ScalableTSDFVolume.h

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#pragma once

#include <memory>
#include <unordered_map>

#include "open3d/pipelines/integration/TSDFVolume.h"
#include "open3d/utility/Helper.h"

namespace open3d {
namespace pipelines {
namespace integration {

class UniformTSDFVolume;

class ScalableTSDFVolume : public TSDFVolume {
public:
    struct VolumeUnit {
    public:
        VolumeUnit() : volume_(NULL) {}

    public:
        std::shared_ptr<UniformTSDFVolume> volume_;
        Eigen::Vector3i index_;
    };

public:
    ScalableTSDFVolume(double voxel_length,
                       double sdf_trunc,
                       TSDFVolumeColorType color_type,
                       int volume_unit_resolution = 16,
                       int depth_sampling_stride = 4);
    ~ScalableTSDFVolume() override;

public:
    void Reset() override;
    void Integrate(const geometry::RGBDImage &image,
                   const camera::PinholeCameraIntrinsic &intrinsic,
                   const Eigen::Matrix4d &extrinsic) override;
    std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override;
    std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override;
    std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud();

public:
    int volume_unit_resolution_;
    double volume_unit_length_;
    int depth_sampling_stride_;

    std::unordered_map<Eigen::Vector3i,
                       VolumeUnit,
                       utility::hash_eigen<Eigen::Vector3i>>
            volume_units_;

private:
    Eigen::Vector3i LocateVolumeUnit(const Eigen::Vector3d &point) {
        return Eigen::Vector3i((int)std::floor(point(0) / volume_unit_length_),
                               (int)std::floor(point(1) / volume_unit_length_),
                               (int)std::floor(point(2) / volume_unit_length_));
    }

    std::shared_ptr<UniformTSDFVolume> OpenVolumeUnit(
            const Eigen::Vector3i &index);

    Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p);

    double GetTSDFAt(const Eigen::Vector3d &p);
};

}  // namespace integration
}  // namespace pipelines
}  // namespace open3d