Open3D (C++ API)  0.15.1
Model.h
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26
27#pragma once
28
29#include "open3d/core/Tensor.h"
35
36namespace open3d {
37namespace t {
38namespace pipelines {
39namespace slam {
40
44class Model {
45public:
46 Model() {}
47 Model(float voxel_size,
48 int block_resolution,
49 int block_count,
50 const core::Tensor& T_init = core::Tensor::Eye(4,
52 core::Device("CPU:0")),
53 const core::Device& device = core::Device("CUDA:0"));
54
56 void UpdateFramePose(int frame_id, const core::Tensor& T_frame_to_world) {
57 if (frame_id != frame_id_ + 1) {
58 utility::LogWarning("Skipped {} frames in update T!",
59 frame_id - (frame_id_ + 1));
60 }
61 frame_id_ = frame_id;
62 T_frame_to_world_ = T_frame_to_world.Contiguous();
63 }
64
71 void SynthesizeModelFrame(Frame& raycast_frame,
72 float depth_scale,
73 float depth_min,
74 float depth_max,
75 float trunc_voxel_multiplier = 8.0,
76 bool enable_color = true);
77
86 const Frame& raycast_frame,
87 float depth_scale,
88 float depth_max,
89 float depth_diff);
90
96 void Integrate(const Frame& input_frame,
97 float depth_scale,
98 float depth_max,
99 float trunc_voxel_multiplier = 8.0f);
100
107 t::geometry::PointCloud ExtractPointCloud(float weight_threshold = 3.0f,
108 int estimated_number = -1);
109
116 t::geometry::TriangleMesh ExtractTriangleMesh(float weight_threshold = 3.0f,
117 int estimated_number = -1);
118
121
122public:
126
130
131 int frame_id_ = -1;
132};
133} // namespace slam
134} // namespace pipelines
135} // namespace t
136} // namespace open3d
#define LogWarning(...)
Definition: Logging.h:79
Definition: Device.h:39
Definition: HashMap.h:40
Definition: Tensor.h:51
Tensor Contiguous() const
Definition: Tensor.cpp:746
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition: Tensor.cpp:392
A point cloud contains a list of 3D points.
Definition: PointCloud.h:95
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:106
Definition: VoxelBlockGrid.h:45
Frame is a container class storing an intrinsic matrix and several 2D tensors, from depth map,...
Definition: Frame.h:40
Definition: Model.h:44
void SynthesizeModelFrame(Frame &raycast_frame, float depth_scale, float depth_min, float depth_max, float trunc_voxel_multiplier=8.0, bool enable_color=true)
Definition: Model.cpp:57
core::Tensor frustum_block_coords_
Definition: Model.h:125
t::geometry::TriangleMesh ExtractTriangleMesh(float weight_threshold=3.0f, int estimated_number=-1)
Definition: Model.cpp:123
void Integrate(const Frame &input_frame, float depth_scale, float depth_max, float trunc_voxel_multiplier=8.0f)
Definition: Model.cpp:101
t::geometry::VoxelBlockGrid voxel_grid_
Maintained volumetric map.
Definition: Model.h:124
void UpdateFramePose(int frame_id, const core::Tensor &T_frame_to_world)
Definition: Model.h:56
int frame_id_
Definition: Model.h:131
core::HashMap GetHashMap()
Get block hashmap int the VoxelBlockGrid.
Definition: Model.cpp:128
odometry::OdometryResult TrackFrameToModel(const Frame &input_frame, const Frame &raycast_frame, float depth_scale, float depth_max, float depth_diff)
Definition: Model.cpp:81
Model()
Definition: Model.h:46
core::Tensor GetCurrentFramePose()
Definition: Model.h:55
core::Tensor T_frame_to_world_
Definition: Model.h:129
t::geometry::PointCloud ExtractPointCloud(float weight_threshold=3.0f, int estimated_number=-1)
Definition: Model.cpp:118
const Dtype Float64
Definition: Dtype.cpp:62
Definition: PinholeCameraIntrinsic.cpp:35