342 lines
15 KiB
C
342 lines
15 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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#pragma once
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#include <unordered_map>
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#include "open3d/core/Tensor.h"
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#include "open3d/core/hashmap/HashMap.h"
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#include "open3d/t/geometry/TensorMap.h"
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namespace open3d {
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namespace t {
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namespace geometry {
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namespace kernel {
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namespace voxel_grid {
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using index_t = int;
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void PointCloudTouch(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& points,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc);
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void DepthTouch(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& depth,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max,
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index_t stride);
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void GetVoxelCoordinatesAndFlattenedIndices(const core::Tensor& buf_indices,
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const core::Tensor& block_keys,
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core::Tensor& voxel_coords,
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core::Tensor& flattened_indices,
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index_t block_resolution,
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float voxel_size);
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void Integrate(const core::Tensor& depth,
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const core::Tensor& color,
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const core::Tensor& block_indices,
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const core::Tensor& block_keys,
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TensorMap& block_value_map,
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const core::Tensor& depth_intrinsic,
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const core::Tensor& color_intrinsic,
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const core::Tensor& extrinsic,
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index_t resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max);
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void EstimateRange(const core::Tensor& block_keys,
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core::Tensor& range_minmax_map,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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int h,
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int w,
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int down_factor,
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int64_t block_resolution,
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float voxel_size,
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float depth_min,
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float depth_max,
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core::Tensor& fragment_buffer);
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void RayCast(std::shared_ptr<core::HashMap>& hashmap,
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const TensorMap& block_value_map,
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const core::Tensor& range_map,
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TensorMap& renderings_map,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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index_t h,
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index_t w,
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index_t block_resolution,
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float voxel_size,
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float depth_scale,
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float depth_min,
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float depth_max,
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float weight_threshold,
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float trunc_voxel_multiplier,
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int range_map_down_factor);
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void ExtractPointCloud(const core::Tensor& block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& points,
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core::Tensor& normals,
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core::Tensor& colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& valid_size);
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void ExtractTriangleMesh(const core::Tensor& block_indices,
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const core::Tensor& inv_block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& vertices,
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core::Tensor& triangles,
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core::Tensor& vertex_normals,
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core::Tensor& vertex_colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& vertex_count);
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/// CPU
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void PointCloudTouchCPU(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& points,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc);
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void DepthTouchCPU(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& depth,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max,
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index_t stride);
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void GetVoxelCoordinatesAndFlattenedIndicesCPU(const core::Tensor& buf_indices,
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const core::Tensor& block_keys,
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core::Tensor& voxel_coords,
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core::Tensor& flattened_indices,
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index_t block_resolution,
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float voxel_size);
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template <typename input_depth_t,
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typename input_color_t,
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typename tsdf_t,
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typename weight_t,
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typename color_t>
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void IntegrateCPU(const core::Tensor& depth,
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const core::Tensor& color,
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const core::Tensor& block_indices,
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const core::Tensor& block_keys,
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TensorMap& block_value_map,
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const core::Tensor& depth_intrinsic,
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const core::Tensor& color_intrinsic,
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const core::Tensor& extrinsic,
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index_t resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max);
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void EstimateRangeCPU(const core::Tensor& block_keys,
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core::Tensor& range_minmax_map,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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int h,
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int w,
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int down_factor,
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int64_t block_resolution,
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float voxel_size,
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float depth_min,
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float depth_max,
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core::Tensor& fragment_buffer);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void RayCastCPU(std::shared_ptr<core::HashMap>& hashmap,
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const TensorMap& block_value_map,
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const core::Tensor& range_map,
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TensorMap& renderings_map,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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index_t h,
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index_t w,
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index_t block_resolution,
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float voxel_size,
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float depth_scale,
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float depth_min,
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float depth_max,
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float weight_threshold,
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float trunc_voxel_multiplier,
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int range_map_down_factor);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void ExtractPointCloudCPU(const core::Tensor& block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& points,
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core::Tensor& normals,
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core::Tensor& colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& valid_size);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void ExtractTriangleMeshCPU(const core::Tensor& block_indices,
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const core::Tensor& inv_block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& vertices,
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core::Tensor& triangles,
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core::Tensor& vertex_normals,
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core::Tensor& vertex_colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& vertex_count);
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#ifdef BUILD_CUDA_MODULE
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void PointCloudTouchCUDA(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& points,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc);
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void DepthTouchCUDA(std::shared_ptr<core::HashMap>& hashmap,
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const core::Tensor& depth,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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core::Tensor& voxel_block_coords,
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index_t voxel_grid_resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max,
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index_t stride);
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void GetVoxelCoordinatesAndFlattenedIndicesCUDA(const core::Tensor& buf_indices,
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const core::Tensor& block_keys,
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core::Tensor& voxel_coords,
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core::Tensor& flattened_indices,
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index_t block_resolution,
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float voxel_size);
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template <typename input_depth_t,
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typename input_color_t,
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typename tsdf_t,
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typename weight_t,
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typename color_t>
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void IntegrateCUDA(const core::Tensor& depth,
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const core::Tensor& color,
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const core::Tensor& block_indices,
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const core::Tensor& block_keys,
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TensorMap& block_value_map,
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const core::Tensor& depth_intrinsic,
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const core::Tensor& color_intrinsic,
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const core::Tensor& extrinsic,
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index_t resolution,
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float voxel_size,
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float sdf_trunc,
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float depth_scale,
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float depth_max);
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void EstimateRangeCUDA(const core::Tensor& block_keys,
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core::Tensor& range_minmax_map,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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int h,
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int w,
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int down_factor,
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int64_t block_resolution,
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float voxel_size,
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float depth_min,
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float depth_max,
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core::Tensor& fragment_buffer);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void RayCastCUDA(std::shared_ptr<core::HashMap>& hashmap,
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const TensorMap& block_value_map,
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const core::Tensor& range_map,
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TensorMap& renderings_map,
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const core::Tensor& intrinsic,
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const core::Tensor& extrinsic,
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index_t h,
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index_t w,
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index_t block_resolution,
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float voxel_size,
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float depth_scale,
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float depth_min,
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float depth_max,
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float weight_threshold,
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float trunc_voxel_multiplier,
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int range_map_down_factor);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void ExtractPointCloudCUDA(const core::Tensor& block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& points,
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core::Tensor& normals,
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core::Tensor& colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& valid_size);
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template <typename tsdf_t, typename weight_t, typename color_t>
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void ExtractTriangleMeshCUDA(const core::Tensor& block_indices,
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const core::Tensor& inv_block_indices,
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const core::Tensor& nb_block_indices,
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const core::Tensor& nb_block_masks,
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const core::Tensor& block_keys,
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const TensorMap& block_value_map,
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core::Tensor& vertices,
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core::Tensor& triangles,
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core::Tensor& vertex_normals,
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core::Tensor& vertex_colors,
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index_t block_resolution,
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float voxel_size,
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float weight_threshold,
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index_t& vertex_count);
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#endif
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} // namespace voxel_grid
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} // namespace kernel
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} // namespace geometry
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} // namespace t
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} // namespace open3d
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