text: // ----------------------------------------------------------------------------
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  // The MIT License (MIT)
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  #include "Python/integration/integration.h"
  
  #include "Open3D/Geometry/VoxelGrid.h"
  #include "Open3D/Integration/ScalableTSDFVolume.h"
  #include "Open3D/Integration/TSDFVolume.h"
  #include "Open3D/Integration/UniformTSDFVolume.h"
  #include "Python/docstring.h"
  
  using namespace open3d;
  
  template <class TSDFVolumeBase = integration::TSDFVolume>
  class PyTSDFVolume : public TSDFVolumeBase {
  public:
      using TSDFVolumeBase::TSDFVolumeBase;
      void Reset() override { PYBIND11_OVERLOAD_PURE(void, TSDFVolumeBase, ); }
      void Integrate(const geometry::RGBDImage &image,
                     const camera::PinholeCameraIntrinsic &intrinsic,
                     const Eigen::Matrix4d &extrinsic) override {
          PYBIND11_OVERLOAD_PURE(void, TSDFVolumeBase, image, intrinsic,
                                 extrinsic);
      }
      std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override {
          PYBIND11_OVERLOAD_PURE(std::shared_ptr<geometry::PointCloud>,
                                 TSDFVolumeBase, );
      }
      std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override {
          PYBIND11_OVERLOAD_PURE(std::shared_ptr<geometry::TriangleMesh>,
                                 TSDFVolumeBase, );
      }
  };
  
  void pybind_integration_classes(py::module &m) {
      // open3d.integration.TSDFVolumeColorType
      py::enum_<integration::TSDFVolumeColorType> tsdf_volume_color_type(
              m, "TSDFVolumeColorType", py::arithmetic());
      tsdf_volume_color_type.value("None", integration::TSDFVolumeColorType::None)
              .value("RGB8", integration::TSDFVolumeColorType::RGB8)
              .value("Gray32", integration::TSDFVolumeColorType::Gray32)
              .export_values();
      // Trick to write docs without listing the members in the enum class again.
      tsdf_volume_color_type.attr("__doc__") = docstring::static_property(
              py::cpp_function([](py::handle arg) -> std::string {
                  return "Enum class for TSDFVolumeColorType.";
              }),
              py::none(), py::none(), "");
  
      // open3d.integration.TSDFVolume
      py::class_<integration::TSDFVolume, PyTSDFVolume<integration::TSDFVolume>>
              tsdfvolume(m, "TSDFVolume", R"(Base class of the Truncated
  Signed Distance Function (TSDF) volume This volume is usually used to integrate
  surface data (e.g., a series of RGB-D images) into a Mesh or PointCloud. The
  basic technique is presented in the following paper:
  
  A volumetric method for building complex models from range images
  
  B. Curless and M. Levoy
  
  In SIGGRAPH, 1996)");
      tsdfvolume
              .def("reset", &integration::TSDFVolume::Reset,
                   "Function to reset the integration::TSDFVolume")
              .def("integrate", &integration::TSDFVolume::Integrate,
                   "Function to integrate an RGB-D image into the volume",
                   "image"_a, "intrinsic"_a, "extrinsic"_a)
              .def("extract_point_cloud",
                   &integration::TSDFVolume::ExtractPointCloud,
                   "Function to extract a point cloud with normals")
              .def("extract_triangle_mesh",
                   &integration::TSDFVolume::ExtractTriangleMesh,
                   "Function to extract a triangle mesh")
              .def_readwrite("voxel_length",
                             &integration::TSDFVolume::voxel_length_,
                             "float: Voxel size.")
              .def_readwrite("sdf_trunc", &integration::TSDFVolume::sdf_trunc_,
                             "float: Truncation value for signed distance "
                             "function (SDF).")
              .def_readwrite("color_type", &integration::TSDFVolume::color_type_,
                             "integration.TSDFVolumeColorType: Color type of the "
                             "TSDF volume.");
      docstring::ClassMethodDocInject(m, "TSDFVolume", "extract_point_cloud");
      docstring::ClassMethodDocInject(m, "TSDFVolume", "extract_triangle_mesh");
      docstring::ClassMethodDocInject(
              m, "TSDFVolume", "integrate",
              {{"image", "RGBD image."},
               {"intrinsic", "Pinhole camera intrinsic parameters."},
               {"extrinsic", "Extrinsic parameters."}});
      docstring::ClassMethodDocInject(m, "TSDFVolume", "reset");
  
