82 lines
2.5 KiB
C
82 lines
2.5 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include "open3d/core/Tensor.h"
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#include "open3d/t/geometry/Image.h"
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#include "open3d/t/geometry/RGBDImage.h"
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namespace open3d {
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namespace t {
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namespace pipelines {
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namespace slam {
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/// \brief Frame is a container class storing an intrinsic matrix and several 2D
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/// tensors, from depth map, vertex map, to color map, in a customized way.
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class Frame {
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public:
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Frame(int height,
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int width,
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const core::Tensor& intrinsics,
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const core::Device& device)
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: height_(height),
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width_(width),
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intrinsics_(intrinsics),
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device_(device) {}
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int GetHeight() const { return height_; }
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int GetWidth() const { return width_; }
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void SetIntrinsics(const core::Tensor& intrinsics) {
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intrinsics_ = intrinsics;
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}
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core::Tensor GetIntrinsics() const { return intrinsics_; }
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void SetData(const std::string& name, const core::Tensor& data) {
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data_[name] = data.To(device_);
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}
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core::Tensor GetData(const std::string& name) const {
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if (data_.count(name) == 0) {
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utility::LogWarning(
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"Property not found for {}, return an empty tensor!", name);
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return core::Tensor();
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}
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return data_.at(name);
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}
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// Convenient interface for images
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void SetDataFromImage(const std::string& name,
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const t::geometry::Image& data) {
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SetData(name, data.AsTensor());
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}
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t::geometry::Image GetDataAsImage(const std::string& name) const {
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return t::geometry::Image(GetData(name));
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}
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private:
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int height_;
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int width_;
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// (3, 3) intrinsic matrix for a pinhole camera
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core::Tensor intrinsics_;
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core::Device device_;
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// Maintained maps, including:
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// depth_map: (H, W, 1), Float32 AFTER preprocessing
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// vertex_map: (H, W, 3), Float32,
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// color_map: (H, W, 3), Float32
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// normal_map: (H, W, 3), Float32
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std::unordered_map<std::string, core::Tensor> data_;
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};
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} // namespace slam
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} // namespace pipelines
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} // namespace t
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} // namespace open3d
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