Open3D (C++ API)  0.15.1
EigenConverter.h
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26
27#pragma once
28
29#include <Eigen/Core>
30#include <vector>
31
32#include "open3d/core/Device.h"
33#include "open3d/core/Dtype.h"
34#include "open3d/core/Tensor.h"
35
36namespace open3d {
37namespace core {
38namespace eigen_converter {
39
47template <class Derived>
48core::Tensor EigenMatrixToTensor(const Eigen::MatrixBase<Derived> &matrix) {
49 typedef typename Derived::Scalar Scalar;
50 core::Dtype dtype = core::Dtype::FromType<Scalar>();
51 Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
52 matrix_row_major = matrix;
53 return core::Tensor(matrix_row_major.data(), {matrix.rows(), matrix.cols()},
54 dtype);
55}
56
62Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
64
70Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
72
78Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
80
87std::vector<Eigen::Vector2d> TensorToEigenVector2dVector(
88 const core::Tensor &tensor);
89
96std::vector<Eigen::Vector3d> TensorToEigenVector3dVector(
97 const core::Tensor &tensor);
98
105std::vector<Eigen::Vector2i> TensorToEigenVector2iVector(
106 const core::Tensor &tensor);
107
114std::vector<Eigen::Vector3i> TensorToEigenVector3iVector(
115 const core::Tensor &tensor);
116
126 const std::vector<Eigen::Vector3d> &values,
127 core::Dtype dtype,
128 const core::Device &device);
129
140 const std::vector<Eigen::Vector2d> &values,
141 core::Dtype dtype,
142 const core::Device &device);
143
154 const std::vector<Eigen::Vector2i> &values,
155 core::Dtype dtype,
156 const core::Device &device);
157
167 const std::vector<Eigen::Vector3i> &values,
168 core::Dtype dtype,
169 const core::Device &device);
170
171} // namespace eigen_converter
172} // namespace core
173} // namespace open3d
Definition: Device.h:39
Definition: Dtype.h:39
Definition: Scalar.h:42
Definition: Tensor.h:51
std::vector< Eigen::Vector2d > TensorToEigenVector2dVector(const core::Tensor &tensor)
Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2d>. An exception will be thrown if the...
Definition: EigenConverter.cpp:164
std::vector< Eigen::Vector2i > TensorToEigenVector2iVector(const core::Tensor &tensor)
Converts a tensor of shape (N, 2) to std::vector<Eigen::Vector2i>. An exception will be thrown if the...
Definition: EigenConverter.cpp:179
Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > TensorToEigenMatrixXi(const core::Tensor &tensor)
Converts a 2D tensor to Eigen::MatrixXi of same shape. Regardless of the tensor dtype,...
Definition: EigenConverter.cpp:96
core::Tensor EigenVector3iVectorToTensor(const std::vector< Eigen::Vector3i > &values, core::Dtype dtype, const core::Device &device)
Converts a vector of Eigen::Vector3i to a (N, 3) tensor. This function also takes care of dtype conve...
Definition: EigenConverter.cpp:198
core::Tensor EigenVector2iVectorToTensor(const std::vector< Eigen::Vector2i > &values, core::Dtype dtype, const core::Device &device)
Converts a vector of Eigen::Vector2i to a (N, 2) tensor. This function also takes care of dtype conve...
Definition: EigenConverter.cpp:204
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > TensorToEigenMatrixXd(const core::Tensor &tensor)
Converts a 2D tensor to Eigen::MatrixXd of same shape. Regardless of the tensor dtype,...
Definition: EigenConverter.cpp:86
std::vector< Eigen::Vector3i > TensorToEigenVector3iVector(const core::Tensor &tensor)
Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3i>. An exception will be thrown if the...
Definition: EigenConverter.cpp:174
core::Tensor EigenVector3dVectorToTensor(const std::vector< Eigen::Vector3d > &values, core::Dtype dtype, const core::Device &device)
Converts a vector of Eigen::Vector3d to a (N, 3) tensor. This function also takes care of dtype conve...
Definition: EigenConverter.cpp:184
std::vector< Eigen::Vector3d > TensorToEigenVector3dVector(const core::Tensor &tensor)
Converts a tensor of shape (N, 3) to std::vector<Eigen::Vector3d>. An exception will be thrown if the...
Definition: EigenConverter.cpp:169
core::Tensor EigenMatrixToTensor(const Eigen::MatrixBase< Derived > &matrix)
Converts a eigen matrix of shape (M, N) with alignment A and type T to a tensor.
Definition: EigenConverter.h:48
core::Tensor EigenVector2dVectorToTensor(const std::vector< Eigen::Vector2d > &values, core::Dtype dtype, const core::Device &device)
Converts a vector of Eigen::Vector2d to a (N, 2) tensor. This function also takes care of dtype conve...
Definition: EigenConverter.cpp:191
Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > TensorToEigenMatrixXf(const core::Tensor &tensor)
Converts a 2D tensor to Eigen::MatrixXf of same shape. Regardless of the tensor dtype,...
Definition: EigenConverter.cpp:91
Definition: PinholeCameraIntrinsic.cpp:35