open3d::t::pipelines::kernel Namespace Reference

Namespaces
namespace	odometry

Functions
void	ComputeFPFHFeature (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &distance2, const core::Tensor &counts, core::Tensor &fpfhs)
void	ComputeFPFHFeatureCPU (const core::Tensor &points, const core::Tensor &normals, const core::Tensor &indices, const core::Tensor &distance2, const core::Tensor &counts, core::Tensor &fpfhs)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	ComputePairFeature (const scalar_t *p1, const scalar_t *n1, const scalar_t *p2, const scalar_t *n2, scalar_t *feature)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	UpdateSPFHFeature (const scalar_t *feature, int64_t idx, scalar_t hist_incr, scalar_t *spfh)
void	FillInRigidAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
void	FillInSLACAlignmentTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_ps, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
void	FillInSLACRegularizerTerm (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
void	FillInRigidAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &Ri_normal_ps, int i, int j, float threshold)
void	FillInSLACAlignmentTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &Ti_qs, const core::Tensor &Tj_qs, const core::Tensor &normal_ps, const core::Tensor &Ri_normal_ps, const core::Tensor &RjT_Ri_normal_ps, const core::Tensor &cgrid_idx_ps, const core::Tensor &cgrid_idx_qs, const core::Tensor &cgrid_ratio_qs, const core::Tensor &cgrid_ratio_ps, int i, int j, int n, float threshold)
void	FillInSLACRegularizerTermCPU (core::Tensor &AtA, core::Tensor &Atb, core::Tensor &residual, const core::Tensor &grid_idx, const core::Tensor &grid_nbs_idx, const core::Tensor &grid_nbs_mask, const core::Tensor &positions_init, const core::Tensor &positions_curr, float weight, int n, int anchor_idx)
core::Tensor	ComputePosePointToPlane (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel)
	Computes pose for point to plane registration method.
core::Tensor	ComputePoseColoredICP (const core::Tensor &source_positions, const core::Tensor &source_colors, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel, const double &lambda_geometric)
	Computes pose for colored-icp registration method.
core::Tensor	ComputePoseDopplerICP (const core::Tensor &source_points, const core::Tensor &source_dopplers, const core::Tensor &source_directions, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const core::Tensor &current_transform, const core::Tensor &transform_vehicle_to_sensor, const std::size_t iteration, const double period, const double lambda_doppler, const bool reject_dynamic_outliers, const double doppler_outlier_threshold, const std::size_t outlier_rejection_min_iteration, const std::size_t geometric_robust_loss_min_iteration, const std::size_t doppler_robust_loss_min_iteration, const registration::RobustKernel &geometric_kernel, const registration::RobustKernel &doppler_kernel)
	Computes pose for DopplerICP registration method.
std::tuple< core::Tensor, core::Tensor >	ComputeRtPointToPoint (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
	Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method.
core::Tensor	ComputeInformationMatrix (const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
	Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point cloud and correspondence indices w.r.t. target point cloud. Only target positions and correspondence indices are required.
void	ComputePosePointToPlaneCPU (const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel)
void	ComputePoseColoredICPCPU (const core::Tensor &source_points, const core::Tensor &source_colors, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, core::Tensor &pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const registration::RobustKernel &kernel, const double &lambda_geometric)
