TSDFVoxelGrid.h

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// The MIT License (MIT)
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#pragma once

#include <Eigen/Core>
#include <string>
#include <unordered_map>
#include <unordered_set>

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorList.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"
#include "open3d/t/geometry/TensorMap.h"
#include "open3d/t/geometry/TriangleMesh.h"

namespace open3d {
namespace t {
namespace geometry {

class TSDFVoxelGrid {
public:
    TSDFVoxelGrid(std::unordered_map<std::string, core::Dtype> attr_dtype_map =
                          {{"tsdf", core::Dtype::Float32},
                           {"weight", core::Dtype::UInt16},
                           {"color", core::Dtype::UInt16}},
                  float voxel_size = 3.0 / 512.0, /* in meter */
                  float sdf_trunc = 0.04,         /*  in meter  */
                  int64_t block_resolution = 16, /*  block Tensor resolution  */
                  int64_t block_count = 1000,
                  const core::Device &device = core::Device("CPU:0"),
                  const core::HashmapBackend &backend =
                          core::HashmapBackend::Default);

    ~TSDFVoxelGrid(){};

    void Integrate(const Image &depth,
                   const core::Tensor &intrinsics,
                   const core::Tensor &extrinsics,
                   float depth_scale = 1000.0f,
                   float depth_max = 3.0f);

    void Integrate(const Image &depth,
                   const Image &color,
                   const core::Tensor &intrinsics,
                   const core::Tensor &extrinsics,
                   float depth_scale = 1000.0f,
                   float depth_max = 3.0f);

    enum SurfaceMaskCode {
        None = 0,
        VertexMap = (1 << 0),
        DepthMap = (1 << 1),
        ColorMap = (1 << 2),
        NormalMap = (1 << 3),
        RangeMap = (1 << 4)
    };
    std::unordered_map<SurfaceMaskCode, core::Tensor> RayCast(
            const core::Tensor &intrinsics,
            const core::Tensor &extrinsics,
            int width,
            int height,
            float depth_scale = 1000.0f,
            float depth_min = 0.1f,
            float depth_max = 3.0f,
            float weight_threshold = 3.0f,
            int ray_cast_mask = SurfaceMaskCode::DepthMap |
                                SurfaceMaskCode::ColorMap);

    PointCloud ExtractSurfacePoints(
            int estimate_number = -1,
            float weight_threshold = 3.0f,
            int surface_mask = SurfaceMaskCode::VertexMap |
                               SurfaceMaskCode::ColorMap);

    TriangleMesh ExtractSurfaceMesh(
            int estimate_vertices = -1,
            float weight_threshold = 3.0f,
            int surface_mask = SurfaceMaskCode::VertexMap |
                               SurfaceMaskCode::NormalMap |
                               SurfaceMaskCode::ColorMap);

    TSDFVoxelGrid To(const core::Device &device, bool copy = false) const;

    TSDFVoxelGrid Clone() const { return To(GetDevice(), true); }

    TSDFVoxelGrid CPU() const { return To(core::Device("CPU:0"), false); }

    TSDFVoxelGrid CUDA(int device_id = 0) const {
        return To(core::Device(core::Device::DeviceType::CUDA, device_id),
                  false);
    }

    core::Device GetDevice() const { return device_; }

    std::shared_ptr<core::Hashmap> GetBlockHashmap() { return block_hashmap_; }

protected:
    std::pair<core::Tensor, core::Tensor> BufferRadiusNeighbors(
            const core::Tensor &active_addrs);

    float voxel_size_;
    float sdf_trunc_;

    int64_t block_resolution_;
    int64_t block_count_;

    core::Device device_ = core::Device("CPU:0");

    // Global hashmap
    std::shared_ptr<core::Hashmap> block_hashmap_;

    // Local hashmap for the `unique` operation of input points
    std::shared_ptr<core::Hashmap> point_hashmap_;
    core::Tensor active_block_coords_;

    std::unordered_map<std::string, core::Dtype> attr_dtype_map_;
};
}  // namespace geometry
}  // namespace t
}  // namespace open3d