29 #include <unordered_map>
37 namespace pointcloud {
40 utility::optional<std::reference_wrapper<const core::Tensor>>
43 utility::optional<std::reference_wrapper<core::Tensor>> colors,
44 const core::Tensor& intrinsics,
45 const core::Tensor& extrinsics,
52 utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
53 const core::Tensor&
points,
54 utility::optional<std::reference_wrapper<const core::Tensor>> colors,
55 const core::Tensor& intrinsics,
56 const core::Tensor& extrinsics,
61 const core::Tensor& depth,
62 utility::optional<std::reference_wrapper<const core::Tensor>>
65 utility::optional<std::reference_wrapper<core::Tensor>> colors,
66 const core::Tensor& intrinsics,
67 const core::Tensor& extrinsics,
74 utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
75 const core::Tensor&
points,
76 utility::optional<std::reference_wrapper<const core::Tensor>> colors,
77 const core::Tensor& intrinsics,
78 const core::Tensor& extrinsics,
82 #ifdef BUILD_CUDA_MODULE
84 const core::Tensor& depth,
85 utility::optional<std::reference_wrapper<const core::Tensor>>
88 utility::optional<std::reference_wrapper<core::Tensor>> colors,
89 const core::Tensor& intrinsics,
90 const core::Tensor& extrinsics,
97 utility::optional<std::reference_wrapper<core::Tensor>> image_colors,
98 const core::Tensor&
points,
99 utility::optional<std::reference_wrapper<const core::Tensor>> colors,
100 const core::Tensor& intrinsics,
101 const core::Tensor& extrinsics,
107 core::Tensor& covariances,
108 const double& radius,
109 const int64_t& max_nn);
112 core::Tensor& covariances,
113 const int64_t& max_nn);
116 core::Tensor& normals,
120 const core::Tensor& normals,
121 const core::Tensor& colors,
122 core::Tensor& color_gradient,
123 const double& radius,
124 const int64_t& max_nn);
127 const core::Tensor& normals,
128 const core::Tensor& colors,
129 core::Tensor& color_gradient,
130 const int64_t& max_nn);
132 #ifdef BUILD_CUDA_MODULE
133 void EstimateCovariancesUsingHybridSearchCUDA(
const core::Tensor&
points,
134 core::Tensor& covariances,
135 const double& radius,
136 const int64_t& max_nn);
138 void EstimateCovariancesUsingKNNSearchCUDA(
const core::Tensor&
points,
139 core::Tensor& covariances,
140 const int64_t& max_nn);
142 void EstimateNormalsFromCovariancesCUDA(
const core::Tensor& covariances,
143 core::Tensor& normals,
146 void EstimateColorGradientsUsingHybridSearchCUDA(
const core::Tensor&
points,
147 const core::Tensor& normals,
148 const core::Tensor& colors,
149 core::Tensor& color_gradient,
150 const double& radius,
151 const int64_t& max_nn);
153 void EstimateColorGradientsUsingKNNSearchCUDA(
const core::Tensor&
points,
154 const core::Tensor& normals,
155 const core::Tensor& colors,
156 core::Tensor& color_gradient,
157 const int64_t& max_nn);
size_t stride
Definition: TriangleMeshBuffers.cpp:184
void EstimateCovariancesUsingHybridSearchCPU(const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)
Definition: PointCloudImpl.h:238
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)
Definition: PointCloudImpl.h:63
void EstimateNormalsFromCovariancesCPU(const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)
Definition: PointCloudImpl.h:605
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)
Definition: PointCloudCPU.cpp:37
void EstimateColorGradientsUsingKNNSearchCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const int64_t &max_nn)
Definition: PointCloudImpl.h:812
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)
Definition: PointCloud.cpp:42
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)
Definition: PointCloud.cpp:83
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)
Definition: PointCloudImpl.h:759
void EstimateCovariancesUsingKNNSearchCPU(const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)
Definition: PointCloudImpl.h:288
Definition: PinholeCameraIntrinsic.cpp:35