Open3D (C++ API)
ScalableTSDFVolume.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <memory>
30 #include <unordered_map>
32 #include <Open3D/Utility/Helper.h>
33 
34 namespace open3d {
35 namespace integration {
36 
37 class UniformTSDFVolume;
38 
56 
58 public:
59  struct VolumeUnit {
60  public:
61  VolumeUnit() : volume_(NULL) {}
62 
63  public:
64  std::shared_ptr<UniformTSDFVolume> volume_;
65  Eigen::Vector3i index_;
66  };
67 
68 public:
69  ScalableTSDFVolume(double voxel_length,
70  double sdf_trunc,
71  TSDFVolumeColorType color_type,
72  int volume_unit_resolution = 16,
73  int depth_sampling_stride = 4);
74  ~ScalableTSDFVolume() override;
75 
76 public:
77  void Reset() override;
78  void Integrate(const geometry::RGBDImage &image,
79  const camera::PinholeCameraIntrinsic &intrinsic,
80  const Eigen::Matrix4d &extrinsic) override;
81  std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override;
82  std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override;
83  std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud();
84 
85 public:
89 
93  std::unordered_map<Eigen::Vector3i,
94  VolumeUnit,
97 
98 private:
99  Eigen::Vector3i LocateVolumeUnit(const Eigen::Vector3d &point) {
100  return Eigen::Vector3i((int)std::floor(point(0) / volume_unit_length_),
101  (int)std::floor(point(1) / volume_unit_length_),
102  (int)std::floor(point(2) / volume_unit_length_));
103  }
104 
105  std::shared_ptr<UniformTSDFVolume> OpenVolumeUnit(
106  const Eigen::Vector3i &index);
107 
108  Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p);
109 
110  double GetTSDFAt(const Eigen::Vector3d &p);
111 };
112 
113 } // namespace integration
114 } // namespace open3d
double volume_unit_length_
Definition: ScalableTSDFVolume.h:87
Definition: ScalableTSDFVolume.h:57
TSDFVolumeColorType
Definition: TSDFVolume.h:37
Definition: Helper.h:90
int volume_unit_resolution_
Definition: ScalableTSDFVolume.h:86
Definition: PinholeCameraIntrinsic.h:41
Definition: TSDFVolume.h:50
Eigen::Vector3i index_
Definition: ScalableTSDFVolume.h:65
int depth_sampling_stride_
Definition: ScalableTSDFVolume.h:88
VolumeUnit()
Definition: ScalableTSDFVolume.h:61
void Integrate(const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic) override
Function to integrate an RGB-D image into the volume.
Definition: ScalableTSDFVolume.cpp:53
std::shared_ptr< geometry::TriangleMesh > ExtractTriangleMesh() override
Definition: ScalableTSDFVolume.cpp:204
Definition: RGBDImage.h:38
std::shared_ptr< geometry::PointCloud > ExtractVoxelPointCloud()
Definition: ScalableTSDFVolume.cpp:347
std::unordered_map< Eigen::Vector3i, VolumeUnit, utility::hash_eigen::hash< Eigen::Vector3i > > volume_units_
Definition: ScalableTSDFVolume.h:96
~ScalableTSDFVolume() override
Definition: ScalableTSDFVolume.cpp:49
Definition: PinholeCameraIntrinsic.cpp:33
Definition: ScalableTSDFVolume.h:59
ScalableTSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type, int volume_unit_resolution=16, int depth_sampling_stride=4)
Definition: ScalableTSDFVolume.cpp:39
std::shared_ptr< geometry::PointCloud > ExtractPointCloud() override
Definition: ScalableTSDFVolume.cpp:109
void Reset() override
Function to reset the TSDFVolume.
Definition: ScalableTSDFVolume.cpp:51
std::shared_ptr< UniformTSDFVolume > volume_
Definition: ScalableTSDFVolume.h:64