Open3D (C++ API)
0.18.0+5c982c7
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UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996). More...
#include <UniformTSDFVolume.h>
Public Member Functions | |
UniformTSDFVolume (double length, int resolution, double sdf_trunc, TSDFVolumeColorType color_type, const Eigen::Vector3d &origin=Eigen::Vector3d::Zero()) | |
~UniformTSDFVolume () override | |
void | Reset () override |
Function to reset the TSDFVolume. More... | |
void | Integrate (const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic) override |
Function to integrate an RGB-D image into the volume. More... | |
std::shared_ptr< geometry::PointCloud > | ExtractPointCloud () override |
Function to extract a point cloud with normals. More... | |
std::shared_ptr< geometry::TriangleMesh > | ExtractTriangleMesh () override |
Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes) More... | |
std::shared_ptr< geometry::PointCloud > | ExtractVoxelPointCloud () const |
Debug function to extract the voxel data into a VoxelGrid. More... | |
std::shared_ptr< geometry::VoxelGrid > | ExtractVoxelGrid () const |
Debug function to extract the voxel data VoxelGrid. More... | |
std::vector< Eigen::Vector2d > | ExtractVolumeTSDF () const |
Debug function to extract the volume TSDF data into a vector array. More... | |
std::vector< Eigen::Vector3d > | ExtractVolumeColor () const |
Debug function to extract the volume color data into a vector array. More... | |
void | InjectVolumeTSDF (const std::vector< Eigen::Vector2d > &sharedvoxels) |
Debug function to inject voxel TSDF data into the volume. More... | |
void | InjectVolumeColor (const std::vector< Eigen::Vector3d > &sharedcolors) |
Debug function to inject voxel Color data into the volume. More... | |
void | IntegrateWithDepthToCameraDistanceMultiplier (const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic, const geometry::Image &depth_to_camera_distance_multiplier) |
int | IndexOf (int x, int y, int z) const |
int | IndexOf (const Eigen::Vector3i &xyz) const |
Public Member Functions inherited from open3d::pipelines::integration::TSDFVolume | |
TSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type) | |
Default Constructor. More... | |
virtual | ~TSDFVolume () |
Data Fields | |
std::vector< geometry::TSDFVoxel > | voxels_ |
Eigen::Vector3d | origin_ |
double | length_ |
Total length, where voxel_length = length / resolution. More... | |
int | resolution_ |
int | voxel_num_ |
Number of voxels present. More... | |
Data Fields inherited from open3d::pipelines::integration::TSDFVolume | |
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... | |
UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996).
open3d::pipelines::integration::UniformTSDFVolume::UniformTSDFVolume | ( | double | length, |
int | resolution, | ||
double | sdf_trunc, | ||
TSDFVolumeColorType | color_type, | ||
const Eigen::Vector3d & | origin = Eigen::Vector3d::Zero() |
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override |
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overridevirtual |
Function to extract a point cloud with normals.
Implements open3d::pipelines::integration::TSDFVolume.
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overridevirtual |
Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes)
Implements open3d::pipelines::integration::TSDFVolume.
std::vector< Eigen::Vector3d > open3d::pipelines::integration::UniformTSDFVolume::ExtractVolumeColor | ( | ) | const |
Debug function to extract the volume color data into a vector array.
std::vector< Eigen::Vector2d > open3d::pipelines::integration::UniformTSDFVolume::ExtractVolumeTSDF | ( | ) | const |
Debug function to extract the volume TSDF data into a vector array.
std::shared_ptr< geometry::VoxelGrid > open3d::pipelines::integration::UniformTSDFVolume::ExtractVoxelGrid | ( | ) | const |
Debug function to extract the voxel data VoxelGrid.
std::shared_ptr< geometry::PointCloud > open3d::pipelines::integration::UniformTSDFVolume::ExtractVoxelPointCloud | ( | ) | const |
Debug function to extract the voxel data into a VoxelGrid.
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inline |
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inline |
void open3d::pipelines::integration::UniformTSDFVolume::InjectVolumeColor | ( | const std::vector< Eigen::Vector3d > & | sharedcolors | ) |
Debug function to inject voxel Color data into the volume.
void open3d::pipelines::integration::UniformTSDFVolume::InjectVolumeTSDF | ( | const std::vector< Eigen::Vector2d > & | sharedvoxels | ) |
Debug function to inject voxel TSDF data into the volume.
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overridevirtual |
Function to integrate an RGB-D image into the volume.
Implements open3d::pipelines::integration::TSDFVolume.
void open3d::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier | ( | const geometry::RGBDImage & | image, |
const camera::PinholeCameraIntrinsic & | intrinsic, | ||
const Eigen::Matrix4d & | extrinsic, | ||
const geometry::Image & | depth_to_camera_distance_multiplier | ||
) |
Faster Integrate function that uses depth_to_camera_distance_multiplier precomputed from camera intrinsic
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overridevirtual |
Function to reset the TSDFVolume.
Implements open3d::pipelines::integration::TSDFVolume.
double open3d::pipelines::integration::UniformTSDFVolume::length_ |
Total length, where voxel_length = length / resolution.
Eigen::Vector3d open3d::pipelines::integration::UniformTSDFVolume::origin_ |
int open3d::pipelines::integration::UniformTSDFVolume::resolution_ |
Resolution over the total length, where voxel_length = length / resolution.
int open3d::pipelines::integration::UniformTSDFVolume::voxel_num_ |
Number of voxels present.
std::vector<geometry::TSDFVoxel> open3d::pipelines::integration::UniformTSDFVolume::voxels_ |