template<typename scalar_t>
void	PreComputeForDopplerICPKernelCPU (const scalar_t *R_S_to_V, const scalar_t *r_v_to_s_in_V, const scalar_t *w_v_in_V, const scalar_t *v_v_in_V, scalar_t *v_s_in_S)
void	ComputePoseDopplerICPCPU (const core::Tensor &source_points, const core::Tensor &source_dopplers, const core::Tensor &source_directions, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, core::Tensor &output_pose, float &residual, int &inlier_count, const core::Dtype &dtype, const core::Device &device, const core::Tensor &R_S_to_V, const core::Tensor &r_v_to_s_in_V, const core::Tensor &w_v_in_V, const core::Tensor &v_v_in_V, const double period, const bool reject_dynamic_outliers, const double doppler_outlier_threshold, const registration::RobustKernel &kernel_geometric, const registration::RobustKernel &kernel_doppler, const double lambda_doppler)
void	ComputeRtPointToPointCPU (const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &corres, core::Tensor &R, core::Tensor &t, int &inlier_count, const core::Dtype &dtype, const core::Device &device)
template<typename scalar_t>
void	ComputeInformationMatrixKernelCPU (const scalar_t *target_points_ptr, const int64_t *correspondence_indices, const int n, scalar_t *global_sum)
void	ComputeInformationMatrixCPU (const core::Tensor &target_points, const core::Tensor &correspondence_indices, core::Tensor &information_matrix, const core::Dtype &dtype, const core::Device &device)
template<typename scalar_t>
OPEN3D_HOST_DEVICE bool	GetJacobianPointToPlane (int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const int64_t *correspondence_indices, scalar_t *J_ij, scalar_t &r)
template bool	GetJacobianPointToPlane (int64_t workload_idx, const float *source_points_ptr, const float *target_points_ptr, const float *target_normals_ptr, const int64_t *correspondence_indices, float *J_ij, float &r)
template bool	GetJacobianPointToPlane (int64_t workload_idx, const double *source_points_ptr, const double *target_points_ptr, const double *target_normals_ptr, const int64_t *correspondence_indices, double *J_ij, double &r)
template<typename scalar_t>
OPEN3D_HOST_DEVICE bool	GetJacobianColoredICP (const int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *source_colors_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const scalar_t *target_colors_ptr, const scalar_t *target_color_gradients_ptr, const int64_t *correspondence_indices, const scalar_t &sqrt_lambda_geometric, const scalar_t &sqrt_lambda_photometric, scalar_t *J_G, scalar_t *J_I, scalar_t &r_G, scalar_t &r_I)
template bool	GetJacobianColoredICP (const int64_t workload_idx, const float *source_points_ptr, const float *source_colors_ptr, const float *target_points_ptr, const float *target_normals_ptr, const float *target_colors_ptr, const float *target_color_gradients_ptr, const int64_t *correspondence_indices, const float &sqrt_lambda_geometric, const float &sqrt_lambda_photometric, float *J_G, float *J_I, float &r_G, float &r_I)
template bool	GetJacobianColoredICP (const int64_t workload_idx, const double *source_points_ptr, const double *source_colors_ptr, const double *target_points_ptr, const double *target_normals_ptr, const double *target_colors_ptr, const double *target_color_gradients_ptr, const int64_t *correspondence_indices, const double &sqrt_lambda_geometric, const double &sqrt_lambda_photometric, double *J_G, double *J_I, double &r_G, double &r_I)
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	PreComputeForDopplerICP (const scalar_t *R_S_to_V, const scalar_t *r_v_to_s_in_V, const scalar_t *w_v_in_V, const scalar_t *v_v_in_V, scalar_t *v_s_in_S)
