Functions
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)

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)

void	GetPointMaskWithinAABB (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)

void	GetPointMaskWithinOBB (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)

void	UnprojectCPU (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)

void	ProjectCPU (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)

void	GetPointMaskWithinAABBCPU (const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)

void	GetPointMaskWithinOBBCPU (const core::Tensor &points, const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)

void	NormalizeNormalsCPU (core::Tensor &normals)

void	OrientNormalsToAlignWithDirectionCPU (core::Tensor &normals, const core::Tensor &direction)

void	OrientNormalsTowardsCameraLocationCPU (const core::Tensor &points, core::Tensor &normals, const core::Tensor &camera)

void	ComputeBoundaryPointsCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &counts, core::Tensor &mask, double angle_threshold)

void	EstimateCovariancesUsingHybridSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)

void	EstimateCovariancesUsingKNNSearchCPU (const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)

void	EstimateCovariancesUsingRadiusSearchCPU (const core::Tensor &points, core::Tensor &covariances, const double &radius)

void	EstimateNormalsFromCovariancesCPU (const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)

void	EstimateColorGradientsUsingHybridSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius, const int64_t &max_nn)

void	EstimateColorGradientsUsingKNNSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const int64_t &max_nn)

void	EstimateColorGradientsUsingRadiusSearchCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	GetCoordinateSystemOnPlane (const scalar_t query, scalar_t u, scalar_t *v)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	Swap (scalar_t x, scalar_t y)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	Heapify (scalar_t *arr, int n, int root)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	HeapSort (scalar_t *arr, int n)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE bool	IsBoundaryPoints (const scalar_t *angles, int counts, double angle_threshold)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	EstimatePointWiseRobustNormalizedCovarianceKernel (const scalar_t points_ptr, const int32_t indices_ptr, const int32_t &indices_count, scalar_t *covariance_ptr)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	ComputeEigenvector0 (const scalar_t A, const scalar_t eval0, scalar_t eigen_vector0)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	ComputeEigenvector1 (const scalar_t A, const scalar_t evec0, const scalar_t eval1, scalar_t *eigen_vector1)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	EstimatePointWiseNormalsWithFastEigen3x3 (const scalar_t covariance_ptr, scalar_t normals_ptr)

template<typename scalar_t >
CLOUDVIEWER_HOST_DEVICE void	EstimatePointWiseColorGradientKernel (const scalar_t points_ptr, const scalar_t normals_ptr, const scalar_t colors_ptr, const int32_t &idx_offset, const int32_t indices_ptr, const int32_t &indices_count, scalar_t *color_gradients_ptr)

Function Documentation

◆ ComputeBoundaryPointsCPU()

void cloudViewer::t::geometry::kernel::pointcloud::ComputeBoundaryPointsCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	indices,
		const core::Tensor &	counts,
		core::Tensor &	mask,
		double	angle_threshold
	)

Definition at line 422 of file PointCloudImpl.h.

References DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, and points.

Referenced by cloudViewer::t::geometry::PointCloud::ComputeBoundaryPoints().

◆ ComputeEigenvector0()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::ComputeEigenvector0	(	const scalar_t *	A,
		const scalar_t	eval0,
		scalar_t *	eigen_vector0
	)

Definition at line 717 of file PointCloudImpl.h.

References cloudViewer::core::linalg::kernel::cross_3x1(), and cloudViewer::core::linalg::kernel::dot_3x1().

◆ ComputeEigenvector1()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::ComputeEigenvector1	(	const scalar_t *	A,
		const scalar_t *	evec0,
		const scalar_t	eval1,
		scalar_t *	eigen_vector1
	)

Definition at line 766 of file PointCloudImpl.h.

References abs(), cloudViewer::core::linalg::kernel::cross_3x1(), cloudViewer::core::linalg::kernel::dot_3x1(), cloudViewer::core::linalg::kernel::matmul3x3_3x1(), and max().

◆ EstimateColorGradientsUsingHybridSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingHybridSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const double &	radius,
		const int64_t &	max_nn
	)

Definition at line 1138 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, colors, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseColorGradientKernel(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::nns::NearestNeighborSearch::HybridIndex(), cloudViewer::core::nns::NearestNeighborSearch::HybridSearch(), cloudViewer::core::Int32, LogError, normals, cloudViewer::core::ParallelFor(), points, and cloudViewer::core::cuda::Synchronize().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateColorGradients().

◆ EstimateColorGradientsUsingKNNSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingKNNSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const int64_t &	max_nn
	)

Definition at line 1191 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, colors, cloudViewer::core::Tensor::Contiguous(), DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseColorGradientKernel(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetShape(), cloudViewer::core::Int32, cloudViewer::core::nns::NearestNeighborSearch::KnnIndex(), cloudViewer::core::nns::NearestNeighborSearch::KnnSearch(), LogError, normals, cloudViewer::core::ParallelFor(), points, cloudViewer::core::cuda::Synchronize(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateColorGradients().

◆ EstimateColorGradientsUsingRadiusSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateColorGradientsUsingRadiusSearchCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	colors,
		core::Tensor &	color_gradient,
		const double &	radius
	)

Definition at line 1247 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, colors, cloudViewer::core::Tensor::Contiguous(), DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseColorGradientKernel(), cloudViewer::core::nns::NearestNeighborSearch::FixedRadiusIndex(), cloudViewer::core::nns::NearestNeighborSearch::FixedRadiusSearch(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Int32, LogError, normals, cloudViewer::core::ParallelFor(), points, cloudViewer::core::cuda::Synchronize(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateColorGradients().

◆ EstimateCovariancesUsingHybridSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateCovariancesUsingHybridSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const double &	radius,
		const int64_t &	max_nn
	)

Definition at line 564 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseRobustNormalizedCovarianceKernel(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::nns::NearestNeighborSearch::HybridIndex(), cloudViewer::core::nns::NearestNeighborSearch::HybridSearch(), cloudViewer::core::Int32, LogError, cloudViewer::core::ParallelFor(), points, and cloudViewer::core::cuda::Synchronize().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateNormals().

◆ EstimateCovariancesUsingKNNSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateCovariancesUsingKNNSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const int64_t &	max_nn
	)

Definition at line 665 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, cloudViewer::core::Tensor::Contiguous(), DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseRobustNormalizedCovarianceKernel(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetShape(), cloudViewer::core::Int32, cloudViewer::core::nns::NearestNeighborSearch::KnnIndex(), cloudViewer::core::nns::NearestNeighborSearch::KnnSearch(), LogError, cloudViewer::core::ParallelFor(), points, and cloudViewer::core::cuda::Synchronize().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateNormals().

◆ EstimateCovariancesUsingRadiusSearchCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateCovariancesUsingRadiusSearchCPU	(	const core::Tensor &	points,
		core::Tensor &	covariances,
		const double &	radius
	)

Definition at line 615 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, EstimatePointWiseRobustNormalizedCovarianceKernel(), cloudViewer::core::nns::NearestNeighborSearch::FixedRadiusIndex(), cloudViewer::core::nns::NearestNeighborSearch::FixedRadiusSearch(), cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Int32, LogError, cloudViewer::core::ParallelFor(), points, and cloudViewer::core::cuda::Synchronize().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateNormals().

◆ EstimateNormalsFromCovariancesCPU()

void cloudViewer::t::geometry::kernel::pointcloud::EstimateNormalsFromCovariancesCPU	(	const core::Tensor &	covariances,
		core::Tensor &	normals,
		const bool	has_normals
	)

Definition at line 984 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, has_normals, normals, cloudViewer::core::ParallelFor(), and cloudViewer::core::cuda::Synchronize().

Referenced by cloudViewer::t::geometry::PointCloud::EstimateNormals().

◆ EstimatePointWiseColorGradientKernel()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::EstimatePointWiseColorGradientKernel	(	const scalar_t *	points_ptr,
		const scalar_t *	normals_ptr,
		const scalar_t *	colors_ptr,
		const int32_t &	idx_offset,
		const int32_t *	indices_ptr,
		const int32_t &	indices_count,
		scalar_t *	color_gradients_ptr
	)

Definition at line 1036 of file PointCloudImpl.h.

References cloudViewer::core::linalg::kernel::solve_svd3x3().

Referenced by EstimateColorGradientsUsingHybridSearchCPU(), EstimateColorGradientsUsingKNNSearchCPU(), and EstimateColorGradientsUsingRadiusSearchCPU().

◆ EstimatePointWiseNormalsWithFastEigen3x3()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::EstimatePointWiseNormalsWithFastEigen3x3	(	const scalar_t *	covariance_ptr,
		scalar_t *	normals_ptr
	)

Definition at line 846 of file PointCloudImpl.h.

References max(), and min().

