Model.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "cloudViewer/core/Tensor.h"
#include "cloudViewer/t/geometry/Image.h"
#include "cloudViewer/t/geometry/RGBDImage.h"
#include "cloudViewer/t/geometry/VoxelBlockGrid.h"
#include "cloudViewer/t/pipelines/odometry/RGBDOdometry.h"
#include "cloudViewer/t/pipelines/slam/Frame.h"
 
namespace cloudViewer {
namespace t {
namespace pipelines {
namespace slam {
 
class Model {
public:
    Model() {}
    Model(float voxel_size,
          int block_resolution = 16,
          int block_count = 1000,
          const core::Tensor& T_init = core::Tensor::Eye(4,
                                                         core::Float64,
                                                         core::Device("CPU:0")),
          const core::Device& device = core::Device("CUDA:0"));
 
    core::Tensor GetCurrentFramePose() const { return T_frame_to_world_; }
    void UpdateFramePose(int frame_id, const core::Tensor& T_frame_to_world) {
        if (frame_id != frame_id_ + 1) {
            utility::LogWarning("Skipped {} frames in update T!",
                                frame_id - (frame_id_ + 1));
        }
        frame_id_ = frame_id;
        T_frame_to_world_ = T_frame_to_world.Contiguous();
    }
 
    void SynthesizeModelFrame(Frame& raycast_frame,
                              float depth_scale = 1000.0,
                              float depth_min = 0.1,
                              float depth_max = 3.0,
                              float trunc_voxel_multiplier = 8.0,
                              bool enable_color = true,
                              float weight_threshold = -1.0);
 
    odometry::OdometryResult TrackFrameToModel(
            const Frame& input_frame,
            const Frame& raycast_frame,
            float depth_scale = 1000.0,
            float depth_max = 3.0,
            float depth_diff = 0.07,
            odometry::Method method = odometry::Method::PointToPlane,
            const std::vector<odometry::OdometryConvergenceCriteria>& criteria =
                    {6, 3, 1});
 
    void Integrate(const Frame& input_frame,
                   float depth_scale = 1000.0,
                   float depth_max = 3.0,
                   float trunc_voxel_multiplier = 8.0f);
 
    t::geometry::PointCloud ExtractPointCloud(float weight_threshold = 3.0f,
                                              int estimated_number = -1);
 
    t::geometry::TriangleMesh ExtractTriangleMesh(float weight_threshold = 3.0f,
                                                  int estimated_number = -1);
 
    core::HashMap GetHashMap();
 
public:
    t::geometry::VoxelBlockGrid voxel_grid_;
 
    core::Tensor frustum_block_coords_;
 
    core::Tensor T_frame_to_world_;
 
    int frame_id_ = -1;
};
 
}  // namespace slam
}  // namespace pipelines
}  // namespace t
}  // namespace cloudViewer