Functions
template<typename func_t >
static void	LaunchIndexFillKernel (const Indexer &indexer, const func_t &func)

template<typename T >
static Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	TensorToEigenMatrix (const core::Tensor &tensor)

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	TensorToEigenMatrixXd (const core::Tensor &tensor)
	Converts a 2D tensor to Eigen::MatrixXd of same shape. Regardless of the tensor dtype, the output will be converted to double. More...

Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	TensorToEigenMatrixXf (const core::Tensor &tensor)
	Converts a 2D tensor to Eigen::MatrixXf of same shape. Regardless of the tensor dtype, the output will be converted to float. More...

Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	TensorToEigenMatrixXi (const core::Tensor &tensor)
	Converts a 2D tensor to Eigen::MatrixXi of same shape. Regardless of the tensor dtype, the output will be converted to int. More...

template<typename T , int N>
static std::vector< Eigen::Matrix< T, N, 1 > >	TensorToEigenVectorNxVector (const core::Tensor &tensor)

template<typename T , int N>
static core::Tensor	EigenVectorNxVectorToTensor (const std::vector< Eigen::Matrix< T, N, 1 >> &values, core::Dtype dtype, const core::Device &device)

std::vector< Eigen::Vector2d >	TensorToEigenVector2dVector (const core::Tensor &tensor)
	Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2d>. An exception will be thrown if the tensor shape is not (N, 2). Regardless of the tensor dtype, the output will be converted to double. More...

std::vector< Eigen::Vector3d >	TensorToEigenVector3dVector (const core::Tensor &tensor)
	Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3d>. An exception will be thrown if the tensor shape is not (N, 3). Regardless of the tensor dtype, the output will be converted to double. More...

std::vector< Eigen::Vector3i >	TensorToEigenVector3iVector (const core::Tensor &tensor)
	Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3i>. An exception will be thrown if the tensor shape is not (N, 3). Regardless of the tensor dtype, the output will be converted to int. More...

std::vector< Eigen::Vector2i >	TensorToEigenVector2iVector (const core::Tensor &tensor)
	Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2i>. An exception will be thrown if the tensor shape is not (N, 2). Regardless of the tensor dtype, the output will be converted to int. More...

core::Tensor	EigenVector3dVectorToTensor (const std::vector< Eigen::Vector3d > &values, core::Dtype dtype, const core::Device &device)
	Converts a vector of Eigen::Vector3d to a (N, 3) tensor. This function also takes care of dtype conversion and device transfer if necessary. More...

core::Tensor	EigenVector2dVectorToTensor (const std::vector< Eigen::Vector2d > &values, core::Dtype dtype, const core::Device &device)
	Converts a vector of Eigen::Vector2d to a (N, 2) tensor. This function also takes care of dtype conversion and device transfer if necessary. More...

core::Tensor	EigenVector3iVectorToTensor (const std::vector< Eigen::Vector3i > &values, core::Dtype dtype, const core::Device &device)
	Converts a vector of Eigen::Vector3i to a (N, 3) tensor. This function also takes care of dtype conversion and device transfer if necessary. More...

core::Tensor	EigenVector2iVectorToTensor (const std::vector< Eigen::Vector2i > &values, core::Dtype dtype, const core::Device &device)
	Converts a vector of Eigen::Vector2i to a (N, 2) tensor. This function also takes care of dtype conversion and device transfer if necessary. More...

template<class Derived >
core::Tensor	EigenMatrixToTensor (const Eigen::MatrixBase< Derived > &matrix)
	Converts a eigen matrix of shape (M, N) with alignment A and type T to a tensor. More...

Function Documentation

◆ EigenMatrixToTensor()

template<class Derived >

core::Tensor cloudViewer::core::eigen_converter::EigenMatrixToTensor ( const Eigen::MatrixBase< Derived > & matrix )

Converts a eigen matrix of shape (M, N) with alignment A and type T to a tensor.

