Namespaces
	detail_

	filesystem

	random

Data Structures
struct	MiniVecHash

struct	MiniVecEq

class	CompilerInfo
	Compiler information. More...

class	CPUInfo
	CPU information. More...

struct	hash_tuple

struct	hash_tuple< std::tuple< TT... > >

struct	hash_eigen

struct	hash_enum_class

class	IJsonConvertible

class	ISAInfo
	ISA information. More...

class	Logger
	Logger class should be used as a global singleton object (GetInstance()). More...

class	VerbosityContextManager

struct	MiniVec

struct	in_place_t

class	optional

struct	trivial_init_t

struct	nullopt_t

class	bad_optional_access

union	storage_t

union	constexpr_storage_t

struct	optional_base

struct	constexpr_optional_base

class	optional< T & >

class	optional< T && >

struct	Overloaded

struct	Overloaded< T1, Ts... >

struct	Overloaded< T1 >

class	ProgressBar

class	OMPProgressBar

class	CountingProgressReporter

struct	ConsoleProgressUpdater
	update_progress(double percent) functor for ProgressBar More...

class	Timer

class	ScopeTimer

class	FPSTimer

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	Vector3uint8_allocator = Eigen::aligned_allocator< Eigen::Vector3uint8 >

using	Vector4i_allocator = Eigen::aligned_allocator< Eigen::Vector4i >

using	Vector4d_allocator = Eigen::aligned_allocator< Eigen::Vector4d >

using	Vector6d_allocator = Eigen::aligned_allocator< Eigen::Vector6d >

template<class T >
using	OptionalBase = typename std::conditional< std::is_trivially_destructible< T >::value, constexpr_optional_base< typename std::remove_const< T >::type >, optional_base< typename std::remove_const< T >::type > >::type

Enumerations
enum class	ISATarget { SSE2 = 100 , SSE4 = 101 , AVX = 102 , AVX2 = 103 , AVX512KNL = 104 , AVX512SKX = 105 , NEON = 200 , GENX = 300 , UNKNOWN = -1 , DISABLED = -100 }
	Set of known ISA targets. More...

enum class	TextColor { Black = 0 , Red = 1 , Green = 2 , Yellow = 3 , Blue = 4 , Magenta = 5 , Cyan = 6 , White = 7 }

enum class	VerbosityLevel { Error = 0 , Warning = 1 , Info = 2 , Debug = 3 }

Functions
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)

std::string	GetMD5 (const std::string &file_path)
	Computes MD5 Hash for the given file. More...

std::string	DownloadFromURL (const std::string &url, const std::string &md5, const std::string &download_dir)
	Download a file from URL. If a file already exists and the MD5 hash matches, the download will be skipped. More...

std::string	DownloadFromMirrors (const std::vector< std::string > &mirrors, const std::string &md5, const std::string &download_dir)
	Download a file from list of mirror URLs. If a file already exists and the MD5 hash matches, the download will be skipped. All file names must be the same in mirrors. More...

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 &, 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 > &, 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 &, 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 > &, std::vector< double > &)> f, int iteration_num, bool verbose)

Eigen::Matrix3d	RotationMatrixX (double radians)

Eigen::Matrix3d	RotationMatrixY (double radians)

Eigen::Matrix3d	RotationMatrixZ (double radians)

Eigen::Vector3uint8	ColorToUint8 (const Eigen::Vector3d &color)

Eigen::Vector3d	ColorToDouble (uint8_t r, uint8_t g, uint8_t b)
	Color conversion from uint8_t 0-255 to double [0,1]. More...

Eigen::Vector3d	ColorToDouble (const Eigen::Vector3uint8 &rgb)

template<typename IdxType >
Eigen::Matrix3d	ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< IdxType > &indices)
	Function to compute the covariance matrix of a set of points. More...

template<typename IdxType >
std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< IdxType > &indices)
	Function to compute the mean and covariance matrix of a set of points. More...

template Eigen::Matrix3d	ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< size_t > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< size_t > &indices)

template Eigen::Matrix3d	ComputeCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< int > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const std::vector< Eigen::Vector3d > &points, const std::vector< int > &indices)

template<typename RealType , typename IdxType >
std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const RealType *const points, const std::vector< IdxType > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const float *const points, const std::vector< size_t > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const double *const points, const std::vector< size_t > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const float *const points, const std::vector< int > &indices)

template std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance (const double *const points, const std::vector< int > &indices)

