ControlGrid.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/core/Tensor.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"
 
namespace open3d {
namespace t {
namespace pipelines {
namespace slac {
 
class ControlGrid {
public:
    static const std::string kGrid8NbIndices;
    static const std::string kGrid8NbVertexInterpRatios;
    static const std::string kGrid8NbNormalInterpRatios;
 
    ControlGrid() = default;
 
    ControlGrid(float grid_size,
                int64_t grid_count = 1000,
                const core::Device& device = core::Device("CPU:0"));
 
    ControlGrid(float grid_size,
                const core::Tensor& keys,
                const core::Tensor& values,
                const core::Device& device = core::Device("CPU:0"));
 
    void Touch(const geometry::PointCloud& pcd);
 
    void Compactify();
 
    std::tuple<core::Tensor, core::Tensor, core::Tensor> GetNeighborGridMap();
 
    geometry::PointCloud Parameterize(const geometry::PointCloud& pcd);
 
    geometry::PointCloud Deform(const geometry::PointCloud& pcd);
 
    geometry::Image Deform(const geometry::Image& depth,
                           const core::Tensor& intrinsics,
                           const core::Tensor& extrinsics,
                           float depth_scale,
                           float depth_max);
 
    geometry::RGBDImage Deform(const geometry::RGBDImage& rgbd,
                               const core::Tensor& intrinsics,
                               const core::Tensor& extrinsics,
                               float depth_scale,
                               float depth_max);
 
    core::Tensor GetInitPositions() {
        return ctr_hashmap_->GetKeyTensor().To(core::Float32) * grid_size_;
    }
 
    core::Tensor GetCurrPositions() { return ctr_hashmap_->GetValueTensor(); }
 
    std::shared_ptr<core::HashMap> GetHashMap() { return ctr_hashmap_; }
    int64_t Size() { return ctr_hashmap_->Size(); }
 
    core::Device GetDevice() { return device_; }
    int64_t GetAnchorIdx() { return anchor_idx_; }
 
private:
    int64_t anchor_idx_ = 0;
 
    float grid_size_;
 
    core::Device device_ = core::Device("CPU:0");
    std::shared_ptr<core::HashMap> ctr_hashmap_;
};
 
}  // namespace slac
}  // namespace pipelines
}  // namespace t
}  // namespace open3d