template void	PreComputeForDopplerICP (const float *R_S_to_V, const float *r_v_to_s_in_V, const float *w_v_in_V, const float *v_v_in_V, float *v_s_in_S)
template void	PreComputeForDopplerICP (const double *R_S_to_V, const double *r_v_to_s_in_V, const double *w_v_in_V, const double *v_v_in_V, double *v_s_in_S)
template<typename scalar_t>
OPEN3D_HOST_DEVICE bool	GetJacobianDopplerICP (const int64_t workload_idx, const scalar_t *source_points_ptr, const scalar_t *source_dopplers_ptr, const scalar_t *source_directions_ptr, const scalar_t *target_points_ptr, const scalar_t *target_normals_ptr, const int64_t *correspondence_indices, const scalar_t *R_S_to_V, const scalar_t *r_v_to_s_in_V, const scalar_t *v_s_in_S, const bool reject_dynamic_outliers, const scalar_t doppler_outlier_threshold, const scalar_t &sqrt_lambda_geometric, const scalar_t &sqrt_lambda_doppler, const scalar_t &sqrt_lambda_doppler_by_dt, scalar_t *J_G, scalar_t *J_D, scalar_t &r_G, scalar_t &r_D)
template bool	GetJacobianDopplerICP (const int64_t workload_idx, const float *source_points_ptr, const float *source_dopplers_ptr, const float *source_directions_ptr, const float *target_points_ptr, const float *target_normals_ptr, const int64_t *correspondence_indices, const float *R_S_to_V, const float *r_v_to_s_in_V, const float *v_s_in_S, const bool reject_dynamic_outliers, const float doppler_outlier_threshold, const float &sqrt_lambda_geometric, const float &sqrt_lambda_doppler, const float &sqrt_lambda_doppler_by_dt, float *J_G, float *J_D, float &r_G, float &r_D)
template bool	GetJacobianDopplerICP (const int64_t workload_idx, const double *source_points_ptr, const double *source_dopplers_ptr, const double *source_directions_ptr, const double *target_points_ptr, const double *target_normals_ptr, const int64_t *correspondence_indices, const double *R_S_to_V, const double *r_v_to_s_in_V, const double *v_s_in_S, const bool reject_dynamic_outliers, const double doppler_outlier_threshold, const double &sqrt_lambda_geometric, const double &sqrt_lambda_doppler, const double &sqrt_lambda_doppler_by_dt, double *J_G, double *J_D, double &r_G, double &r_D)
template<typename scalar_t>
OPEN3D_HOST_DEVICE bool	GetInformationJacobians (int64_t workload_idx, const scalar_t *target_points_ptr, const int64_t *correspondence_indices, scalar_t *jacobian_x, scalar_t *jacobian_y, scalar_t *jacobian_z)
template bool	GetInformationJacobians (int64_t workload_idx, const float *target_points_ptr, const int64_t *correspondence_indices, float *jacobian_x, float *jacobian_y, float *jacobian_z)
template bool	GetInformationJacobians (int64_t workload_idx, const double *target_points_ptr, const int64_t *correspondence_indices, double *jacobian_x, double *jacobian_y, double *jacobian_z)
core::Tensor	RtToTransformation (const core::Tensor &R, const core::Tensor &t)
	Convert rotation and translation to the transformation matrix.
core::Tensor	PoseToTransformation (const core::Tensor &pose)
	Convert pose to the transformation matrix.
core::Tensor	TransformationToPose (const core::Tensor &transformation)
	Convert transformation matrix to pose.
void	DecodeAndSolve6x6 (const core::Tensor &A_reduction, core::Tensor &delta, float &inlier_residual, int &inlier_count)
	Decodes a 6x6 linear system from a compressed 29x1 tensor.
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	PoseToTransformationImpl (scalar_t *transformation_ptr, const scalar_t *pose_ptr)
	Shared implementation for PoseToTransformation function.
template<typename scalar_t>
OPEN3D_HOST_DEVICE void	TransformationToPoseImpl (scalar_t *pose_ptr, const scalar_t *transformation_ptr)