Parameters

matrix An eigen matrix (e.g. Eigen::Matrix3f) or vector (e.g. Eigen::Vector3d).

Returns: A tensor converted from the eigen matrix. The resuliting tensor is always 2D.

Definition at line 29 of file EigenConverter.h.

Referenced by cloudViewer::t::pipelines::registration::BenchmarkDopplerICP(), cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), cloudViewer::t::pipelines::slac::FillInRigidAlignmentTerm(), cloudViewer::t::pipelines::slac::FillInSLACAlignmentTerm(), cloudViewer::t::geometry::AxisAlignedBoundingBox::FromLegacy(), cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy(), cloudViewer::t::pipelines::slac::SaveCorrespondencesForPointClouds(), and cloudViewer::t::pipelines::slac::UpdatePoses().

◆ EigenVector2dVectorToTensor()

core::Tensor cloudViewer::core::eigen_converter::EigenVector2dVectorToTensor	(	const std::vector< Eigen::Vector2d > &	values,
		core::Dtype	dtype,
		const core::Device &	device
	)

Converts a vector of Eigen::Vector2d to a (N, 2) tensor. This function also takes care of dtype conversion and device transfer if necessary.

Parameters

values	A vector of Eigen::Vector2d values, e.g. a list of UV coordinates.
dtype	Dtype of the output tensor.
device	Device of the output tensor.

Returns: A tensor of shape (N, 2) with the specified dtype and device.

Definition at line 172 of file EigenConverter.cpp.

References EigenVectorNxVectorToTensor().

Referenced by cloudViewer::t::geometry::TriangleMesh::FromLegacy().

◆ EigenVector2iVectorToTensor()

core::Tensor cloudViewer::core::eigen_converter::EigenVector2iVectorToTensor	(	const std::vector< Eigen::Vector2i > &	values,
		core::Dtype	dtype,
		const core::Device &	device
	)

Converts a vector of Eigen::Vector2i to a (N, 2) tensor. This function also takes care of dtype conversion and device transfer if necessary.

Parameters

values	A vector of Eigen::Vector2i values, e.g. a list of 2D points / indices.
dtype	Dtype of the output tensor.
device	Device of the output tensor.

Returns: A tensor of shape (N, 2) with the specified dtype and device.

Definition at line 185 of file EigenConverter.cpp.

References EigenVectorNxVectorToTensor().

Referenced by cloudViewer::t::geometry::LineSet::FromLegacy().

◆ EigenVector3dVectorToTensor()

core::Tensor cloudViewer::core::eigen_converter::EigenVector3dVectorToTensor	(	const std::vector< Eigen::Vector3d > &	values,
		core::Dtype	dtype,
		const core::Device &	device
	)

Converts a vector of Eigen::Vector3d to a (N, 3) tensor. This function also takes care of dtype conversion and device transfer if necessary.

Parameters

values	A vector of Eigen::Vector3d values, e.g. a list of 3D points.
dtype	Dtype of the output tensor.
device	Device of the output tensor.

Returns: A tensor of shape (N, 3) with the specified dtype and device.

Definition at line 165 of file EigenConverter.cpp.

References EigenVectorNxVectorToTensor().

Referenced by cloudViewer::t::geometry::TriangleMesh::FromLegacy(), cloudViewer::t::geometry::LineSet::FromLegacy(), and cloudViewer::t::geometry::PointCloud::FromLegacy().

◆ EigenVector3iVectorToTensor()

core::Tensor cloudViewer::core::eigen_converter::EigenVector3iVectorToTensor	(	const std::vector< Eigen::Vector3i > &	values,
		core::Dtype	dtype,
		const core::Device &	device
	)

Converts a vector of Eigen::Vector3i to a (N, 3) tensor. This function also takes care of dtype conversion and device transfer if necessary.

Parameters

values	A vector of Eigen::Vector3i values, e.g. a list of 3D points.
dtype	Dtype of the output tensor.
device	Device of the output tensor.

