TSDFVolume.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/geometry/RGBDImage.h"
#include "open3d/geometry/TriangleMesh.h"
 
namespace open3d {
namespace pipelines {
namespace integration {
 
enum class TSDFVolumeColorType {
    NoColor = 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 pipelines
}  // namespace open3d