ScalableTSDFVolume.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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