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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 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.
// ----------------------------------------------------------------------------
#include <string>
#include <unordered_map>
#include "open3d/core/CUDAUtils.h"
#include "open3d/t/geometry/VoxelBlockGrid.h"
#include "pybind/core/tensor_converter.h"
#include "pybind/t/geometry/geometry.h"
namespace open3d {
namespace t {
namespace geometry {
void pybind_voxel_block_grid(py::module& m) {
py::class_<VoxelBlockGrid> vbg(
m, "VoxelBlockGrid",
"A voxel block grid is a sparse grid of voxel blocks. Each voxel "
"block is a dense 3D array, preserving local data distribution. If "
"the block_resolution is set to 1, then the VoxelBlockGrid "
"degenerates to a sparse voxel grid.");
vbg.def(py::init<const std::vector<std::string>&,
const std::vector<core::Dtype>&,
const std::vector<core::SizeVector>&, float, int64_t,
int64_t, const core::Device&>(),
"attr_names"_a, "attr_dtypes"_a, "attr_channels"_a,
"voxel_size"_a = 0.0058, "block_resolution"_a = 16,
"block_count"_a = 10000, "device"_a = core::Device("CPU:0"));
vbg.def("hashmap", &VoxelBlockGrid::GetHashMap,
"Get the underlying hash map from 3d block coordinates to block "
"voxel grids.");
vbg.def("attribute", &VoxelBlockGrid::GetAttribute,
"Get the attribute tensor to be indexed with voxel_indices.",
"attribute_name"_a);
vbg.def("voxel_indices",
py::overload_cast<const core::Tensor&>(
&VoxelBlockGrid::GetVoxelIndices, py::const_),
"Get a (4, N), Int64 index tensor for input buffer indices, used "
"for advanced indexing. "
"Returned index tensor can access selected value buffer"
"in the order of "
"(buf_index, index_voxel_x, index_voxel_y, index_voxel_z). "
"Example: "
"For a voxel block grid with (2, 2, 2) block resolution, "
"if the active block coordinates are at buffer index {(2, 4)} "
"given by active_indices() from the underlying hash map, "
"the returned result will be a (4, 2 x 8) tensor: "
"{ "
"(2, 0, 0, 0), (2, 1, 0, 0), (2, 0, 1, 0), (2, 1, 1, 0), "
"(2, 0, 0, 1), (2, 1, 0, 1), (2, 0, 1, 1), (2, 1, 1, 1), "
"(4, 0, 0, 0), (4, 1, 0, 0), (4, 0, 1, 0), (4, 1, 1, 0), "
"(4, 0, 0, 1), (4, 1, 0, 1), (4, 0, 1, 1), (4, 1, 1, 1), "
"}"
"Note: the slicing order is z-y-x.");
vbg.def("voxel_indices",
py::overload_cast<>(&VoxelBlockGrid::GetVoxelIndices, py::const_),
"Get a (4, N) Int64 idnex tensor for all the active voxels stored "
"in the hash map, used for advanced indexing.");
vbg.def("voxel_coordinates", &VoxelBlockGrid::GetVoxelCoordinates,
"Get a (3, hashmap.Size() * resolution^3) coordinate tensor of "
"active"
"voxels per block, used for geometry transformation jointly with "
"indices from voxel_indices. "
"Example: "
"For a voxel block grid with (2, 2, 2) block resolution, "
"if the active block coordinates are {(-1, 3, 2), (0, 2, 4)}, "
"the returned result will be a (3, 2 x 8) tensor given by: "
"{ "
"key_tensor[voxel_indices[0]] * block_resolution_ + "
"voxel_indices[1] "
"key_tensor[voxel_indices[0]] * block_resolution_ + "
"voxel_indices[2] "
"key_tensor[voxel_indices[0]] * block_resolution_ + "
"voxel_indices[3] "
"} "
"Note: the coordinates are VOXEL COORDINATES in Int64. To access "
"metric"
"coordinates, multiply by voxel size.",
"voxel_indices"_a);
vbg.def("voxel_coordinates_and_flattened_indices",
py::overload_cast<const core::Tensor&>(
&VoxelBlockGrid::GetVoxelCoordinatesAndFlattenedIndices),
"Get a (buf_indices.shape[0] * resolution^3, 3), Float32 voxel "
"coordinate tensor,"
"and a (buf_indices.shape[0] * resolution^3, 1), Int64 voxel index "
"tensor.",
"buf_indices"_a);
vbg.def("voxel_coordinates_and_flattened_indices",
py::overload_cast<>(
&VoxelBlockGrid::GetVoxelCoordinatesAndFlattenedIndices),
"Get a (hashmap.size() * resolution^3, 3), Float32 voxel "
"coordinate tensor,"
"and a (hashmap.size() * resolution^3, 1), Int64 voxel index "
"tensor.");
vbg.def("compute_unique_block_coordinates",
py::overload_cast<const Image&, const core::Tensor&,
const core::Tensor&, float, float, float>(
&VoxelBlockGrid::GetUniqueBlockCoordinates),
"Get a (3, M) active block coordinates from a depth image, with "
"potential duplicates removed."
