TSDFVolume.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include <Open3D/Geometry/RGBDImage.h>
#include <Open3D/Geometry/PointCloud.h>
#include <Open3D/Geometry/TriangleMesh.h>
#include <Open3D/Camera/PinholeCameraIntrinsic.h>

namespace open3d {
namespace integration {

enum class TSDFVolumeColorType {
    None = 0,
    RGB8 = 1,
    Gray32 = 2,
};

class TSDFVolume {
public:
    TSDFVolume(double voxel_length,
               double sdf_trunc,
               TSDFVolumeColorType color_type)
        : voxel_length_(voxel_length),
          sdf_trunc_(sdf_trunc),
          color_type_(color_type) {}
    virtual ~TSDFVolume() {}

public:
    virtual void Reset() = 0;

    virtual void Integrate(const geometry::RGBDImage &image,
                           const camera::PinholeCameraIntrinsic &intrinsic,
                           const Eigen::Matrix4d &extrinsic) = 0;

    virtual std::shared_ptr<geometry::PointCloud> ExtractPointCloud() = 0;

    virtual std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() = 0;

public:
    double voxel_length_;
    double sdf_trunc_;
    TSDFVolumeColorType color_type_;
};

}  // namespace integration
}  // namespace open3d