Function Documentation

ComputeFPFHFeature()

void open3d::t::pipelines::kernel::ComputeFPFHFeature	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	indices,
		const core::Tensor &	distance2,
		const core::Tensor &	counts,
		core::Tensor &	fpfhs )

ComputeFPFHFeatureCPU()

void open3d::t::pipelines::kernel::ComputeFPFHFeatureCPU	(	const core::Tensor &	points,
		const core::Tensor &	normals,
		const core::Tensor &	indices,
		const core::Tensor &	distance2,
		const core::Tensor &	counts,
		core::Tensor &	fpfhs )

ComputeInformationMatrix()

core::Tensor open3d::t::pipelines::kernel::ComputeInformationMatrix	(	const core::Tensor &	target_positions,
		const core::Tensor &	correspondence_indices )

Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point cloud and correspondence indices w.r.t. target point cloud. Only target positions and correspondence indices are required.

Parameters

target_positions	The target point positions.
correspondence_indices	Tensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.

ComputeInformationMatrixCPU()

void open3d::t::pipelines::kernel::ComputeInformationMatrixCPU	(	const core::Tensor &	target_points,
		const core::Tensor &	correspondence_indices,
		core::Tensor &	information_matrix,
		const core::Dtype &	dtype,
		const core::Device &	device )

ComputeInformationMatrixKernelCPU()

template<typename scalar_t>

void open3d::t::pipelines::kernel::ComputeInformationMatrixKernelCPU	(	const scalar_t *	target_points_ptr,
		const int64_t *	correspondence_indices,
		const int	n,
		scalar_t *	global_sum )

ComputePairFeature()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::ComputePairFeature	(	const scalar_t *	p1,
		const scalar_t *	n1,
		const scalar_t *	p2,
		const scalar_t *	n2,
		scalar_t *	feature )

ComputePoseColoredICP()

core::Tensor open3d::t::pipelines::kernel::ComputePoseColoredICP	(	const core::Tensor &	source_positions,
		const core::Tensor &	source_colors,
		const core::Tensor &	target_positions,
		const core::Tensor &	target_normals,
		const core::Tensor &	target_colors,
		const core::Tensor &	target_color_gradients,
		const core::Tensor &	correspondence_indices,
		const registration::RobustKernel &	kernel,
		const double &	lambda_geometric )

Computes pose for colored-icp registration method.

Parameters

source_positions	source point positions of Float32 or Float64 dtype.
source_colors	source point colors of same dtype as source point positions.
target_positions	target point positions of same dtype as source point positions.
target_normals	target point normals of same dtype as source point positions.
target_colors	target point colors of same dtype as source point positions.
target_color_gradients	targets point color gradients of same dtype as source point positions.
correspondence_indices	Tensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
kernel	statistical robust kernel for outlier rejection.
lambda_geometric	λ ∈ [0,1] in the overall energy λEG + (1−λ)EC. Refer the documentation of Colored-ICP for more information.

Returns

Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float64, where alpha, beta, gamma are the Euler angles in the ZYX order.

ComputePoseColoredICPCPU()

void open3d::t::pipelines::kernel::ComputePoseColoredICPCPU	(	const core::Tensor &	source_points,
		const core::Tensor &	source_colors,
		const core::Tensor &	target_points,
		const core::Tensor &	target_normals,
		const core::Tensor &	target_colors,
		const core::Tensor &	target_color_gradients,
		const core::Tensor &	correspondence_indices,
		core::Tensor &	pose,
		float &	residual,
		int &	inlier_count,
		const core::Dtype &	dtype,
		const core::Device &	device,
		const registration::RobustKernel &	kernel,
		const double &	lambda_geometric )

ComputePoseDopplerICP()

core::Tensor open3d::t::pipelines::kernel::ComputePoseDopplerICP	(	const core::Tensor &	source_points,
		const core::Tensor &	source_dopplers,
		const core::Tensor &	source_directions,
		const core::Tensor &	target_points,
		const core::Tensor &	target_normals,
		const core::Tensor &	correspondence_indices,
		const core::Tensor &	current_transform,
		const core::Tensor &	transform_vehicle_to_sensor,
		const std::size_t	iteration,
		const double	period,
		const double	lambda_doppler,
		const bool	reject_dynamic_outliers,
		const double	doppler_outlier_threshold,
		const std::size_t	outlier_rejection_min_iteration,
		const std::size_t	geometric_robust_loss_min_iteration,
		const std::size_t	doppler_robust_loss_min_iteration,
		const registration::RobustKernel &	geometric_kernel,
		const registration::RobustKernel &	doppler_kernel )

Computes pose for DopplerICP registration method.

Parameters

source_points	source point positions of Float32 or Float64 dtype.
source_dopplers	source point Dopplers of same dtype as source point positions.
source_directions	source point direction of same dtype as source point positions.
target_points	target point positions of same dtype as source point positions.
target_normals	target point normals of same dtype as source point positions.
correspondence_indices	Tensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
current_transform	The current pose estimate of ICP.
transform_vehicle_to_sensor	The 4x4 extrinsic transformation matrix between the vehicle and the sensor frames.
iteration	current iteration number of the ICP algorithm.
period	Time period (in seconds) between the source and the target point clouds.
lambda_doppler	weight for the Doppler objective.
reject_dynamic_outliers	Whether or not to prune dynamic point outlier correspondences.
doppler_outlier_threshold	Correspondences with Doppler error greater than this threshold are rejected from optimization.
outlier_rejection_min_iteration	Number of iterations of ICP after which outlier rejection is enabled.
geometric_robust_loss_min_iteration	Number of iterations of ICP after which robust loss for geometric term kicks in.
doppler_robust_loss_min_iteration	Number of iterations of ICP after which robust loss for Doppler term kicks in.
geometric_kernel	statistical robust kernel for outlier rejection.
doppler_kernel	statistical robust kernel for outlier rejection.

