Open3D (C++ API)  0.16.0
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 = 16,
49 int block_count = 1000,
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
77 void SynthesizeModelFrame(Frame& raycast_frame,
78 float depth_scale = 1000.0,
79 float depth_min = 0.1,
80 float depth_max = 3.0,
81 float trunc_voxel_multiplier = 8.0,
82 bool enable_color = true,
83 float weight_threshold = -1.0);
84
96 const Frame& input_frame,
97 const Frame& raycast_frame,
98 float depth_scale = 1000.0,
99 float depth_max = 3.0,
100 float depth_diff = 0.07,
102 const std::vector<odometry::OdometryConvergenceCriteria>& criteria =
103 {6, 3, 1});
104
113 void Integrate(const Frame& input_frame,
114 float depth_scale = 1000.0,
115 float depth_max = 3.0,
116 float trunc_voxel_multiplier = 8.0f);
117
124 t::geometry::PointCloud ExtractPointCloud(float weight_threshold = 3.0f,
125 int estimated_number = -1);
126
133 t::geometry::TriangleMesh ExtractTriangleMesh(float weight_threshold = 3.0f,
134 int estimated_number = -1);
135
138
139public:
142
145
149
150 int frame_id_ = -1;
151};
152
153} // namespace slam
154} // namespace pipelines
155} // namespace t
156} // namespace open3d
#define LogWarning(...)
Definition: Logging.h:79
Definition: Device.h:37
Definition: HashMap.h:41
Definition: Tensor.h:51
Tensor Contiguous() const
Definition: Tensor.cpp:758
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition: Tensor.cpp:404
A point cloud contains a list of 3D points.
Definition: PointCloud.h:99
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:111
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
core::Tensor frustum_block_coords_
Active block coordinates from prior integration.
Definition: Model.h:144
void Integrate(const Frame &input_frame, float depth_scale=1000.0, float depth_max=3.0, float trunc_voxel_multiplier=8.0f)
Definition: Model.cpp:110
t::geometry::TriangleMesh ExtractTriangleMesh(float weight_threshold=3.0f, int estimated_number=-1)
Definition: Model.cpp:132
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)
Definition: Model.cpp:57
t::geometry::VoxelBlockGrid voxel_grid_
Maintained volumetric map.
Definition: Model.h:141
void UpdateFramePose(int frame_id, const core::Tensor &T_frame_to_world)
Definition: Model.h:56
core::Tensor GetCurrentFramePose() const
Definition: Model.h:55
int frame_id_
Definition: Model.h:150
core::HashMap GetHashMap()
Get block hashmap int the VoxelBlockGrid.
Definition: Model.cpp:137
Model()
Definition: Model.h:46
core::Tensor T_frame_to_world_
Definition: Model.h:148
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})
Definition: Model.cpp:87
t::geometry::PointCloud ExtractPointCloud(float weight_threshold=3.0f, int estimated_number=-1)
Definition: Model.cpp:127
const Dtype Float64
Definition: Dtype.cpp:62
Method
Definition: RGBDOdometry.h:42
Definition: PinholeCameraIntrinsic.cpp:35