Returns: A tensor of shape (N, 3) with the specified dtype and device.

Definition at line 179 of file EigenConverter.cpp.

References EigenVectorNxVectorToTensor().

Referenced by cloudViewer::t::geometry::TriangleMesh::FromLegacy().

◆ EigenVectorNxVectorToTensor()

template<typename T , int N>

static core::Tensor cloudViewer::core::eigen_converter::EigenVectorNxVectorToTensor	(	const std::vector< Eigen::Matrix< T, N, 1 >> &	values,
		core::Dtype	dtype,
		const core::Device &	device
	)

static

Definition at line 113 of file EigenConverter.cpp.

References cloudViewer::core::ALL_SAME, DISPATCH_DTYPE_TO_TEMPLATE, cloudViewer::core::Tensor::Empty(), indexer, LaunchIndexFillKernel(), and cloudViewer::core::Tensor::To().

Referenced by EigenVector2dVectorToTensor(), EigenVector2iVectorToTensor(), EigenVector3dVectorToTensor(), and EigenVector3iVectorToTensor().

◆ LaunchIndexFillKernel()

template<typename func_t >

static void cloudViewer::core::eigen_converter::LaunchIndexFillKernel	(	const Indexer &	indexer,
		const func_t &	func
	)

static

Fills tensor[:][i] with func(i).

Parameters

indexer	The input tensor and output tensor to the indexer are the same (as a hack), since the tensor are filled in-place.
func	A function that takes pointer location and workload index i, computes the value to fill, and fills the value at the pointer location.

Definition at line 28 of file EigenConverter.cpp.

References indexer, and cloudViewer::core::ParallelFor().

Referenced by EigenVectorNxVectorToTensor().

◆ TensorToEigenMatrix()

template<typename T >

static Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> cloudViewer::core::eigen_converter::TensorToEigenMatrix ( const core::Tensor & tensor )

static

Definition at line 37 of file EigenConverter.cpp.

References cloudViewer::core::Tensor::Contiguous(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetShape(), LogError, cloudViewer::core::SmallVectorBase< Size_T >::size(), and cloudViewer::core::Tensor::To().

◆ TensorToEigenMatrixXd()

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > cloudViewer::core::eigen_converter::TensorToEigenMatrixXd ( const core::Tensor & tensor )

Converts a 2D tensor to Eigen::MatrixXd of same shape. Regardless of the tensor dtype, the output will be converted to double.

Parameters

tensor A 2D tensor.

Returns: Eigen::MatrixXd.

Definition at line 67 of file EigenConverter.cpp.

Referenced by cloudViewer::t::geometry::OrientedBoundingBox::ToLegacy().

◆ TensorToEigenMatrixXf()

Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > cloudViewer::core::eigen_converter::TensorToEigenMatrixXf ( const core::Tensor & tensor )

Converts a 2D tensor to Eigen::MatrixXf of same shape. Regardless of the tensor dtype, the output will be converted to float.

Parameters

tensor A 2D tensor.

Returns: Eigen::MatrixXf.

Definition at line 72 of file EigenConverter.cpp.

Referenced by cloudViewer::t::pipelines::slac::UpdatePoses().

◆ TensorToEigenMatrixXi()

Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > cloudViewer::core::eigen_converter::TensorToEigenMatrixXi ( const core::Tensor & tensor )

Converts a 2D tensor to Eigen::MatrixXi of same shape. Regardless of the tensor dtype, the output will be converted to int.

Parameters

tensor A 2D tensor.

Returns: Eigen::MatrixXi.

Definition at line 77 of file EigenConverter.cpp.

◆ TensorToEigenVector2dVector()

std::vector< Eigen::Vector2d > cloudViewer::core::eigen_converter::TensorToEigenVector2dVector ( const core::Tensor & tensor )

Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2d>. An exception will be thrown if the tensor shape is not (N, 2). Regardless of the tensor dtype, the output will be converted to double.

