resolution,
float  voxel_size,
float  weight_threshold,
int &  vertex_count 
)

◆ ExtractTriangleMeshCPU()

template<typename tsdf_t , typename weight_t , typename color_t >
void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU ( 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 TensorMap &  block_value_map,
core::Tensor &  vertices,
core::Tensor &  triangles,
core::Tensor &  vertex_normals,
core::Tensor &  vertex_colors,
index_t  block_resolution,
float  voxel_size,
float  weight_threshold,
index_t &  vertex_count 
)

◆ ExtractTriangleMeshCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, float, float > ( FN_ARGUMENTS  )

◆ ExtractTriangleMeshCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::ExtractTriangleMeshCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS  )

◆ GetVoxelCoordinatesAndFlattenedIndices()

void open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndices ( const core::Tensor &  buf_indices,
const core::Tensor &  block_keys,
core::Tensor &  voxel_coords,
core::Tensor &  flattened_indices,
index_t  block_resolution,
float  voxel_size 
)

◆ GetVoxelCoordinatesAndFlattenedIndicesCPU()

void open3d::t::geometry::kernel::voxel_grid::GetVoxelCoordinatesAndFlattenedIndicesCPU ( const core::Tensor &  buf_indices,
const core::Tensor &  block_keys,
core::Tensor &  voxel_coords,
core::Tensor &  flattened_indices,
index_t  block_resolution,
float  voxel_size 
)

◆ Integrate()

void open3d::t::geometry::kernel::voxel_grid::Integrate ( const core::Tensor &  depth,
const core::Tensor &  color,
const core::Tensor &  block_indices,
const core::Tensor &  block_keys,
TensorMap &  block_value_map,
const core::Tensor &  depth_intrinsic,
const core::Tensor &  color_intrinsic,
const core::Tensor &  extrinsic,
index_t  resolution,
float  voxel_size,
float  sdf_trunc,
float  depth_scale,
float  depth_max 
)

◆ IntegrateCPU()

template<typename input_depth_t , typename input_color_t , typename tsdf_t , typename weight_t , typename color_t >
void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU ( const core::Tensor &  depth,
const core::Tensor &  color,
const core::Tensor &  block_indices,
const core::Tensor &  block_keys,
TensorMap &  block_value_map,
const core::Tensor &  depth_intrinsic,
const core::Tensor &  color_intrinsic,
const core::Tensor &  extrinsic,
index_t  resolution,
float  voxel_size,
float  sdf_trunc,
float  depth_scale,
float  depth_max 
)

Coordinate transform

Coordinate transform

◆ IntegrateCPU< float, float, float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, float, float > ( FN_ARGUMENTS  )

◆ IntegrateCPU< float, float, float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< float, float, float, uint16_t, uint16_t > ( FN_ARGUMENTS  )

◆ IntegrateCPU< uint16_t, uint8_t, float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, float, float > ( FN_ARGUMENTS  )

◆ IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::IntegrateCPU< uint16_t, uint8_t, float, uint16_t, uint16_t > ( FN_ARGUMENTS  )

◆ PointCloudTouch()

void open3d::t::geometry::kernel::voxel_grid::PointCloudTouch ( std::shared_ptr< core::HashMap > &  hashmap,
const core::Tensor &  points,
core::Tensor &  voxel_block_coords,
index_t  voxel_grid_resolution,
float  voxel_size,
float  sdf_trunc 
)

◆ PointCloudTouchCPU()

void open3d::t::geometry::kernel::voxel_grid::PointCloudTouchCPU ( std::shared_ptr< core::HashMap > &  hashmap,
const core::Tensor &  points,
core::Tensor &  voxel_block_coords,
index_t  voxel_grid_resolution,
float  voxel_size,
float  sdf_trunc 
)

CPU.

◆ RayCast()

void open3d::t::geometry::kernel::voxel_grid::RayCast ( std::shared_ptr< core::HashMap > &  hashmap,
const TensorMap &  block_value_map,
const core::Tensor &  range_map,
TensorMap &  renderings_map,
const core::Tensor &  intrinsic,
const core::Tensor &  extrinsic,
index_t  h,
index_t  w,
index_t  block_resolution,
float  voxel_size,
float  depth_scale,
float  depth_min,
float  depth_max,
float  weight_threshold,
float  trunc_voxel_multiplier,
int  range_map_down_factor 
)

◆ RayCastCPU()

template<typename tsdf_t , typename weight_t , typename color_t >
void open3d::t::geometry::kernel::voxel_grid::RayCastCPU ( std::shared_ptr< core::HashMap > &  hashmap,
const TensorMap &  block_value_map,
const core::Tensor &  range_map,
TensorMap &  renderings_map,
const core::Tensor &  intrinsic,
const core::Tensor &  extrinsic,
index_t  h,
index_t  w,
index_t  block_resolution,
float  voxel_size,
float  depth_scale,
float  depth_min,
float  depth_max,
float  weight_threshold,
float  trunc_voxel_multiplier,
int  range_map_down_factor 
)

◆ RayCastCPU< float, float, float >()

template void open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, float, float > ( FN_ARGUMENTS  )

◆ RayCastCPU< float, uint16_t, uint16_t >()

template void open3d::t::geometry::kernel::voxel_grid::RayCastCPU< float, uint16_t, uint16_t > ( FN_ARGUMENTS  )
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