Returns

Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float64, where alpha, beta, gamma are the Euler angles in the ZYX order.

ComputePoseDopplerICPCPU()

void open3d::t::pipelines::kernel::ComputePoseDopplerICPCPU	(	const core::Tensor &	source_points,
		const core::Tensor &	source_dopplers,
		const core::Tensor &	source_directions,
		const core::Tensor &	target_points,
		const core::Tensor &	target_normals,
		const core::Tensor &	correspondence_indices,
		core::Tensor &	output_pose,
		float &	residual,
		int &	inlier_count,
		const core::Dtype &	dtype,
		const core::Device &	device,
		const core::Tensor &	R_S_to_V,
		const core::Tensor &	r_v_to_s_in_V,
		const core::Tensor &	w_v_in_V,
		const core::Tensor &	v_v_in_V,
		const double	period,
		const bool	reject_dynamic_outliers,
		const double	doppler_outlier_threshold,
		const registration::RobustKernel &	kernel_geometric,
		const registration::RobustKernel &	kernel_doppler,
		const double	lambda_doppler )

ComputePosePointToPlane()

core::Tensor open3d::t::pipelines::kernel::ComputePosePointToPlane	(	const core::Tensor &	source_positions,
		const core::Tensor &	target_positions,
		const core::Tensor &	target_normals,
		const core::Tensor &	correspondence_indices,
		const registration::RobustKernel &	kernel )

Computes pose for point to plane registration method.

Parameters

source_positions	source point positions of Float32 or Float64 dtype.
target_positions	target point positions of same dtype as source point positions.
target_normals	target point normals of same dtype as source point positions.
correspondence_indices	Tensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
kernel	statistical robust kernel for outlier rejection.

Returns

Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float64, where alpha, beta, gamma are the Euler angles in the ZYX order.

ComputePosePointToPlaneCPU()

void open3d::t::pipelines::kernel::ComputePosePointToPlaneCPU	(	const core::Tensor &	source_points,
		const core::Tensor &	target_points,
		const core::Tensor &	target_normals,
		const core::Tensor &	correspondence_indices,
		core::Tensor &	pose,
		float &	residual,
		int &	inlier_count,
		const core::Dtype &	dtype,
		const core::Device &	device,
		const registration::RobustKernel &	kernel )

ComputeRtPointToPoint()

std::tuple< core::Tensor, core::Tensor > open3d::t::pipelines::kernel::ComputeRtPointToPoint	(	const core::Tensor &	source_positions,
		const core::Tensor &	target_positions,
		const core::Tensor &	correspondence_indices )

Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method.

Parameters

source_positions	source point positions of Float32 or Float64 dtype.
target_positions	target point positions of same dtype as source point positions.
correspondence_indices	Tensor of type Int64 containing indices of corresponding target positions, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.

Returns

tuple of (R, t). [Dtype: Float64].

ComputeRtPointToPointCPU()

void open3d::t::pipelines::kernel::ComputeRtPointToPointCPU	(	const core::Tensor &	source_points,
		const core::Tensor &	target_points,
		const core::Tensor &	corres,
		core::Tensor &	R,
		core::Tensor &	t,
		int &	inlier_count,
		const core::Dtype &	dtype,
		const core::Device &	device )

DecodeAndSolve6x6()

void open3d::t::pipelines::kernel::DecodeAndSolve6x6	(	const core::Tensor &	A_reduction,
		core::Tensor &	delta,
		float &	inlier_residual,
		int &	inlier_count )

Decodes a 6x6 linear system from a compressed 29x1 tensor.

Parameters

A_reduction	1x29 tensor storing a linear system, (21 for \(J^T J\) matrix, 6 for \(J^T r\), 1 for residual, 1 for inlier count).
delta	6d tensor for a se3 tangent vector.
inlier_residual	Float residual for the inliers.
inlier_count	Int number of inliers.

