// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include "open3d/t/pipelines/slam/Frame.h" #include "open3d/t/pipelines/slam/Model.h" #include "pybind/docstring.h" namespace open3d { namespace t { namespace pipelines { namespace slam { static const std::unordered_map map_shared_argument_docstrings = { {"voxel_size", "The voxel size of the volume in meters."}, {"block_resolution", "Resolution of local dense voxel blocks. By default 16 " "is used to create 16^3 voxel blocks."}, {"block_count", "Number of estimate blocks per scene with the block " "resolution set to 16 and the 6mm voxel resolution. " "Typically 20000 for small scenes (a desk), 40000 for medium " "scenes (a bedroom), 80000 for large scenes (an " "apartment)."}, {"transformation", "A 4x4 3D transformation matrix."}, {"device", "The CPU or CUDA device used for the object."}, {"depth_max", "The max clipping depth to filter noisy observations too " "far."}, {"depth_min", "The min clipping depth."}, {"depth_scale", "The scale factor to convert raw depth into meters."}, {"input_frame", "The frame that contains raw depth and optionally images with " "the same size from the input."}, {"model_frame", "The frame that contains ray casted depth and optionally " "color from the volumetric model."}, {"estimated_number", "Estimated number of surface points. Use -1 if no estimation " "is available."}, {"weight_threshold", "Weight threshold to filter outlier voxel blocks."}, {"height", "Height of an image frame."}, {"width", "Width of an image frame."}, {"intrinsics", "Intrinsic matrix stored in a 3x3 Tensor."}, {"trunc_voxel_multiplier", "Truncation distance multiplier in voxel size for signed " "distance. For instance, " "--trunc_voxel_multiplier=8 with --voxel_size=0.006(m) " "creates a truncation distance of 0.048(m)."}}; void pybind_slam_declarations(py::module &m) { py::module m_slam = m.def_submodule("slam", "Tensor DenseSLAM pipeline."); py::class_ model(m_slam, "Model", "Volumetric model for Dense SLAM."); py::class_ frame(m_slam, "Frame", "A frame container that stores a map from keys " "(color, depth) to tensor images."); } void pybind_slam_definitions(py::module &m) { auto m_slam = static_cast(m.attr("slam")); auto model = static_cast>(m_slam.attr("Model")); py::detail::bind_copy_functions(model); model.def(py::init<>()); model.def(py::init(), "Constructor of a VoxelBlockGrid", "voxel_size"_a, "block_resolution"_a = 16, " block_count"_a = 10000, "transformation"_a = core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), "device"_a = core::Device("CUDA:0")); docstring::ClassMethodDocInject(m_slam, "Model", "__init__", map_shared_argument_docstrings); model.def("get_current_frame_pose", &Model::GetCurrentFramePose); model.def("update_frame_pose", &Model::UpdateFramePose); model.def("synthesize_model_frame", &Model::SynthesizeModelFrame, py::call_guard(), "Synthesize frame from the volumetric model using ray casting.", "model_frame"_a, "depth_scale"_a = 1000.0, "depth_min"_a = 0.1, "depth_max"_a = 3.0, "trunc_voxel_multiplier"_a = 8.0, "enable_color"_a = false, "weight_threshold"_a = -1.0); docstring::ClassMethodDocInject(m_slam, "Model", "synthesize_model_frame", map_shared_argument_docstrings); model.def( "track_frame_to_model", &Model::TrackFrameToModel, py::call_guard(), "Track input frame against raycasted frame from model.", "input_frame"_a, "model_frame"_a, "depth_scale"_a = 1000.0, "depth_max"_a = 3.0, "depth_diff"_a = 0.07, "method"_a = odometry::Method::PointToPlane, "criteria"_a = (std::vector){ 6, 3, 1}); docstring::ClassMethodDocInject(m_slam, "Model", "track_frame_to_model", map_shared_argument_docstrings); model.def("integrate", &Model::Integrate, py::call_guard(), "Integrate an input frame to a volume.", "input_frame"_a, "depth_scale"_a = 1000.0, "depth_max"_a = 3.0, "trunc_voxel_multiplier"_a = 8.0); docstring::ClassMethodDocInject(m_slam, "Model", "integrate", map_shared_argument_docstrings); model.def("extract_pointcloud", &Model::ExtractPointCloud, py::call_guard(), "Extract point cloud from the volumetric model.", "weight_threshold"_a = 3.0, "estimated_number"_a = -1); docstring::ClassMethodDocInject(m_slam, "Model", "extract_pointcloud", map_shared_argument_docstrings); model.def("extract_trianglemesh", &Model::ExtractTriangleMesh, py::call_guard(), "Extract triangle mesh from the volumetric model.", "weight_threshold"_a = 3.0, "estimated_number"_a = -1); docstring::ClassMethodDocInject(m_slam, "Model", "extract_trianglemesh", map_shared_argument_docstrings); model.def( "get_hashmap", &Model::GetHashMap, "Get the underlying hash map from 3D coordinates to voxel blocks."); model.def_readwrite("voxel_grid", &Model::voxel_grid_, "Get the maintained VoxelBlockGrid."); model.def_readwrite("frustum_block_coords", &Model::frustum_block_coords_, "Active block coordinates from prior integration"); model.def_readwrite("transformation_frame_to_world", &Model::T_frame_to_world_, "Get the 4x4 transformation matrix from the current " "frame to the world frame."); model.def_readwrite("frame_id", &Model::frame_id_, "Get the current frame index in a sequence."); auto frame = static_cast>(m_slam.attr("Frame")); py::detail::bind_copy_functions(frame); frame.def(py::init(), "height"_a, "width"_a, "intrinsics"_a, "device"_a); docstring::ClassMethodDocInject(m_slam, "Frame", "__init__", map_shared_argument_docstrings); frame.def("height", &Frame::GetHeight); frame.def("width", &Frame::GetWidth); frame.def("set_data", &Frame::SetData, "Set a 2D tensor to a image to the given key in the map."); frame.def("get_data", &Frame::GetData, "Get a 2D tensor from a image from the given key in the map."); frame.def("set_data_from_image", &Frame::SetDataFromImage, "Set a 2D image to the given key in the map."); frame.def("get_data_as_image", &Frame::GetDataAsImage, "Get a 2D image from from the given key in the map."); } } // namespace slam } // namespace pipelines } // namespace t } // namespace open3d