Eigen::Matrix3d	SkewMatrix (const Eigen::Vector3d &vec)
	Genretate a skew-symmetric matrix from a vector 3x1. More...

bool	IsSupportedCompressedFilePath (const std::string &file_path)
	Returns true if the file is a supported compressed file path. It does not check if the file exists. It only checks the file extension. More...

void	Extract (const std::string &file_path, const std::string &extract_dir)
	Function to extract compressed files. More...

void	ExtractFromZIP (const std::string &file_path, const std::string &extract_dir)
	Function to extract files compressed in `.zip` format. More...

std::vector< std::string >	SplitString (const std::string &str, const std::string &delimiters, bool trim_empty_str)

bool	ContainsString (const std::string &src, const std::string &dst)

bool	StringStartsWith (const std::string &src, const std::string &tar)

bool	StringEndsWith (const std::string &src, const std::string &tar)

std::string	JoinStrings (const std::vector< std::string > &strs, const std::string &delimiter)

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)

std::string	ToLower (const std::string &s)
	Convert string to the lower case. More...

std::string	ToUpper (const std::string &s)
	Convert string to the upper case. More...

size_t	WordLength (const std::string &doc, size_t start_pos, const std::string &valid_chars)

void	Sleep (int milliseconds)

std::string	GetCurrentTimeStamp ()
	Returns current time stamp. More...

template<typename... Args>
std::string	FormatString (const std::string &format, Args... args)
	Format string. More...

template<typename... Args>
std::string	FastFormatString (const std::string &format, Args... args)
	Format string fast (Unix / BSD Only) More...

int	DivUp (int x, int y)
	Computes the quotient of x/y with rounding up. More...

Json::Value	StringToJson (const std::string &json_str)
	Parse string and convert to Json::value. Throws exception if the conversion is invalid. More...

std::string	JsonToString (const Json::Value &json)
	Serialize a Json::Value to a string. More...

void	SetVerbosityLevel (VerbosityLevel level)

VerbosityLevel	GetVerbosityLevel ()
	Get global verbosity level of Open3D. More...

template<int N>
FN_SPECIFIERS MiniVec< float, N >	floor (const MiniVec< float, N > &a)

template<int N>
FN_SPECIFIERS MiniVec< double, N >	floor (const MiniVec< double, N > &a)

template<int N>
FN_SPECIFIERS MiniVec< float, N >	ceil (const MiniVec< float, N > &a)

template<int N>
FN_SPECIFIERS MiniVec< double, N >	ceil (const MiniVec< double, N > &a)

template<class T , int N>
FN_SPECIFIERS MiniVec< T, N >	operator- (const MiniVec< T, N > &a)

template<class T , int N>
FN_SPECIFIERS MiniVec< T, N >	operator! (const MiniVec< T, N > &a)

template<class T >
constexpr T &&	constexpr_forward (typename std::remove_reference< T >::type &t) noexcept

template<class T >
constexpr T &&	constexpr_forward (typename std::remove_reference< T >::type &&t) noexcept

template<class T >
constexpr std::remove_reference< T >::type &&	constexpr_move (T &&t) noexcept

template<class T >
constexpr bool	operator== (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator!= (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator< (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator> (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator<= (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator>= (const optional< T > &x, const optional< T > &y)

template<class T >
constexpr bool	operator== (const optional< T > &x, nullopt_t) noexcept

template<class T >
constexpr bool	operator== (nullopt_t, const optional< T > &x) noexcept

template<class T >
constexpr bool	operator!= (const optional< T > &x, nullopt_t) noexcept

template<class T >
constexpr bool	operator!= (nullopt_t, const optional< T > &x) noexcept

template<class T >
constexpr bool	operator< (const optional< T > &, nullopt_t) noexcept

template<class T >
constexpr bool	operator< (nullopt_t, const optional< T > &x) noexcept

template<class T >
constexpr bool	operator<= (const optional< T > &x, nullopt_t) noexcept

template<class T >
constexpr bool	operator<= (nullopt_t, const optional< T > &) noexcept

template<class T >
constexpr bool	operator> (const optional< T > &x, nullopt_t) noexcept

template<class T >
constexpr bool	operator> (nullopt_t, const optional< T > &) noexcept

template<class T >
constexpr bool	operator>= (const optional< T > &, nullopt_t) noexcept

template<class T >
constexpr bool	operator>= (nullopt_t, const optional< T > &x) noexcept