      // open3d.integration.UniformTSDFVolume: open3d.integration.TSDFVolume
      py::class_<integration::UniformTSDFVolume,
                 PyTSDFVolume<integration::UniformTSDFVolume>,
                 integration::TSDFVolume>
              uniform_tsdfvolume(
                      m, "UniformTSDFVolume",
                      "UniformTSDFVolume implements the classic TSDF "
                      "volume with uniform voxel grid (Curless and Levoy 1996).");
      py::detail::bind_copy_functions<integration::UniformTSDFVolume>(
              uniform_tsdfvolume);
      uniform_tsdfvolume
              .def(py::init([](double length, int resolution, double sdf_trunc,
                               integration::TSDFVolumeColorType color_type) {
                       return new integration::UniformTSDFVolume(
                               length, resolution, sdf_trunc, color_type);
                   }),
                   "length"_a, "resolution"_a, "sdf_trunc"_a, "color_type"_a)
              .def("__repr__",
                   [](const integration::UniformTSDFVolume &vol) {
                       return std::string("integration::UniformTSDFVolume ") +
                              (vol.color_type_ ==
                                               integration::TSDFVolumeColorType::
                                                       None
                                       ? std::string("without color.")
                                       : std::string("with color."));
                   })  // todo: extend
              .def("extract_voxel_point_cloud",
                   &integration::UniformTSDFVolume::ExtractVoxelPointCloud,
                   "Debug function to extract the voxel data into a point cloud.")
              .def("extract_voxel_grid",
                   &integration::UniformTSDFVolume::ExtractVoxelGrid,
                   "Debug function to extract the voxel data VoxelGrid.")
              .def_readwrite("length", &integration::UniformTSDFVolume::length_,
                             "Total length, where ``voxel_length = length / "
                             "resolution``.")
              .def_readwrite("resolution",
                             &integration::UniformTSDFVolume::resolution_,
                             "Resolution over the total length, where "
                             "``voxel_length = length / resolution``");
      docstring::ClassMethodDocInject(m, "UniformTSDFVolume",
                                      "extract_voxel_point_cloud");
  
      // open3d.integration.ScalableTSDFVolume: open3d.integration.TSDFVolume
      py::class_<integration::ScalableTSDFVolume,
                 PyTSDFVolume<integration::ScalableTSDFVolume>,
                 integration::TSDFVolume>
              scalable_tsdfvolume(m, "ScalableTSDFVolume", R"(The
  ScalableTSDFVolume implements a more memory efficient data structure for
  volumetric integration.
  
  An observed depth pixel gives two types of information: (a) an approximation
  of the nearby surface, and (b) empty space from the camera to the surface.
  They induce two core concepts of volumetric integration: weighted average of
  a truncated signed distance function (TSDF), and carving. The weighted
  average of TSDF is great in addressing the Gaussian noise along surface
  normal and producing a smooth surface output. The carving is great in
  removing outlier structures like floating noise pixels and bumps along
  structure edges.
  
  Ref: Dense Scene Reconstruction with Points of Interest
  
  Q.-Y. Zhou and V. Koltun
  
  In SIGGRAPH, 2013)");
      py::detail::bind_copy_functions<integration::ScalableTSDFVolume>(
              scalable_tsdfvolume);
      scalable_tsdfvolume
              .def(py::init([](double voxel_length, double sdf_trunc,
                               integration::TSDFVolumeColorType color_type,
                               int volume_unit_resolution,
                               int depth_sampling_stride) {
                       return new integration::ScalableTSDFVolume(
                               voxel_length, sdf_trunc, color_type,
                               volume_unit_resolution, depth_sampling_stride);
                   }),
                   "voxel_length"_a, "sdf_trunc"_a, "color_type"_a,
                   "volume_unit_resolution"_a = 16, "depth_sampling_stride"_a = 4)
              .def("__repr__",
                   [](const integration::ScalableTSDFVolume &vol) {
                       return std::string("integration::ScalableTSDFVolume ") +
                              (vol.color_type_ ==
                                               integration::TSDFVolumeColorType::
                                                       None
                                       ? std::string("without color.")
                                       : std::string("with color."));
                   })
              .def("extract_voxel_point_cloud",
                   &integration::ScalableTSDFVolume::ExtractVoxelPointCloud,
                   "Debug function to extract the voxel data into a point "
                   "cloud.");
      docstring::ClassMethodDocInject(m, "ScalableTSDFVolume",
                                      "extract_voxel_point_cloud");
  }
  
  void pybind_integration_methods(py::module &m) {
      // Currently empty
  }
  
  void pybind_integration(py::module &m) {
      py::module m_submodule = m.def_submodule("integration");
      pybind_integration_classes(m_submodule);
      pybind_integration_methods(m_submodule);
  }
  