PointCloud.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "cloudViewer/t/geometry/kernel/PointCloud.h"
 
#include <Logging.h>
 
#include <vector>
 
#include "cloudViewer/core/CUDAUtils.h"
#include "cloudViewer/core/ShapeUtil.h"
#include "cloudViewer/core/Tensor.h"
 
namespace cloudViewer {
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) {
    if (image_colors.has_value() != colors.has_value()) {
        utility::LogError(
                "Both or none of image_colors and colors must have values.");
    }
 
    core::AssertTensorShape(intrinsics, {3, 3});
    core::AssertTensorShape(extrinsics, {4, 4});
 
    static const core::Device host("CPU:0");
    core::Tensor intrinsics_d = intrinsics.To(host, core::Float64).Contiguous();
    core::Tensor extrinsics_d = extrinsics.To(host, core::Float64).Contiguous();
 
    const core::Device device = depth.GetDevice();
 
    if (image_colors.has_value()) {
        core::AssertTensorDevice(image_colors.value(), device);
    }
 
    if (depth.IsCPU()) {
        UnprojectCPU(depth, image_colors, points, colors, intrinsics_d,
                     extrinsics_d, depth_scale, depth_max, stride);
    } else if (depth.IsCUDA()) {
        CUDA_CALL(UnprojectCUDA, depth, image_colors, points, colors,
                  intrinsics_d, extrinsics_d, depth_scale, depth_max, stride);
    } else {
        utility::LogError("Unimplemented device");
    }
}
 
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) {
    if (image_colors.has_value() != colors.has_value()) {
        utility::LogError(
                "Both or none of image_colors and colors must have values.");
    }
 
    core::AssertTensorShape(intrinsics, {3, 3});
    core::AssertTensorShape(extrinsics, {4, 4});
 
    static const core::Device host("CPU:0");
    core::Tensor intrinsics_d = intrinsics.To(host, core::Float64).Contiguous();
    core::Tensor extrinsics_d = extrinsics.To(host, core::Float64).Contiguous();
 
    const core::Device device = depth.GetDevice();
 
    if (image_colors.has_value()) {
        core::AssertTensorDevice(image_colors.value(), device);
    }
 
    if (depth.IsCPU()) {
        ProjectCPU(depth, image_colors, points, colors, intrinsics_d,
                   extrinsics_d, depth_scale, depth_max);
    } else if (depth.IsCUDA()) {
        CUDA_CALL(ProjectCUDA, depth, image_colors, points, colors,
                  intrinsics_d, extrinsics_d, depth_scale, depth_max);
    } else {
        utility::LogError("Unimplemented device");
    }
}
 
void GetPointMaskWithinAABB(const core::Tensor& points,
                            const core::Tensor& min_bound,
                            const core::Tensor& max_bound,
                            core::Tensor& mask) {
    core::AssertTensorShape(min_bound, {3});
    core::AssertTensorShape(max_bound, {3});
    core::AssertTensorShape(mask, {points.GetLength()});
    // Mask must be a bool tensor.
    core::AssertTensorDtype(mask, core::Bool);
 
    // Convert points, min_bound and max_bound into contiguous Tensor.
    const core::Tensor min_bound_d = min_bound.Contiguous();
    const core::Tensor max_bound_d = max_bound.Contiguous();
    const core::Tensor points_d = points.Contiguous();
 
    if (mask.IsCPU()) {
        GetPointMaskWithinAABBCPU(points_d, min_bound_d, max_bound_d, mask);
    } else if (mask.IsCUDA()) {
        CUDA_CALL(GetPointMaskWithinAABBCUDA, points_d, min_bound_d,
                  max_bound_d, mask);
    } else {
        utility::LogError("Unimplemented device");
    }
}
 
void GetPointMaskWithinOBB(const core::Tensor& points,
                           const core::Tensor& center,
                           const core::Tensor& rotation,
                           const core::Tensor& extent,
                           core::Tensor& mask) {
    core::AssertTensorShape(mask, {points.GetLength()});
    core::AssertTensorDtype(mask, core::Bool);
 
    // Convert points, center, rotation and extent into contiguous Tensor.
    const core::Tensor center_d = center.Contiguous();
    const core::Tensor rotation_d = rotation.Contiguous();
    const core::Tensor extent_d = extent.Contiguous();
    const core::Tensor points_d = points.Contiguous();
 
    if (mask.IsCPU()) {
        GetPointMaskWithinOBBCPU(points_d, center_d, rotation_d, extent_d,
                                 mask);
    } else if (mask.IsCUDA()) {
        CUDA_CALL(GetPointMaskWithinOBBCUDA, points_d, center_d, rotation_d,
                  extent_d, mask);
    } else {
        utility::LogError("Unimplemented device");
    }
}
 
}  // namespace pointcloud
}  // namespace kernel
}  // namespace geometry
}  // namespace t
}  // namespace cloudViewer