template<class T >
constexpr bool	operator== (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator== (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator!= (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator!= (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator< (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator> (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator> (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator< (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator>= (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator<= (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator<= (const optional< T > &x, const T &v)

template<class T >
constexpr bool	operator>= (const T &v, const optional< T > &x)

template<class T >
constexpr bool	operator== (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator== (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator!= (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator!= (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator< (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator> (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator> (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator< (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator>= (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator<= (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator<= (const optional< T & > &x, const T &v)

template<class T >
constexpr bool	operator>= (const T &v, const optional< T & > &x)

template<class T >
constexpr bool	operator== (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator== (const T &v, const optional< const T & > &x)

template<class T >
constexpr bool	operator!= (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator!= (const T &v, const optional< const T & > &x)

template<class T >
constexpr bool	operator< (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator> (const T &v, const optional< const T & > &x)

template<class T >
constexpr bool	operator> (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator< (const T &v, const optional< const T & > &x)

template<class T >
constexpr bool	operator>= (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator<= (const T &v, const optional< const T & > &x)

template<class T >
constexpr bool	operator<= (const optional< const T & > &x, const T &v)

template<class T >
constexpr bool	operator>= (const T &v, const optional< const T & > &x)

template<class T >
void	swap (optional< T > &x, optional< T > &y) noexcept(noexcept(x.swap(y)))

template<class T >
constexpr optional< typename std::decay< T >::type >	make_optional (T &&v)

template<class X >
constexpr optional< X & >	make_optional (std::reference_wrapper< X > v)

template<typename... Ts>
Overloaded< Ts... >	Overload (Ts... ts)

int	EstimateMaxThreads ()
	Estimate the maximum number of threads to be used in a parallel region. More...

bool	InParallel ()
	Returns true if in an parallel section. More...

template<class Tin , class Tout >
void	InclusivePrefixSum (const Tin first, const Tin last, Tout *out)

Variables
constexpr in_place_t	in_place {}

constexpr struct open3d::utility::trivial_init_t	trivial_init

constexpr nullopt_t	nullopt {nullopt_t::init()}

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>

◆ OptionalBase

template<class T >

using open3d::utility::OptionalBase = typedef typename std::conditional< std::is_trivially_destructible<T>::value, constexpr_optional_base<typename std::remove_const< T>::type>, optional_base<typename std::remove_const<T>::type> >::type

◆ Vector2d_allocator

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

◆ Vector3uint8_allocator

using open3d::utility::Vector3uint8_allocator = typedef Eigen::aligned_allocator<Eigen::Vector3uint8>

◆ 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

◆ ISATarget

enum open3d::utility::ISATarget

strong

Set of known ISA targets.

Enumerator
SSE2
SSE4
AVX
AVX2
AVX512KNL
AVX512SKX
NEON
GENX
UNKNOWN
DISABLED

◆ TextColor

enum open3d::utility::TextColor

strong

Enumerator
Black
Red
Green
Yellow
Blue
Magenta
Cyan
White

◆ VerbosityLevel

enum open3d::utility::VerbosityLevel

strong

Enumerator
Error	LogError throws now a runtime_error with the given error message. This should be used if there is no point in continuing the given algorithm at some point and the error is not returned in another way (e.g., via a bool/int as return value).
Warning	LogWarning is used if an error occurs, but the error is also signaled via a return value (i.e., there is no need to throw an exception). This warning should further be used, if the algorithms encounters a state that does not break its continuation, but the output is likely not to be what the user expected.
Info	LogInfo is used to inform the user with expected output, e.g, pressed a key in the visualizer prints helping information.
Debug	LogDebug is used to print debug/additional information on the state of the algorithm.

Function Documentation

◆ ceil() [1/2]

template<int N>

FN_SPECIFIERS MiniVec<double, N> open3d::utility::ceil ( const MiniVec< double, N > & a )

◆ ceil() [2/2]

template<int N>

FN_SPECIFIERS MiniVec<float, N> open3d::utility::ceil ( const MiniVec< float, N > & a )

◆ ColorToDouble() [1/2]

Eigen::Vector3d open3d::utility::ColorToDouble ( const Eigen::Vector3uint8 & rgb )

◆ ColorToDouble() [2/2]

Eigen::Vector3d open3d::utility::ColorToDouble	(	uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Color conversion from uint8_t 0-255 to double [0,1].