◆ EstimatePointWiseRobustNormalizedCovarianceKernel()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::EstimatePointWiseRobustNormalizedCovarianceKernel	(	const scalar_t *	points_ptr,
		const int32_t *	indices_ptr,
		const int32_t &	indices_count,
		scalar_t *	covariance_ptr
	)

Definition at line 486 of file PointCloudImpl.h.

Referenced by EstimateCovariancesUsingHybridSearchCPU(), EstimateCovariancesUsingKNNSearchCPU(), and EstimateCovariancesUsingRadiusSearchCPU().

◆ GetCoordinateSystemOnPlane()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::GetCoordinateSystemOnPlane	(	const scalar_t *	query,
		scalar_t *	u,
		scalar_t *	v
	)

Definition at line 339 of file PointCloudImpl.h.

References abs(), and cloudViewer::core::linalg::kernel::cross_3x1().

◆ GetPointMaskWithinAABB()

void cloudViewer::t::geometry::kernel::pointcloud::GetPointMaskWithinAABB	(	const core::Tensor &	points,
		const core::Tensor &	min_bound,
		const core::Tensor &	max_bound,
		core::Tensor &	mask
	)

Definition at line 101 of file PointCloud.cpp.

References AssertTensorDtype, AssertTensorShape, cloudViewer::core::Bool, cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, GetPointMaskWithinAABBCPU(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, and points.

Referenced by cloudViewer::t::geometry::AxisAlignedBoundingBox::GetPointIndicesWithinBoundingBox().

◆ GetPointMaskWithinAABBCPU()

void cloudViewer::t::geometry::kernel::pointcloud::GetPointMaskWithinAABBCPU	(	const core::Tensor &	points,
		const core::Tensor &	min_bound,
		const core::Tensor &	max_bound,
		core::Tensor &	mask
	)

Definition at line 143 of file PointCloudImpl.h.

References DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, and points.

Referenced by GetPointMaskWithinAABB().

◆ GetPointMaskWithinOBB()

void cloudViewer::t::geometry::kernel::pointcloud::GetPointMaskWithinOBB	(	const core::Tensor &	points,
		const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent,
		core::Tensor &	mask
	)

Definition at line 126 of file PointCloud.cpp.

References AssertTensorDtype, AssertTensorShape, cloudViewer::core::Bool, cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, GetPointMaskWithinOBBCPU(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, and points.

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

◆ GetPointMaskWithinOBBCPU()

void cloudViewer::t::geometry::kernel::pointcloud::GetPointMaskWithinOBBCPU	(	const core::Tensor &	points,
		const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent,
		core::Tensor &	mask
	)

Definition at line 178 of file PointCloudImpl.h.

References cloudViewer::core::Tensor::Contiguous(), DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, cloudViewer::core::Tensor::Div(), points, and cloudViewer::core::Tensor::Transpose().

Referenced by GetPointMaskWithinOBB().

◆ Heapify()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::Heapify	(	scalar_t *	arr,
		int	n,
		int	root
	)

inline

Definition at line 373 of file PointCloudImpl.h.

Referenced by HeapSort().

◆ HeapSort()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::HeapSort	(	scalar_t *	arr,
		int	n
	)

Definition at line 391 of file PointCloudImpl.h.

References Heapify().

◆ IsBoundaryPoints()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE bool cloudViewer::t::geometry::kernel::pointcloud::IsBoundaryPoints	(	const scalar_t *	angles,
		int	counts,
		double	angle_threshold
	)

Definition at line 401 of file PointCloudImpl.h.

References M_PI, and max().

◆ NormalizeNormalsCPU()

void cloudViewer::t::geometry::kernel::pointcloud::NormalizeNormalsCPU ( core::Tensor & normals )

Definition at line 222 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, normals, and cloudViewer::core::ParallelFor().

Referenced by cloudViewer::t::geometry::PointCloud::NormalizeNormals().

◆ OrientNormalsToAlignWithDirectionCPU()

void cloudViewer::t::geometry::kernel::pointcloud::OrientNormalsToAlignWithDirectionCPU	(	core::Tensor &	normals,
		const core::Tensor &	direction
	)

Definition at line 253 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, cloudViewer::core::linalg::kernel::dot_3x1(), normal, normals, and cloudViewer::core::ParallelFor().

Referenced by cloudViewer::t::geometry::PointCloud::OrientNormalsToAlignWithDirection().

