// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include #include #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_declarations(py::module& m) { py::class_ 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."); } void pybind_voxel_block_grid_definitions(py::module& m) { auto vbg = static_cast>(m.attr("VoxelBlockGrid")); vbg.def(py::init&, const std::vector&, const std::vector&, 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( &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( &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( &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( &VoxelBlockGrid::GetUniqueBlockCoordinates), "Obtain active block coordinates from a point cloud.", "pcd"_a, "trunc_voxel_multiplier"_a = 8.0); vbg.def("integrate", py::overload_cast( &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(&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(&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{"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