◆ ColorToUint8()

Eigen::Vector3uint8 open3d::utility::ColorToUint8 ( const Eigen::Vector3d & color )

Color conversion from double [0,1] to uint8_t 0-255; this does proper clipping and rounding

◆ ComputeCovariance() [1/3]

template<typename IdxType >

Eigen::Matrix3d open3d::utility::ComputeCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< IdxType > &	indices
	)

Function to compute the covariance matrix of a set of points.

◆ ComputeCovariance() [2/3]

template Eigen::Matrix3d open3d::utility::ComputeCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< int > &	indices
	)

◆ ComputeCovariance() [3/3]

template Eigen::Matrix3d open3d::utility::ComputeCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< size_t > &	indices
	)

◆ ComputeJTJandJTr() [1/4]

template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr	(	std::function< void(int, Eigen::Vector6d &, double &, double &)>	f,
		int	iteration_num,
		bool	verbose
	)

◆ ComputeJTJandJTr() [2/4]

template std::tuple<Eigen::Matrix6d, Eigen::Vector6d, double> open3d::utility::ComputeJTJandJTr	(	std::function< void(int, std::vector< Eigen::Vector6d, Vector6d_allocator > &, std::vector< double > &, std::vector< double > &)>	f,
		int	iteration_num,
		bool	verbose
	)

◆ ComputeJTJandJTr() [3/4]

template<typename MatType , typename VecType >

std::tuple< MatType, VecType, double > open3d::utility::ComputeJTJandJTr	(	std::function< void(int, std::vector< VecType, Eigen::aligned_allocator< VecType >> &, std::vector< double > &, std::vector< 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() [4/4]

template<typename MatType , typename VecType >

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

◆ ComputeMeanAndCovariance() [1/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const double *const	points,
		const std::vector< int > &	indices
	)

◆ ComputeMeanAndCovariance() [2/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const double *const	points,
		const std::vector< size_t > &	indices
	)

◆ ComputeMeanAndCovariance() [3/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const float *const	points,
		const std::vector< int > &	indices
	)

◆ ComputeMeanAndCovariance() [4/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const float *const	points,
		const std::vector< size_t > &	indices
	)

◆ ComputeMeanAndCovariance() [5/8]

template<typename RealType , typename IdxType >

std::tuple< Eigen::Vector3d, Eigen::Matrix3d > open3d::utility::ComputeMeanAndCovariance	(	const RealType *const	points,
		const std::vector< IdxType > &	indices
	)

Function to compute the mean and covariance matrix of a set of points.

Template Parameters

RealType	Either float or double.
IdxType	Either size_t or int.

Parameters

points	Contiguous memory with the 3D points.
indices	The indices for which the mean and covariance will be computed.

Returns: The mean and covariance matrix.

◆ ComputeMeanAndCovariance() [6/8]

template<typename IdxType >

std::tuple< Eigen::Vector3d, Eigen::Matrix3d > open3d::utility::ComputeMeanAndCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< IdxType > &	indices
	)

Function to compute the mean and covariance matrix of a set of points.

◆ ComputeMeanAndCovariance() [7/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< int > &	indices
	)

◆ ComputeMeanAndCovariance() [8/8]

template std::tuple<Eigen::Vector3d, Eigen::Matrix3d> open3d::utility::ComputeMeanAndCovariance	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< size_t > &	indices
	)

◆ constexpr_forward() [1/2]

template<class T >

constexpr T&& open3d::utility::constexpr_forward ( typename std::remove_reference< T >::type && t )

inlineconstexprnoexcept

◆ constexpr_forward() [2/2]

template<class T >

constexpr T&& open3d::utility::constexpr_forward ( typename std::remove_reference< T >::type & t )

inlineconstexprnoexcept

◆ constexpr_move()

template<class T >

constexpr std::remove_reference<T>::type&& open3d::utility::constexpr_move ( T && t )

inlineconstexprnoexcept

◆ ContainsString()

bool open3d::utility::ContainsString	(	const std::string &	src,
		const std::string &	dst
	)

Returns true of the source string contains the destination string.

Parameters

src	Source string.
dst	Destination string.

◆ DivUp()

int open3d::utility::DivUp	(	int	x,
		int	y
	)

inline

Computes the quotient of x/y with rounding up.