◆ OrientNormalsTowardsCameraLocationCPU()

void cloudViewer::t::geometry::kernel::pointcloud::OrientNormalsTowardsCameraLocationCPU	(	const core::Tensor &	points,
		core::Tensor &	normals,
		const core::Tensor &	camera
	)

Definition at line 287 of file PointCloudImpl.h.

References CLOUDVIEWER_DEVICE, DISPATCH_FLOAT_DTYPE_TO_TEMPLATE, cloudViewer::core::linalg::kernel::dot_3x1(), normal, normals, cloudViewer::core::ParallelFor(), and points.

Referenced by cloudViewer::t::geometry::PointCloud::OrientNormalsTowardsCameraLocation().

◆ Project()

void cloudViewer::t::geometry::kernel::pointcloud::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
	)

Definition at line 63 of file PointCloud.cpp.

References AssertTensorDevice, AssertTensorShape, colors, cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, points, ProjectCPU(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::TriangleMesh::ProjectImagesToAlbedo(), cloudViewer::t::geometry::PointCloud::ProjectToDepthImage(), and cloudViewer::t::geometry::PointCloud::ProjectToRGBDImage().

◆ ProjectCPU()

void cloudViewer::t::geometry::kernel::pointcloud::ProjectCPU	(	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
	)

Definition at line 18 of file PointCloudCPU.cpp.

References colors, cloudViewer::t::geometry::kernel::TArrayIndexer< index_t >::GetDataPtr(), has_colors, cloudViewer::t::geometry::kernel::TArrayIndexer< index_t >::InBoundary(), cloudViewer::core::ParallelFor(), and points.

Referenced by Project().

◆ Swap()

template<typename scalar_t >

CLOUDVIEWER_HOST_DEVICE void cloudViewer::t::geometry::kernel::pointcloud::Swap	(	scalar_t *	x,
		scalar_t *	y
	)

inline

Definition at line 366 of file PointCloudImpl.h.

◆ Unproject()

void cloudViewer::t::geometry::kernel::pointcloud::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
	)

Definition at line 24 of file PointCloud.cpp.

References AssertTensorDevice, AssertTensorShape, colors, cloudViewer::core::Tensor::Contiguous(), CUDA_CALL, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, points, stride, cloudViewer::core::Tensor::To(), and UnprojectCPU().

Referenced by cloudViewer::t::geometry::PointCloud::CreateFromDepthImage(), and cloudViewer::t::geometry::PointCloud::CreateFromRGBDImage().

◆ UnprojectCPU()

void cloudViewer::t::geometry::kernel::pointcloud::UnprojectCPU	(	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
	)

Definition at line 44 of file PointCloudImpl.h.

References colors, count, DISPATCH_DTYPE_TO_TEMPLATE, cloudViewer::core::Float32, cloudViewer::t::geometry::kernel::TArrayIndexer< index_t >::GetShape(), cloudViewer::core::Int32, cloudViewer::t::geometry::InverseTransformation(), points, and stride.

Referenced by Unproject().

Functions

Function Documentation

◆ ComputeBoundaryPointsCPU()

◆ ComputeEigenvector0()

◆ ComputeEigenvector1()

◆ EstimateColorGradientsUsingHybridSearchCPU()

◆ EstimateColorGradientsUsingKNNSearchCPU()

◆ EstimateColorGradientsUsingRadiusSearchCPU()

◆ EstimateCovariancesUsingHybridSearchCPU()

◆ EstimateCovariancesUsingKNNSearchCPU()

◆ EstimateCovariancesUsingRadiusSearchCPU()

◆ EstimateNormalsFromCovariancesCPU()

◆ EstimatePointWiseColorGradientKernel()

◆ EstimatePointWiseNormalsWithFastEigen3x3()

◆ EstimatePointWiseRobustNormalizedCovarianceKernel()

◆ GetCoordinateSystemOnPlane()

◆ GetPointMaskWithinAABB()

◆ GetPointMaskWithinAABBCPU()

◆ GetPointMaskWithinOBB()

◆ GetPointMaskWithinOBBCPU()

◆ Heapify()

◆ HeapSort()

◆ IsBoundaryPoints()

◆ NormalizeNormalsCPU()

◆ OrientNormalsToAlignWithDirectionCPU()

◆ OrientNormalsTowardsCameraLocationCPU()

◆ Project()

◆ ProjectCPU()

◆ Swap()

◆ Unproject()

◆ UnprojectCPU()