TSDFVoxelGrid.h

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#pragma once

#include <Eigen/Core>
#include <string>
#include <unordered_map>
#include <unordered_set>

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorList.h"
#include "open3d/core/hashmap/Hashmap.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/Image.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/geometry/TensorMap.h"
#include "open3d/t/geometry/TriangleMesh.h"

namespace open3d {
namespace t {
namespace geometry {

class TSDFVoxelGrid {
public:
    TSDFVoxelGrid(std::unordered_map<std::string, core::Dtype> attr_dtype_map =
                          {{"tsdf", core::Dtype::Float32},
                           {"weight", core::Dtype::UInt16},
                           {"color", core::Dtype::UInt16}},
                  float voxel_size = 3.0 / 512.0, /* in meter */
                  float sdf_trunc = 0.04,         /*  in meter  */
                  int64_t block_resolution = 16, /*  block Tensor resolution  */
                  int64_t block_count = 1000,
                  const core::Device &device = core::Device("CPU:0"));

    ~TSDFVoxelGrid(){};

    void Integrate(const Image &depth,
                   const core::Tensor &intrinsics,
                   const core::Tensor &extrinsics,
                   double depth_scale = 1000.0,
                   double depth_max = 3.0);

    void Integrate(const Image &depth,
                   const Image &color,
                   const core::Tensor &intrinsics,
                   const core::Tensor &extrinsics,
                   double depth_scale = 1000.0,
                   double depth_max = 3.0);

    PointCloud ExtractSurfacePoints();

    TriangleMesh ExtractSurfaceMesh();

    TSDFVoxelGrid Copy(const core::Device &device);

    TSDFVoxelGrid CPU();

    TSDFVoxelGrid CUDA(int device_id = 0);

    core::Device GetDevice() { return device_; }

protected:
    std::pair<core::Tensor, core::Tensor> BufferRadiusNeighbors(
            const core::Tensor &active_addrs);

    float voxel_size_;
    float sdf_trunc_;

    int64_t block_resolution_;
    int64_t block_count_;

    core::Device device_ = core::Device("CPU:0");

    std::shared_ptr<core::Hashmap> block_hashmap_;

    std::unordered_map<std::string, core::Dtype> attr_dtype_map_;
};
}  // namespace geometry
}  // namespace t
}  // namespace open3d