◆ DownloadFromMirrors()

std::string open3d::utility::DownloadFromMirrors	(	const std::vector< std::string > &	mirrors,
		const std::string &	md5,
		const std::string &	download_dir
	)

Download a file from list of mirror URLs. If a file already exists and the MD5 hash matches, the download will be skipped. All file names must be the same in mirrors.

Parameters

mirrors	List of file mirror URLs for the same file. The saved file name will be the last part of the URL.
md5	MD5 checksum of the file. This is required as the same URL may point to different files over time.
download_dir	The file will be downloaded to download_dir.

Returns: Path to downloaded file.

Exceptions

std::runtime_error If the download fails.

◆ DownloadFromURL()

std::string open3d::utility::DownloadFromURL	(	const std::string &	url,
		const std::string &	md5,
		const std::string &	download_dir
	)

Download a file from URL. If a file already exists and the MD5 hash matches, the download will be skipped.

Parameters

url	File URL. The saved file name will be the last part of the URL.
md5	MD5 checksum of the file. This is required as the same URL may point to different files over time.
download_dir	The file will be downloaded to download_dir.

Returns: Path to downloaded file.

Exceptions

std::runtime_error If the download fails.

◆ EstimateMaxThreads()

int open3d::utility::EstimateMaxThreads ( )

Estimate the maximum number of threads to be used in a parallel region.

◆ Extract()

void open3d::utility::Extract	(	const std::string &	file_path,
		const std::string &	extract_dir
	)

Function to extract compressed files.

Parameters

file_path	Path to file. Example: "/path/to/file/file.zip"
extract_dir	Directory path where the file will be extracted to. If the directory does not exist, it will be created.

◆ ExtractFromZIP()

void open3d::utility::ExtractFromZIP	(	const std::string &	file_path,
		const std::string &	extract_dir
	)

Function to extract files compressed in .zip format.

Parameters

file_path	Path to file. Example: "/path/to/file/file.zip"
extract_dir	Directory path where the file will be extracted to.

◆ FastFormatString()

template<typename... Args>

std::string open3d::utility::FastFormatString	(	const std::string &	format,
		Args...	args
	)

inline

Format string fast (Unix / BSD Only)

◆ floor() [1/2]

template<int N>

FN_SPECIFIERS MiniVec<double, N> open3d::utility::floor ( const MiniVec< double, N > & a )

◆ floor() [2/2]

template<int N>

FN_SPECIFIERS MiniVec<float, N> open3d::utility::floor ( const MiniVec< float, N > & a )

◆ FormatString()

template<typename... Args>

std::string open3d::utility::FormatString	(	const std::string &	format,
		Args...	args
	)

inline

Format string.

◆ GetCurrentTimeStamp()

std::string open3d::utility::GetCurrentTimeStamp ( )

Returns current time stamp.

◆ GetMD5()

std::string open3d::utility::GetMD5 ( const std::string & file_path )

Computes MD5 Hash for the given file.

Parameters

file_path Path to the file.

◆ 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 ( )

Get global verbosity level of Open3D.

◆ InclusivePrefixSum()

template<class Tin , class Tout >

void open3d::utility::InclusivePrefixSum	(	const Tin *	first,
		const Tin *	last,
		Tout *	out
	)

◆ InParallel()

bool open3d::utility::InParallel ( )

Returns true if in an parallel section.

◆ IsSupportedCompressedFilePath()

bool open3d::utility::IsSupportedCompressedFilePath ( const std::string & file_path )

Returns true if the file is a supported compressed file path. It does not check if the file exists. It only checks the file extension.

Parameters

file_path The file path to check.

◆ JoinStrings()

std::string open3d::utility::JoinStrings	(	const std::vector< std::string > &	strs,
		const std::string &	delimiter
	)

◆ JsonToString()

std::string open3d::utility::JsonToString ( const Json::Value & json )

Serialize a Json::Value to a string.

Parameters

json	The Json::Value object to be converted.

Returns: A string containing the json value.

