PRBonn/vdbfusion

class Dataset:
    def __init__(self, *args, **kwargs):
        # Initialize your dataset here ..

    def __len__(self) -> int:
        return len(self.n_scans)

    def __getitem__(self, idx: int):
        # Returns a PointCloud(np.array(N, 3))
        # and sensor origin(Eigen::Vector3d)
        # in the global coordinate frame.
        return points, origin

class Dataset {
  // Initialize your dataset here ..
  Dataset(...);

  // Return length of the dataset
  std::size_t size() const { return n_scans_; }

  // Returns a Cloud(std::vector<Eigen::Vector3d>)
  // and the sensor origin(Eigen::Vector3d) in the
  // global coordinate frame.
  std::tuple<Cloud, Point> operator[](int idx) const;
};

import vdbfusion

vdb_volume = vdbfusion.VDBVolume(voxel_size,
                                 sdf_trunc,
                                 space_carving
dataset = Dataset(...)

for scan, origin in dataset:
    vdb_volume.integrate(scan, origin)

#include "vdbfusion/VDBVolume.h"

vdb_fusion::VDBVolume vdb_volume(voxel_size,
                                 sdf_trunc,
                                 space_carving);
const auto dataset = Dataset(...);

for (const auto& [scan, origin] : iterable(dataset)) {
  vdb_volume.Integrate(scan, origin);
}

import open3d as o3d

# Extract triangle mesh (numpy arrays)
vert, tri = vdb_volume.extract_triangle_mesh()

# Visualize the results
mesh = o3d.geometry.TriangleMesh(
    o3d.utility.Vector3dVector(vert),
    o3d.utility.Vector3iVector(tri),
)

mesh.compute_vertex_normals()
o3d.visualization.draw_geometries([mesh])

#include <open3d/Open3D.h>

// Extract triangle mesh (Eigen).
auto [verts, tris] = vdb_volume.ExtractTriangleMesh();

// Visualize the results
auto mesh = o3d::geometry::TriangleMesh(
    verts,
    tris,
)

mesh.ComputeVertexNormals()
o3d::visualization::DrawGeometries({&mesh})