231 lines
10 KiB
C
231 lines
10 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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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 pointcloud {
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void Unproject(const core::Tensor& depth,
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utility::optional<std::reference_wrapper<const core::Tensor>>
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image_colors,
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core::Tensor& points,
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utility::optional<std::reference_wrapper<core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max,
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int64_t stride);
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void Project(
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core::Tensor& depth,
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utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
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const core::Tensor& points,
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utility::optional<std::reference_wrapper<const core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max);
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void GetPointMaskWithinAABB(const core::Tensor& points,
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const core::Tensor& min_bound,
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const core::Tensor& max_bound,
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core::Tensor& mask);
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void GetPointMaskWithinOBB(const core::Tensor& points,
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const core::Tensor& center,
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const core::Tensor& rotation,
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const core::Tensor& extent,
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core::Tensor& mask);
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void UnprojectCPU(
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const core::Tensor& depth,
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utility::optional<std::reference_wrapper<const core::Tensor>>
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image_colors,
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core::Tensor& points,
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utility::optional<std::reference_wrapper<core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max,
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int64_t stride);
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void ProjectCPU(
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core::Tensor& depth,
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utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
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const core::Tensor& points,
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utility::optional<std::reference_wrapper<const core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max);
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void GetPointMaskWithinAABBCPU(const core::Tensor& points,
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const core::Tensor& min_bound,
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const core::Tensor& max_bound,
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core::Tensor& mask);
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void GetPointMaskWithinOBBCPU(const core::Tensor& points,
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const core::Tensor& center,
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const core::Tensor& rotation,
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const core::Tensor& extent,
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core::Tensor& mask);
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void NormalizeNormalsCPU(core::Tensor& normals);
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void OrientNormalsToAlignWithDirectionCPU(core::Tensor& normals,
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const core::Tensor& direction);
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void OrientNormalsTowardsCameraLocationCPU(const core::Tensor& points,
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core::Tensor& normals,
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const core::Tensor& camera);
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void ComputeBoundaryPointsCPU(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& indices,
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const core::Tensor& counts,
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core::Tensor& mask,
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double angle_threshold);
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#ifdef BUILD_CUDA_MODULE
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void UnprojectCUDA(
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const core::Tensor& depth,
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utility::optional<std::reference_wrapper<const core::Tensor>>
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image_colors,
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core::Tensor& points,
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utility::optional<std::reference_wrapper<core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max,
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int64_t stride);
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void ProjectCUDA(
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core::Tensor& depth,
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utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
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const core::Tensor& points,
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utility::optional<std::reference_wrapper<const core::Tensor>> colors,
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const core::Tensor& intrinsics,
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const core::Tensor& extrinsics,
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float depth_scale,
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float depth_max);
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void GetPointMaskWithinAABBCUDA(const core::Tensor& points,
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const core::Tensor& min_bound,
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const core::Tensor& max_bound,
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core::Tensor& mask);
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void GetPointMaskWithinOBBCUDA(const core::Tensor& points,
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const core::Tensor& center,
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const core::Tensor& rotation,
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const core::Tensor& extent,
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core::Tensor& mask);
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void NormalizeNormalsCUDA(core::Tensor& normals);
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void OrientNormalsToAlignWithDirectionCUDA(core::Tensor& normals,
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const core::Tensor& direction);
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void OrientNormalsTowardsCameraLocationCUDA(const core::Tensor& points,
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core::Tensor& normals,
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const core::Tensor& camera);
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void ComputeBoundaryPointsCUDA(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& indices,
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const core::Tensor& counts,
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core::Tensor& mask,
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double angle_threshold);
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#endif
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void EstimateCovariancesUsingHybridSearchCPU(const core::Tensor& points,
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core::Tensor& covariances,
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const double& radius,
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const int64_t& max_nn);
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void EstimateCovariancesUsingKNNSearchCPU(const core::Tensor& points,
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core::Tensor& covariances,
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const int64_t& max_nn);
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void EstimateCovariancesUsingRadiusSearchCPU(const core::Tensor& points,
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core::Tensor& covariances,
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const double& radius);
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void EstimateNormalsFromCovariancesCPU(const core::Tensor& covariances,
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core::Tensor& normals,
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const bool has_normals);
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void EstimateColorGradientsUsingHybridSearchCPU(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const double& radius,
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const int64_t& max_nn);
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void EstimateColorGradientsUsingKNNSearchCPU(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const int64_t& max_nn);
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void EstimateColorGradientsUsingRadiusSearchCPU(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const double& radius);
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#ifdef BUILD_CUDA_MODULE
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void EstimateCovariancesUsingHybridSearchCUDA(const core::Tensor& points,
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core::Tensor& covariances,
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const double& radius,
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const int64_t& max_nn);
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void EstimateCovariancesUsingKNNSearchCUDA(const core::Tensor& points,
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core::Tensor& covariances,
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const int64_t& max_nn);
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void EstimateCovariancesUsingRadiusSearchCUDA(const core::Tensor& points,
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core::Tensor& covariances,
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const double& radius);
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void EstimateNormalsFromCovariancesCUDA(const core::Tensor& covariances,
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core::Tensor& normals,
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const bool has_normals);
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void EstimateColorGradientsUsingHybridSearchCUDA(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const double& radius,
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const int64_t& max_nn);
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void EstimateColorGradientsUsingKNNSearchCUDA(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const int64_t& max_nn);
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void EstimateColorGradientsUsingRadiusSearchCUDA(const core::Tensor& points,
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const core::Tensor& normals,
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const core::Tensor& colors,
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core::Tensor& color_gradient,
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const double& radius);
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#endif
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} // namespace pointcloud
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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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