29#include <unordered_map>
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& min_bound,
62 const core::Tensor& max_bound,
118 double angle_threshold);
120#ifdef BUILD_CUDA_MODULE
156void OrientNormalsToAlignWithDirectionCUDA(
core::Tensor& normals,
168 double angle_threshold);
173 const double& radius,
174 const int64_t& max_nn);
178 const int64_t& max_nn);
182 const double& radius);
192 const double& radius,
193 const int64_t& max_nn);
199 const int64_t& max_nn);
205 const double& radius);
207#ifdef BUILD_CUDA_MODULE
210 const double& radius,
211 const int64_t& max_nn);
215 const int64_t& max_nn);
219 const double& radius);
221void EstimateNormalsFromCovariancesCUDA(
const core::Tensor& covariances,
229 const double& radius,
230 const int64_t& max_nn);
236 const int64_t& max_nn);
242 const double& radius);
size_t stride
Definition: TriangleMeshBuffers.cpp:184
Definition: Optional.h:278
void EstimateCovariancesUsingHybridSearchCPU(const core::Tensor &points, core::Tensor &covariances, const double &radius, const int64_t &max_nn)
Definition: PointCloudImpl.h:537
void GetPointMaskWithinAABB(const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
Definition: PointCloud.cpp:119
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:81
void EstimateCovariancesUsingRadiusSearchCPU(const core::Tensor &points, core::Tensor &covariances, const double &radius)
Definition: PointCloudImpl.h:587
void EstimateNormalsFromCovariancesCPU(const core::Tensor &covariances, core::Tensor &normals, const bool has_normals)
Definition: PointCloudImpl.h:954
void OrientNormalsTowardsCameraLocationCPU(const core::Tensor &points, core::Tensor &normals, const core::Tensor &camera)
Definition: PointCloudImpl.h:260
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 GetPointMaskWithinAABBCPU(const core::Tensor &points, const core::Tensor &min_bound, const core::Tensor &max_bound, core::Tensor &mask)
Definition: PointCloudImpl.h:161
void ComputeBoundaryPointsCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &counts, core::Tensor &mask, double angle_threshold)
Definition: PointCloudImpl.h:395
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:1160
void NormalizeNormalsCPU(core::Tensor &normals)
Definition: PointCloudImpl.h:195
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 GetPointMaskWithinOBB(const core::Tensor &points, const core::Tensor ¢er, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
void EstimateColorGradientsUsingRadiusSearchCPU(const core::Tensor &points, const core::Tensor &normals, const core::Tensor &colors, core::Tensor &color_gradient, const double &radius)
Definition: PointCloudImpl.h:1215
void GetPointMaskWithinOBBCPU(const core::Tensor &points, const core::Tensor ¢er, const core::Tensor &rotation, const core::Tensor &extent, core::Tensor &mask)
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:1108
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 OrientNormalsToAlignWithDirectionCPU(core::Tensor &normals, const core::Tensor &direction)
Definition: PointCloudImpl.h:226
void EstimateCovariancesUsingKNNSearchCPU(const core::Tensor &points, core::Tensor &covariances, const int64_t &max_nn)
Definition: PointCloudImpl.h:636
Definition: PinholeCameraIntrinsic.cpp:35