FillInRigidAlignmentTerm()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_ps,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	Ri_normal_ps,
		int	i,
		int	j,
		float	threshold )

FillInRigidAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInRigidAlignmentTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_qs,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	Ri_normal_ps,
		int	i,
		int	j,
		float	threshold )

FillInSLACAlignmentTerm()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_ps,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	normal_ps,
		const core::Tensor &	Ri_normal_ps,
		const core::Tensor &	RjT_Ri_normal_ps,
		const core::Tensor &	cgrid_idx_ps,
		const core::Tensor &	cgrid_idx_qs,
		const core::Tensor &	cgrid_ratio_qs,
		const core::Tensor &	cgrid_ratio_ps,
		int	i,
		int	j,
		int	n,
		float	threshold )

FillInSLACAlignmentTermCPU()

void open3d::t::pipelines::kernel::FillInSLACAlignmentTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	Ti_qs,
		const core::Tensor &	Tj_qs,
		const core::Tensor &	normal_ps,
		const core::Tensor &	Ri_normal_ps,
		const core::Tensor &	RjT_Ri_normal_ps,
		const core::Tensor &	cgrid_idx_ps,
		const core::Tensor &	cgrid_idx_qs,
		const core::Tensor &	cgrid_ratio_qs,
		const core::Tensor &	cgrid_ratio_ps,
		int	i,
		int	j,
		int	n,
		float	threshold )

FillInSLACRegularizerTerm()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTerm	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	grid_idx,
		const core::Tensor &	grid_nbs_idx,
		const core::Tensor &	grid_nbs_mask,
		const core::Tensor &	positions_init,
		const core::Tensor &	positions_curr,
		float	weight,
		int	n,
		int	anchor_idx )

FillInSLACRegularizerTermCPU()

void open3d::t::pipelines::kernel::FillInSLACRegularizerTermCPU	(	core::Tensor &	AtA,
		core::Tensor &	Atb,
		core::Tensor &	residual,
		const core::Tensor &	grid_idx,
		const core::Tensor &	grid_nbs_idx,
		const core::Tensor &	grid_nbs_mask,
		const core::Tensor &	positions_init,
		const core::Tensor &	positions_curr,
		float	weight,
		int	n,
		int	anchor_idx )

GetInformationJacobians() [1/3]

template bool open3d::t::pipelines::kernel::GetInformationJacobians	(	int64_t	workload_idx,
		const double *	target_points_ptr,
		const int64_t *	correspondence_indices,
		double *	jacobian_x,
		double *	jacobian_y,
		double *	jacobian_z )

GetInformationJacobians() [2/3]

template bool open3d::t::pipelines::kernel::GetInformationJacobians	(	int64_t	workload_idx,
		const float *	target_points_ptr,
		const int64_t *	correspondence_indices,
		float *	jacobian_x,
		float *	jacobian_y,
		float *	jacobian_z )

GetInformationJacobians() [3/3]

template<typename scalar_t>

OPEN3D_HOST_DEVICE bool open3d::t::pipelines::kernel::GetInformationJacobians ( int64_t workload_idx, const scalar_t * target_points_ptr, const int64_t * correspondence_indices, scalar_t * jacobian_x, scalar_t * jacobian_y, scalar_t * jacobian_z )

inline

GetJacobianColoredICP() [1/3]

template bool open3d::t::pipelines::kernel::GetJacobianColoredICP	(	const int64_t	workload_idx,
		const double *	source_points_ptr,
		const double *	source_colors_ptr,
		const double *	target_points_ptr,
		const double *	target_normals_ptr,
		const double *	target_colors_ptr,
		const double *	target_color_gradients_ptr,
		const int64_t *	correspondence_indices,
		const double &	sqrt_lambda_geometric,
		const double &	sqrt_lambda_photometric,
		double *	J_G,
		double *	J_I,
		double &	r_G,
		double &	r_I )

