139 lines
6.7 KiB
C
139 lines
6.7 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#include "open3d/core/CUDAUtils.h"
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#include "open3d/core/Tensor.h"
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namespace open3d {
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namespace t {
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namespace pipelines {
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namespace kernel {
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void FillInRigidAlignmentTerm(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &Ri_normal_ps,
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int i,
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int j,
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float threshold);
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void FillInSLACAlignmentTerm(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &normal_ps,
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const core::Tensor &Ri_normal_ps,
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const core::Tensor &RjT_Ri_normal_ps,
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const core::Tensor &cgrid_idx_ps,
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const core::Tensor &cgrid_idx_qs,
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const core::Tensor &cgrid_ratio_qs,
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const core::Tensor &cgrid_ratio_ps,
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int i,
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int j,
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int n,
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float threshold);
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void FillInSLACRegularizerTerm(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &grid_idx,
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const core::Tensor &grid_nbs_idx,
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const core::Tensor &grid_nbs_mask,
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const core::Tensor &positions_init,
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const core::Tensor &positions_curr,
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float weight,
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int n,
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int anchor_idx);
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void FillInRigidAlignmentTermCPU(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &Ri_normal_ps,
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int i,
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int j,
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float threshold);
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void FillInSLACAlignmentTermCPU(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &normal_ps,
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const core::Tensor &Ri_normal_ps,
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const core::Tensor &RjT_Ri_normal_ps,
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const core::Tensor &cgrid_idx_ps,
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const core::Tensor &cgrid_idx_qs,
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const core::Tensor &cgrid_ratio_qs,
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const core::Tensor &cgrid_ratio_ps,
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int i,
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int j,
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int n,
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float threshold);
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void FillInSLACRegularizerTermCPU(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &grid_idx,
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const core::Tensor &grid_nbs_idx,
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const core::Tensor &grid_nbs_mask,
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const core::Tensor &positions_init,
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const core::Tensor &positions_curr,
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float weight,
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int n,
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int anchor_idx);
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#ifdef BUILD_CUDA_MODULE
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void FillInRigidAlignmentTermCUDA(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &Ri_normal_ps,
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int i,
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int j,
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float threshold);
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void FillInSLACAlignmentTermCUDA(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &Ti_qs,
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const core::Tensor &Tj_qs,
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const core::Tensor &normal_ps,
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const core::Tensor &Ri_normal_ps,
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const core::Tensor &RjT_Ri_normal_ps,
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const core::Tensor &cgrid_idx_ps,
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const core::Tensor &cgrid_idx_qs,
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const core::Tensor &cgrid_ratio_qs,
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const core::Tensor &cgrid_ratio_ps,
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int i,
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int j,
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int n,
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float threshold);
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void FillInSLACRegularizerTermCUDA(core::Tensor &AtA,
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core::Tensor &Atb,
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core::Tensor &residual,
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const core::Tensor &grid_idx,
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const core::Tensor &grid_nbs_idx,
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const core::Tensor &grid_nbs_mask,
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const core::Tensor &positions_init,
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const core::Tensor &positions_curr,
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float weight,
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int n,
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int anchor_idx);
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#endif
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} // namespace kernel
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} // namespace pipelines
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} // namespace t
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} // namespace open3d
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