TSDFVolume.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <RGBDImage.h>
#include <ecvMesh.h>
#include <ecvPointCloud.h>
 
#include "camera/PinholeCameraIntrinsic.h"
 
namespace cloudViewer {
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<ccPointCloud> ExtractPointCloud() = 0;
 
    virtual std::shared_ptr<ccMesh> ExtractTriangleMesh() = 0;
 
public:
    double voxel_length_;
    double sdf_trunc_;
    TSDFVolumeColorType color_type_;
};
 
}  // namespace integration
}  // namespace pipelines
}  // namespace cloudViewer