GetJacobianColoredICP() [2/3]

template bool open3d::t::pipelines::kernel::GetJacobianColoredICP	(	const int64_t	workload_idx,
		const float *	source_points_ptr,
		const float *	source_colors_ptr,
		const float *	target_points_ptr,
		const float *	target_normals_ptr,
		const float *	target_colors_ptr,
		const float *	target_color_gradients_ptr,
		const int64_t *	correspondence_indices,
		const float &	sqrt_lambda_geometric,
		const float &	sqrt_lambda_photometric,
		float *	J_G,
		float *	J_I,
		float &	r_G,
		float &	r_I )

GetJacobianColoredICP() [3/3]

template<typename scalar_t>

OPEN3D_HOST_DEVICE bool open3d::t::pipelines::kernel::GetJacobianColoredICP ( const int64_t workload_idx, const scalar_t * source_points_ptr, const scalar_t * source_colors_ptr, const scalar_t * target_points_ptr, const scalar_t * target_normals_ptr, const scalar_t * target_colors_ptr, const scalar_t * target_color_gradients_ptr, const int64_t * correspondence_indices, const scalar_t & sqrt_lambda_geometric, const scalar_t & sqrt_lambda_photometric, scalar_t * J_G, scalar_t * J_I, scalar_t & r_G, scalar_t & r_I )

inline

GetJacobianDopplerICP() [1/3]

template bool open3d::t::pipelines::kernel::GetJacobianDopplerICP	(	const int64_t	workload_idx,
		const double *	source_points_ptr,
		const double *	source_dopplers_ptr,
		const double *	source_directions_ptr,
		const double *	target_points_ptr,
		const double *	target_normals_ptr,
		const int64_t *	correspondence_indices,
		const double *	R_S_to_V,
		const double *	r_v_to_s_in_V,
		const double *	v_s_in_S,
		const bool	reject_dynamic_outliers,
		const double	doppler_outlier_threshold,
		const double &	sqrt_lambda_geometric,
		const double &	sqrt_lambda_doppler,
		const double &	sqrt_lambda_doppler_by_dt,
		double *	J_G,
		double *	J_D,
		double &	r_G,
		double &	r_D )

GetJacobianDopplerICP() [2/3]

template bool open3d::t::pipelines::kernel::GetJacobianDopplerICP	(	const int64_t	workload_idx,
		const float *	source_points_ptr,
		const float *	source_dopplers_ptr,
		const float *	source_directions_ptr,
		const float *	target_points_ptr,
		const float *	target_normals_ptr,
		const int64_t *	correspondence_indices,
		const float *	R_S_to_V,
		const float *	r_v_to_s_in_V,
		const float *	v_s_in_S,
		const bool	reject_dynamic_outliers,
		const float	doppler_outlier_threshold,
		const float &	sqrt_lambda_geometric,
		const float &	sqrt_lambda_doppler,
		const float &	sqrt_lambda_doppler_by_dt,
		float *	J_G,
		float *	J_D,
		float &	r_G,
		float &	r_D )

GetJacobianDopplerICP() [3/3]

template<typename scalar_t>

OPEN3D_HOST_DEVICE bool open3d::t::pipelines::kernel::GetJacobianDopplerICP ( const int64_t workload_idx, const scalar_t * source_points_ptr, const scalar_t * source_dopplers_ptr, const scalar_t * source_directions_ptr, const scalar_t * target_points_ptr, const scalar_t * target_normals_ptr, const int64_t * correspondence_indices, const scalar_t * R_S_to_V, const scalar_t * r_v_to_s_in_V, const scalar_t * v_s_in_S, const bool reject_dynamic_outliers, const scalar_t doppler_outlier_threshold, const scalar_t & sqrt_lambda_geometric, const scalar_t & sqrt_lambda_doppler, const scalar_t & sqrt_lambda_doppler_by_dt, scalar_t * J_G, scalar_t * J_D, scalar_t & r_G, scalar_t & r_D )

inline

GetJacobianPointToPlane() [1/3]

template bool open3d::t::pipelines::kernel::GetJacobianPointToPlane	(	int64_t	workload_idx,
		const double *	source_points_ptr,
		const double *	target_points_ptr,
		const double *	target_normals_ptr,
		const int64_t *	correspondence_indices,
		double *	J_ij,
		double &	r )

