open3d::pipelines::integration::TSDFVolume Class Reference

Base class of the Truncated Signed Distance Function (TSDF) volume. More...

#include <TSDFVolume.h>

Inheritance diagram for open3d::pipelines::integration::TSDFVolume:

Public Member Functions
	TSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
	Default Constructor. More...
virtual	~TSDFVolume ()
virtual void	Reset ()=0
	Function to reset the TSDFVolume. More...
virtual void	Integrate (const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic)=0
	Function to integrate an RGB-D image into the volume. More...
virtual std::shared_ptr< geometry::PointCloud >	ExtractPointCloud ()=0
	Function to extract a point cloud with normals. More...
virtual std::shared_ptr< geometry::TriangleMesh >	ExtractTriangleMesh ()=0
	Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes) More...

Data Fields
double	voxel_length_
	Length of the voxel in meters. More...
double	sdf_trunc_
	Truncation value for signed distance function (SDF). More...
TSDFVolumeColorType	color_type_
	Color type of the TSDF volume. More...

Detailed Description

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:

B. Curless and M. Levoy A volumetric method for building complex models from range images In SIGGRAPH, 1996

Constructor & Destructor Documentation

TSDFVolume()

open3d::pipelines::integration::TSDFVolume::TSDFVolume ( double  voxel_length, double  sdf_trunc, TSDFVolumeColorType  color_type  )

inline

Default Constructor.

Parameters

voxel_length	Length of the voxel in meters.
sdf_trunc	Truncation value for signed distance function (SDF).
color_type	Color type of the TSDF volume.

~TSDFVolume()

virtual open3d::pipelines::integration::TSDFVolume::~TSDFVolume ( )

inlinevirtual

Member Function Documentation

ExtractPointCloud()

virtual std::shared_ptr<geometry::PointCloud> open3d::pipelines::integration::TSDFVolume::ExtractPointCloud ( )

pure virtual

Function to extract a point cloud with normals.

Implemented in open3d::pipelines::integration::UniformTSDFVolume, and open3d::pipelines::integration::ScalableTSDFVolume.

ExtractTriangleMesh()

virtual std::shared_ptr<geometry::TriangleMesh> open3d::pipelines::integration::TSDFVolume::ExtractTriangleMesh ( )

pure virtual

Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes)

Implemented in open3d::pipelines::integration::UniformTSDFVolume, and open3d::pipelines::integration::ScalableTSDFVolume.

Integrate()

virtual void open3d::pipelines::integration::TSDFVolume::Integrate ( const geometry::RGBDImage &  image, const camera::PinholeCameraIntrinsic &  intrinsic, const Eigen::Matrix4d &  extrinsic  )

pure virtual

Function to integrate an RGB-D image into the volume.

Implemented in open3d::pipelines::integration::UniformTSDFVolume, and open3d::pipelines::integration::ScalableTSDFVolume.

Reset()

virtual void open3d::pipelines::integration::TSDFVolume::Reset ( )

pure virtual

Function to reset the TSDFVolume.

Implemented in open3d::pipelines::integration::UniformTSDFVolume, and open3d::pipelines::integration::ScalableTSDFVolume.

Field Documentation

color_type_

TSDFVolumeColorType open3d::pipelines::integration::TSDFVolume::color_type_

Color type of the TSDF volume.

sdf_trunc_

double open3d::pipelines::integration::TSDFVolume::sdf_trunc_

Truncation value for signed distance function (SDF).

voxel_length_

double open3d::pipelines::integration::TSDFVolume::voxel_length_

Length of the voxel in meters.

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The documentation for this class was generated from the following file:

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/integration/TSDFVolume.h (5c982c7 (Thu Apr 18 12:15:13 2024 -0700))