Model.h

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#pragma once

#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/Image.h"
#include "open3d/t/geometry/RGBDImage.h"
#include "open3d/t/geometry/VoxelBlockGrid.h"
#include "open3d/t/pipelines/odometry/RGBDOdometry.h"
#include "open3d/t/pipelines/slam/Frame.h"

namespace open3d {
namespace t {
namespace pipelines {
namespace slam {

class Model {
public:
    Model() {}
    Model(float voxel_size,
          int block_resolution,
          int block_count,
          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() { 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,
                              float depth_min,
                              float depth_max,
                              float trunc_voxel_multiplier = 8.0,
                              bool enable_color = true);

    odometry::OdometryResult TrackFrameToModel(const Frame& input_frame,
                                               const Frame& raycast_frame,
                                               float depth_scale,
                                               float depth_max,
                                               float depth_diff);

    void Integrate(const Frame& input_frame,
                   float depth_scale,
                   float depth_max,
                   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 open3d