GetJacobianPointToPlane() [2/3]

template bool open3d::t::pipelines::kernel::GetJacobianPointToPlane	(	int64_t	workload_idx,
		const float *	source_points_ptr,
		const float *	target_points_ptr,
		const float *	target_normals_ptr,
		const int64_t *	correspondence_indices,
		float *	J_ij,
		float &	r )

GetJacobianPointToPlane() [3/3]

template<typename scalar_t>

OPEN3D_HOST_DEVICE bool open3d::t::pipelines::kernel::GetJacobianPointToPlane ( int64_t workload_idx, const scalar_t * source_points_ptr, const scalar_t * target_points_ptr, const scalar_t * target_normals_ptr, const int64_t * correspondence_indices, scalar_t * J_ij, scalar_t & r )

inline

PoseToTransformation()

core::Tensor open3d::t::pipelines::kernel::PoseToTransformation

(

const core::Tensor &

pose

)

Convert pose to the transformation matrix.

Parameters

pose	Pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype Float32, where alpha, beta, gamma are the Euler angles in the ZYX order.

Returns

Transformation, a tensor of shape {4, 4}, dtype and device same as pose.

PoseToTransformationImpl()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::PoseToTransformationImpl ( scalar_t * transformation_ptr, const scalar_t * pose_ptr )

inline

Shared implementation for PoseToTransformation function.

PreComputeForDopplerICP() [1/3]

template void open3d::t::pipelines::kernel::PreComputeForDopplerICP	(	const double *	R_S_to_V,
		const double *	r_v_to_s_in_V,
		const double *	w_v_in_V,
		const double *	v_v_in_V,
		double *	v_s_in_S )

PreComputeForDopplerICP() [2/3]

template void open3d::t::pipelines::kernel::PreComputeForDopplerICP	(	const float *	R_S_to_V,
		const float *	r_v_to_s_in_V,
		const float *	w_v_in_V,
		const float *	v_v_in_V,
		float *	v_s_in_S )

PreComputeForDopplerICP() [3/3]

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::PreComputeForDopplerICP ( const scalar_t * R_S_to_V, const scalar_t * r_v_to_s_in_V, const scalar_t * w_v_in_V, const scalar_t * v_v_in_V, scalar_t * v_s_in_S )

inline

PreComputeForDopplerICPKernelCPU()

template<typename scalar_t>

void open3d::t::pipelines::kernel::PreComputeForDopplerICPKernelCPU	(	const scalar_t *	R_S_to_V,
		const scalar_t *	r_v_to_s_in_V,
		const scalar_t *	w_v_in_V,
		const scalar_t *	v_v_in_V,
		scalar_t *	v_s_in_S )

RtToTransformation()

core::Tensor open3d::t::pipelines::kernel::RtToTransformation	(	const core::Tensor &	R,
		const core::Tensor &	t )

Convert rotation and translation to the transformation matrix.

Parameters

R	Rotation, a tensor of shape {3, 3}.
t	Translation, a tensor of shape {3,}.

Returns

Transformation, a tensor of shape {4, 4}, dtype and device same as R and t.

TransformationToPose()

core::Tensor open3d::t::pipelines::kernel::TransformationToPose

(

const core::Tensor &

transformation

)

Convert transformation matrix to pose.

Parameters

transformation,a

tensor of shape {4, 4}, of dtype Float32

Returns

pose [alpha beta gamma, tx, ty, tz], a shape {6} tensor of dtype and device same as transformation, where alpha, beta, gamma are the Euler angles in the ZYX order.

TransformationToPoseImpl()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::TransformationToPoseImpl ( scalar_t * pose_ptr, const scalar_t * transformation_ptr )

inline

Shared implementation for TransformationToPose function. Reference method: utility::TransformMatrix4dToVector6d.

UpdateSPFHFeature()

template<typename scalar_t>

OPEN3D_HOST_DEVICE void open3d::t::pipelines::kernel::UpdateSPFHFeature	(	const scalar_t *	feature,
		int64_t	idx,
		scalar_t	hist_incr,
		scalar_t *	spfh )