Open3D (C++ API)  0.16.1
Transform.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include "open3d/core/Tensor.h"
30
31namespace open3d {
32namespace t {
33namespace geometry {
34namespace kernel {
35namespace transform {
36
37void TransformPoints(const core::Tensor& transformation, core::Tensor& points);
38
39void TransformNormals(const core::Tensor& transformation,
40 core::Tensor& normals);
41
42void RotatePoints(const core::Tensor& R,
43 core::Tensor& points,
44 const core::Tensor& center);
45
46void RotateNormals(const core::Tensor& R, core::Tensor& normals);
47
48void TransformPointsCPU(const core::Tensor& transformation,
49 core::Tensor& points);
50
51void TransformNormalsCPU(const core::Tensor& transformation,
52 core::Tensor& normals);
53
54void RotatePointsCPU(const core::Tensor& R,
55 core::Tensor& points,
56 const core::Tensor& center);
57
58void RotateNormalsCPU(const core::Tensor& R, core::Tensor& normals);
59
60#ifdef BUILD_CUDA_MODULE
61void TransformPointsCUDA(const core::Tensor& transformation,
62 core::Tensor& points);
63
64void TransformNormalsCUDA(const core::Tensor& transformation,
65 core::Tensor& normals);
66
67void RotatePointsCUDA(const core::Tensor& R,
68 core::Tensor& points,
69 const core::Tensor& center);
70
71void RotateNormalsCUDA(const core::Tensor& R, core::Tensor& normals);
72#endif
73
74} // namespace transform
75} // namespace kernel
76} // namespace geometry
77} // namespace t
78} // namespace open3d
int points
Definition: FilePCD.cpp:73
void RotatePointsCPU(const core::Tensor &R, core::Tensor &points, const core::Tensor &center)
Definition: TransformImpl.h:154
void TransformPoints(const core::Tensor &transformation, core::Tensor &points)
Definition: Transform.cpp:39
void TransformPointsCPU(const core::Tensor &transformation, core::Tensor &points)
Definition: TransformImpl.h:114
void RotatePoints(const core::Tensor &R, core::Tensor &points, const core::Tensor &center)
Definition: Transform.cpp:82
void RotateNormalsCPU(const core::Tensor &R, core::Tensor &normals)
Definition: TransformImpl.h:176
void RotateNormals(const core::Tensor &R, core::Tensor &normals)
Definition: Transform.cpp:107
void TransformNormalsCPU(const core::Tensor &transformation, core::Tensor &normals)
Definition: TransformImpl.h:134
void TransformNormals(const core::Tensor &transformation, core::Tensor &normals)
Definition: Transform.cpp:60
Definition: PinholeCameraIntrinsic.cpp:35