◆ LeftStripString()

std::string & open3d::utility::LeftStripString	(	std::string &	str,
		const std::string &	chars
	)

◆ make_optional() [1/2]

template<class X >

constexpr optional<X&> open3d::utility::make_optional ( std::reference_wrapper< X > v )

constexpr

◆ make_optional() [2/2]

template<class T >

constexpr optional<typename std::decay<T>::type> open3d::utility::make_optional ( T && v )

constexpr

◆ operator!()

template<class T , int N>

FN_SPECIFIERS MiniVec<T, N> open3d::utility::operator! ( const MiniVec< T, N > & a )

◆ operator!=() [1/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator!=() [2/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator!=() [3/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator!=() [4/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator!=() [5/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const optional< T > &	x,
		nullopt_t
	)

constexprnoexcept

◆ operator!=() [6/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator!=() [7/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator!=() [8/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator!=() [9/9]

template<class T >

constexpr bool open3d::utility::operator!=	(	nullopt_t	,
		const optional< T > &	x
	)

constexprnoexcept

◆ operator-()

template<class T , int N>

FN_SPECIFIERS MiniVec<T, N> open3d::utility::operator- ( const MiniVec< T, N > & a )

◆ operator<() [1/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator<() [2/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator<() [3/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const optional< T > &	,
		nullopt_t
	)

constexprnoexcept

◆ operator<() [4/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator<() [5/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator<() [6/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator<() [7/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator<() [8/9]

template<class T >

constexpr bool open3d::utility::operator<	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator<() [9/9]

template<class T >

constexpr bool open3d::utility::operator<	(	nullopt_t	,
		const optional< T > &	x
	)

constexprnoexcept

◆ operator<=() [1/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator<=() [2/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator<=() [3/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator<=() [4/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator<=() [5/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const optional< T > &	x,
		nullopt_t
	)

constexprnoexcept

◆ operator<=() [6/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator<=() [7/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator<=() [8/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator<=() [9/9]

template<class T >

constexpr bool open3d::utility::operator<=	(	nullopt_t	,
		const optional< T > &
	)

constexprnoexcept

◆ operator==() [1/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator==() [2/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator==() [3/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator==() [4/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator==() [5/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const optional< T > &	x,
		nullopt_t
	)

constexprnoexcept

◆ operator==() [6/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator==() [7/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator==() [8/9]

template<class T >

constexpr bool open3d::utility::operator==	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator==() [9/9]

template<class T >

constexpr bool open3d::utility::operator==	(	nullopt_t	,
		const optional< T > &	x
	)

constexprnoexcept

◆ operator>() [1/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator>() [2/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator>() [3/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator>() [4/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator>() [5/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const optional< T > &	x,
		nullopt_t
	)

constexprnoexcept

◆ operator>() [6/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator>() [7/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator>() [8/9]

template<class T >

constexpr bool open3d::utility::operator>	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator>() [9/9]

template<class T >

constexpr bool open3d::utility::operator>	(	nullopt_t	,
		const optional< T > &
	)

constexprnoexcept

◆ operator>=() [1/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const optional< const T & > &	x,
		const T &	v
	)

constexpr

◆ operator>=() [2/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const optional< T & > &	x,
		const T &	v
	)

constexpr

◆ operator>=() [3/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const optional< T > &	,
		nullopt_t
	)

constexprnoexcept

◆ operator>=() [4/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const optional< T > &	x,
		const optional< T > &	y
	)

constexpr

◆ operator>=() [5/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const optional< T > &	x,
		const T &	v
	)

constexpr

◆ operator>=() [6/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const T &	v,
		const optional< const T & > &	x
	)

constexpr

◆ operator>=() [7/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const T &	v,
		const optional< T & > &	x
	)

constexpr

◆ operator>=() [8/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	const T &	v,
		const optional< T > &	x
	)

constexpr

◆ operator>=() [9/9]

template<class T >

constexpr bool open3d::utility::operator>=	(	nullopt_t	,
		const optional< T > &	x
	)

constexprnoexcept

◆ Overload()

template<typename... Ts>

Overloaded<Ts...> open3d::utility::Overload ( Ts... ts )

Overloads an arbitrary set of (lambda) functions.

Example:

auto Func = utility::Overload(
        [&](int i) { utility::LogInfo("Got int {}", i); },
        [&](float f) { utility::LogInfo("Got float {}", f); });
 
Func(1);     // Prints: Got int 1
Func(2.4f);  // Prints: Got float 2.4

◆ 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 )

Set global verbosity level of Open3D

Parameters

level Messages with equal or less than verbosity_level verbosity will be printed.

◆ SkewMatrix()

Eigen::Matrix3d open3d::utility::SkewMatrix ( const Eigen::Vector3d & vec )

Genretate a skew-symmetric matrix from a vector 3x1.

