Open3D (C++ API)  0.16.1
TransformationConverterImpl.h
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26
27// Private header. Do not include in Open3d.h.
28
29#pragma once
30
31#include <cmath>
32
34
35namespace open3d {
36namespace t {
37namespace pipelines {
38namespace kernel {
39
41template <typename scalar_t>
43 scalar_t *transformation_ptr, const scalar_t *pose_ptr) {
44 transformation_ptr[0] = cos(pose_ptr[2]) * cos(pose_ptr[1]);
45 transformation_ptr[1] =
46 -1 * sin(pose_ptr[2]) * cos(pose_ptr[0]) +
47 cos(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
48 transformation_ptr[2] =
49 sin(pose_ptr[2]) * sin(pose_ptr[0]) +
50 cos(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
51 transformation_ptr[4] = sin(pose_ptr[2]) * cos(pose_ptr[1]);
52 transformation_ptr[5] =
53 cos(pose_ptr[2]) * cos(pose_ptr[0]) +
54 sin(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
55 transformation_ptr[6] =
56 -1 * cos(pose_ptr[2]) * sin(pose_ptr[0]) +
57 sin(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
58 transformation_ptr[8] = -1 * sin(pose_ptr[1]);
59 transformation_ptr[9] = cos(pose_ptr[1]) * sin(pose_ptr[0]);
60 transformation_ptr[10] = cos(pose_ptr[1]) * cos(pose_ptr[0]);
61}
62
63#ifdef BUILD_CUDA_MODULE
68template <typename scalar_t>
69void PoseToTransformationCUDA(scalar_t *transformation_ptr,
70 const scalar_t *pose_ptr);
71#endif
72
73} // namespace kernel
74} // namespace pipelines
75} // namespace t
76} // namespace open3d
Common CUDA utilities.
#define OPEN3D_HOST_DEVICE
Definition: CUDAUtils.h:63
OPEN3D_HOST_DEVICE void PoseToTransformationImpl(scalar_t *transformation_ptr, const scalar_t *pose_ptr)
Shared implementation for PoseToTransformation function.
Definition: TransformationConverterImpl.h:42
Definition: PinholeCameraIntrinsic.cpp:35