ControlGrid.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include "open3d/core/Tensor.h"
#include "open3d/core/hashmap/Hashmap.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/Image.h"
#include "open3d/t/geometry/PointCloud.h"

namespace open3d {
namespace t {
namespace pipelines {
namespace slac {

class ControlGrid {
public:
    static const std::string kGrid8NbIndices;
    static const std::string kGrid8NbVertexInterpRatios;
    static const std::string kGrid8NbNormalInterpRatios;

    ControlGrid() = default;

    ControlGrid(float grid_size,
                int64_t grid_count = 1000,
                const core::Device& device = core::Device("CPU:0"));

    ControlGrid(float grid_size,
                const core::Tensor& keys,
                const core::Tensor& values,
                const core::Device& device = core::Device("CPU:0"));

    void Touch(const geometry::PointCloud& pcd);

    void Compactify();

    std::tuple<core::Tensor, core::Tensor, core::Tensor> GetNeighborGridMap();

    geometry::PointCloud Parameterize(const geometry::PointCloud& pcd);

    geometry::PointCloud Deform(const geometry::PointCloud& pcd);

    geometry::Image Deform(const geometry::Image& depth,
                           const core::Tensor& intrinsics,
                           const core::Tensor& extrinsics,
                           float depth_scale,
                           float depth_max);

    geometry::RGBDImage Deform(const geometry::RGBDImage& rgbd,
                               const core::Tensor& intrinsics,
                               const core::Tensor& extrinsics,
                               float depth_scale,
                               float depth_max);

    core::Tensor GetInitPositions() {
        return ctr_hashmap_->GetKeyTensor().To(core::Dtype::Float32) *
               grid_size_;
    }

    core::Tensor GetCurrPositions() { return ctr_hashmap_->GetValueTensor(); }

    std::shared_ptr<core::Hashmap> GetHashmap() { return ctr_hashmap_; }
    int64_t Size() { return ctr_hashmap_->Size(); }

    core::Device GetDevice() { return device_; }
    int64_t GetAnchorIdx() { return anchor_idx_; }

private:
    int64_t anchor_idx_ = 0;

    float grid_size_;

    core::Device device_ = core::Device("CPU:0");
    std::shared_ptr<core::Hashmap> ctr_hashmap_;
};

}  // namespace slac
}  // namespace pipelines
}  // namespace t
}  // namespace open3d