"Note: these coordinates are not activated in the internal sparse "
"voxel block. They need to be inserted in the hash map.",
"depth"_a, "intrinsic"_a, "extrinsic"_a, "depth_scale"_a = 1000.0f,
"depth_max"_a = 3.0f, "trunc_voxel_multiplier"_a = 8.0);
vbg.def("compute_unique_block_coordinates",
py::overload_cast<const PointCloud&, float>(
&VoxelBlockGrid::GetUniqueBlockCoordinates),
"Obtain active block coordinates from a point cloud.", "pcd"_a,
"trunc_voxel_multiplier"_a = 8.0);
vbg.def("integrate",
py::overload_cast<const core::Tensor&, const Image&, const Image&,
const core::Tensor&, const core::Tensor&,
const core::Tensor&, float, float, float>(
&VoxelBlockGrid::Integrate),
"Specific operation for TSDF volumes."
"Integrate an RGB-D frame in the selected block coordinates using "
"pinhole camera model.",
"block_coords"_a, "depth"_a, "color"_a, "depth_intrinsic"_a,
"color_intrinsic"_a, "extrinsic"_a,
"depth_scale"_a.noconvert() = 1000.0f,
"depth_max"_a.noconvert() = 3.0f,
"trunc_voxel_multiplier"_a.noconvert() = 8.0f);
vbg.def("integrate",
py::overload_cast<const core::Tensor&, const Image&, const Image&,
const core::Tensor&, const core::Tensor&, float,
float, float>(&VoxelBlockGrid::Integrate),
"Specific operation for TSDF volumes."
"Integrate an RGB-D frame in the selected block coordinates using "
"pinhole camera model.",
"block_coords"_a, "depth"_a, "color"_a, "intrinsic"_a,
"extrinsic"_a, "depth_scale"_a.noconvert() = 1000.0f,
"depth_max"_a.noconvert() = 3.0f,
"trunc_voxel_multiplier"_a.noconvert() = 8.0f);
vbg.def("integrate",
py::overload_cast<const core::Tensor&, const Image&,
const core::Tensor&, const core::Tensor&, float,
float, float>(&VoxelBlockGrid::Integrate),
"Specific operation for TSDF volumes."
"Similar to RGB-D integration, but only applied to depth images.",
"block_coords"_a, "depth"_a, "intrinsic"_a, "extrinsic"_a,
"depth_scale"_a.noconvert() = 1000.0f,
"depth_max"_a.noconvert() = 3.0f,
"trunc_voxel_multiplier"_a.noconvert() = 8.0f);
vbg.def("ray_cast", &VoxelBlockGrid::RayCast,
"Specific operation for TSDF volumes."
"Perform volumetric ray casting in the selected block coordinates."
"The block coordinates in the frustum can be taken from"
"compute_unique_block_coordinates"
"All the block coordinates can be taken from "
"hashmap().key_tensor()",
"block_coords"_a, "intrinsic"_a, "extrinsic"_a, "width"_a,
"height"_a,
"render_attributes"_a = std::vector<std::string>{"depth", "color"},
"depth_scale"_a = 1000.0f, "depth_min"_a = 0.1f,
"depth_max"_a = 3.0f, "weight_threshold"_a = 3.0f,
"trunc_voxel_multiplier"_a = 8.0f, "range_map_down_factor"_a = 8);
vbg.def("extract_point_cloud", &VoxelBlockGrid::ExtractPointCloud,
"Specific operation for TSDF volumes."
"Extract point cloud at isosurface points.",
"weight_threshold"_a = 3.0f, "estimated_point_number"_a = -1);
vbg.def("extract_triangle_mesh", &VoxelBlockGrid::ExtractTriangleMesh,
"Specific operation for TSDF volumes."
"Extract triangle mesh at isosurface points.",
"weight_threshold"_a = 3.0f, "estimated_vertex_number"_a = -1);
// Device transfers.
vbg.def("to", &VoxelBlockGrid::To,
"Transfer the voxel block grid to a specified device.", "device"_a,
"copy"_a = false);
vbg.def(
"cpu",
[](const VoxelBlockGrid& voxelBlockGrid) {
return voxelBlockGrid.To(core::Device("CPU:0"));
},
"Transfer the voxel block grid to CPU. If the voxel block grid is "
"already on CPU, no copy will be performed.");
vbg.def(
"cuda",
[](const VoxelBlockGrid& voxelBlockGrid, int device_id) {
return voxelBlockGrid.To(core::Device("CUDA", device_id));
},
"Transfer the voxel block grid to a CUDA device. If the voxel "
"block grid is already on the specified CUDA device, no copy "
"will be performed.",
"device_id"_a = 0);
vbg.def("save", &VoxelBlockGrid::Save,
"Save the voxel block grid to a npz file.", "file_name"_a);
vbg.def_static("load", &VoxelBlockGrid::Load,
"Load a voxel block grid from a npz file.", "file_name"_a);
}
} // namespace geometry
} // namespace t
} // namespace open3d
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