◆ 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()

std::vector< std::string > open3d::utility::SplitString	(	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

◆ StringEndsWith()

bool open3d::utility::StringEndsWith	(	const std::string &	src,
		const std::string &	tar
	)

Returns true if src ends with tar.

Parameters

src	Source string.
tar	Target string.

◆ StringStartsWith()

bool open3d::utility::StringStartsWith	(	const std::string &	src,
		const std::string &	tar
	)

Returns true if src starts with tar.

Parameters

src	Source string.
tar	Target string.

◆ StringToJson()

Json::Value open3d::utility::StringToJson ( const std::string & json_str )

Parse string and convert to Json::value. Throws exception if the conversion is invalid.

Parameters

json_str String containing json value.

Returns: A Json object.

◆ StripString()

std::string & open3d::utility::StripString	(	std::string &	str,
		const std::string &	chars = `"\t\n\v\f\r "`
	)

Strip empty characters in front and after string. Similar to Python's str.strip()

◆ swap()

template<class T >

void open3d::utility::swap	(	optional< T > &	x,
		optional< T > &	y
	)

noexcept

◆ ToLower()

std::string open3d::utility::ToLower ( const std::string & str )

Convert string to the lower case.

◆ ToUpper()

std::string open3d::utility::ToUpper ( const std::string & str )

Convert string to the upper case.

◆ 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 characters in a word

Variable Documentation

◆ in_place

constexpr in_place_t open3d::utility::in_place {}

constexpr

◆ nullopt

constexpr nullopt_t open3d::utility::nullopt {nullopt_t::init()}

constexpr

◆ trivial_init

constexpr struct open3d::utility::trivial_init_t open3d::utility::trivial_init

Namespaces

Data Structures

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Matrix4d_allocator

◆ Matrix6d_allocator

◆ OptionalBase

◆ Vector2d_allocator

◆ Vector3uint8_allocator

◆ Vector4d_allocator

◆ Vector4i_allocator

◆ Vector6d_allocator

Enumeration Type Documentation

◆ ISATarget

◆ TextColor

◆ VerbosityLevel

Function Documentation

◆ ceil() [1/2]

◆ ceil() [2/2]

◆ ColorToDouble() [1/2]

◆ ColorToDouble() [2/2]

◆ ColorToUint8()

◆ ComputeCovariance() [1/3]

◆ ComputeCovariance() [2/3]

◆ ComputeCovariance() [3/3]

◆ ComputeJTJandJTr() [1/4]

◆ ComputeJTJandJTr() [2/4]

◆ ComputeJTJandJTr() [3/4]

◆ ComputeJTJandJTr() [4/4]

◆ ComputeMeanAndCovariance() [1/8]

◆ ComputeMeanAndCovariance() [2/8]

◆ ComputeMeanAndCovariance() [3/8]

◆ ComputeMeanAndCovariance() [4/8]

◆ ComputeMeanAndCovariance() [5/8]

◆ ComputeMeanAndCovariance() [6/8]

◆ ComputeMeanAndCovariance() [7/8]

◆ ComputeMeanAndCovariance() [8/8]

◆ constexpr_forward() [1/2]

◆ constexpr_forward() [2/2]

◆ constexpr_move()

◆ ContainsString()

◆ DivUp()

◆ DownloadFromMirrors()

◆ DownloadFromURL()

◆ EstimateMaxThreads()

◆ Extract()

◆ ExtractFromZIP()

◆ FastFormatString()

◆ floor() [1/2]

◆ floor() [2/2]

◆ FormatString()

◆ GetCurrentTimeStamp()

◆ GetMD5()

◆ GetProgramOptionAsDouble()

◆ GetProgramOptionAsEigenVectorXd()

◆ GetProgramOptionAsInt()

◆ GetProgramOptionAsString()

◆ GetVerbosityLevel()

◆ InclusivePrefixSum()

◆ InParallel()

◆ IsSupportedCompressedFilePath()

◆ JoinStrings()

◆ JsonToString()

◆ LeftStripString()

◆ make_optional() [1/2]

◆ make_optional() [2/2]

◆ operator!()

◆ operator!=() [1/9]

◆ operator!=() [2/9]

◆ operator!=() [3/9]

◆ operator!=() [4/9]

◆ operator!=() [5/9]

◆ operator!=() [6/9]

◆ operator!=() [7/9]

◆ operator!=() [8/9]

◆ operator!=() [9/9]

◆ operator-()