Parameters

tensor A tensor of shape (N, 2).

Returns: A vector of N Eigen::Vector2d values.

Definition at line 145 of file EigenConverter.cpp.

Referenced by cloudViewer::t::geometry::TriangleMesh::ToLegacy().

◆ TensorToEigenVector2iVector()

std::vector< Eigen::Vector2i > cloudViewer::core::eigen_converter::TensorToEigenVector2iVector ( const core::Tensor & tensor )

Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2i>. An exception will be thrown if the tensor shape is not (N, 2). Regardless of the tensor dtype, the output will be converted to int.

Parameters

tensor A tensor of shape (N, 2).

Returns: A vector of N Eigen::Vector2i values.

Definition at line 160 of file EigenConverter.cpp.

Referenced by cloudViewer::t::geometry::LineSet::ToLegacy().

◆ TensorToEigenVector3dVector()

std::vector< Eigen::Vector3d > cloudViewer::core::eigen_converter::TensorToEigenVector3dVector ( const core::Tensor & tensor )

Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3d>. An exception will be thrown if the tensor shape is not (N, 3). Regardless of the tensor dtype, the output will be converted to double.

Parameters

tensor A tensor of shape (N, 3).

Returns: A vector of N Eigen::Vector3d values.

Definition at line 150 of file EigenConverter.cpp.

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBJylanki(), cloudViewer::t::geometry::OrientedBoundingBox::CreateFromPoints(), cloudViewer::t::geometry::AxisAlignedBoundingBox::ToLegacy(), cloudViewer::t::geometry::OrientedBoundingBox::ToLegacy(), cloudViewer::t::geometry::LineSet::ToLegacy(), cloudViewer::t::geometry::PointCloud::ToLegacy(), and cloudViewer::t::geometry::TriangleMesh::ToLegacy().

◆ TensorToEigenVector3iVector()

std::vector< Eigen::Vector3i > cloudViewer::core::eigen_converter::TensorToEigenVector3iVector ( const core::Tensor & tensor )

Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3i>. An exception will be thrown if the tensor shape is not (N, 3). Regardless of the tensor dtype, the output will be converted to int.

Parameters

tensor A tensor of shape (N, 3).

Returns: A vector of N Eigen::Vector3i values.

Definition at line 155 of file EigenConverter.cpp.

Referenced by cloudViewer::t::pipelines::slac::ControlGrid::Compactify(), cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBJylanki(), and cloudViewer::t::geometry::TriangleMesh::ToLegacy().

◆ TensorToEigenVectorNxVector()

template<typename T , int N>

static std::vector<Eigen::Matrix<T, N, 1> > cloudViewer::core::eigen_converter::TensorToEigenVectorNxVector ( const core::Tensor & tensor )

static

Definition at line 82 of file EigenConverter.cpp.

References AssertTensorShape, cloudViewer::core::Dtype::ByteSize(), cloudViewer::core::Tensor::Contiguous(), cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), cloudViewer::core::Int32, LogError, cloudViewer::core::MemoryManager::MemcpyToHost(), cloudViewer::utility::nullopt, cloudViewer::core::Tensor::NumElements(), and cloudViewer::core::Tensor::To().

Functions

Function Documentation

◆ EigenMatrixToTensor()

◆ EigenVector2dVectorToTensor()

◆ EigenVector2iVectorToTensor()

◆ EigenVector3dVectorToTensor()

◆ EigenVector3iVectorToTensor()

◆ EigenVectorNxVectorToTensor()

◆ LaunchIndexFillKernel()

◆ TensorToEigenMatrix()

◆ TensorToEigenMatrixXd()

◆ TensorToEigenMatrixXf()

◆ TensorToEigenMatrixXi()

◆ TensorToEigenVector2dVector()

◆ TensorToEigenVector2iVector()

◆ TensorToEigenVector3dVector()

◆ TensorToEigenVector3iVector()

◆ TensorToEigenVectorNxVector()