UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996). More...

#include <UniformTSDFVolume.h>

Inheritance diagram for open3d::pipelines::integration::UniformTSDFVolume:

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 ()

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
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...

Detailed Description

UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996).

Constructor & Destructor Documentation

◆ UniformTSDFVolume()

open3d::pipelines::integration::UniformTSDFVolume::UniformTSDFVolume	(	double	length,
		int	resolution,
		double	sdf_trunc,
		TSDFVolumeColorType	color_type,
		const Eigen::Vector3d &	origin = `Eigen::Vector3d::Zero()`
	)

◆ ~UniformTSDFVolume()

open3d::pipelines::integration::UniformTSDFVolume::~UniformTSDFVolume ( )

override

Member Function Documentation

◆ ExtractPointCloud()

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

overridevirtual

Function to extract a point cloud with normals.

Implements open3d::pipelines::integration::TSDFVolume.

◆ ExtractTriangleMesh()

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

overridevirtual

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

Implements open3d::pipelines::integration::TSDFVolume.

◆ ExtractVolumeColor()

std::vector< Eigen::Vector3d > open3d::pipelines::integration::UniformTSDFVolume::ExtractVolumeColor ( ) const

Debug function to extract the volume color data into a vector array.

◆ ExtractVolumeTSDF()

std::vector< Eigen::Vector2d > open3d::pipelines::integration::UniformTSDFVolume::ExtractVolumeTSDF ( ) const

Debug function to extract the volume TSDF data into a vector array.

◆ ExtractVoxelGrid()

std::shared_ptr< geometry::VoxelGrid > open3d::pipelines::integration::UniformTSDFVolume::ExtractVoxelGrid ( ) const

Debug function to extract the voxel data VoxelGrid.

◆ ExtractVoxelPointCloud()

std::shared_ptr< geometry::PointCloud > open3d::pipelines::integration::UniformTSDFVolume::ExtractVoxelPointCloud ( ) const

Debug function to extract the voxel data into a VoxelGrid.

◆ IndexOf() [1/2]

int open3d::pipelines::integration::UniformTSDFVolume::IndexOf ( const Eigen::Vector3i & xyz ) const

inline

◆ IndexOf() [2/2]

int open3d::pipelines::integration::UniformTSDFVolume::IndexOf	(	int	x,
		int	y,
		int	z
	)		const

inline

◆ InjectVolumeColor()

void open3d::pipelines::integration::UniformTSDFVolume::InjectVolumeColor ( const std::vector< Eigen::Vector3d > & sharedcolors )

Debug function to inject voxel Color data into the volume.

◆ InjectVolumeTSDF()

void open3d::pipelines::integration::UniformTSDFVolume::InjectVolumeTSDF ( const std::vector< Eigen::Vector2d > & sharedvoxels )

Debug function to inject voxel TSDF data into the volume.

◆ Integrate()

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

overridevirtual

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

Implements open3d::pipelines::integration::TSDFVolume.

◆ IntegrateWithDepthToCameraDistanceMultiplier()

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

◆ Reset()

void open3d::pipelines::integration::UniformTSDFVolume::Reset ( )

overridevirtual

Function to reset the TSDFVolume.

Implements open3d::pipelines::integration::TSDFVolume.

Field Documentation

◆ length_

double open3d::pipelines::integration::UniformTSDFVolume::length_

Total length, where voxel_length = length / resolution.

◆ origin_

Eigen::Vector3d open3d::pipelines::integration::UniformTSDFVolume::origin_

◆ resolution_

int open3d::pipelines::integration::UniformTSDFVolume::resolution_

Resolution over the total length, where voxel_length = length / resolution.

◆ voxel_num_

int open3d::pipelines::integration::UniformTSDFVolume::voxel_num_

Number of voxels present.

◆ voxels_

std::vector<geometry::TSDFVoxel> open3d::pipelines::integration::UniformTSDFVolume::voxels_

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

cpp/open3d/pipelines/integration/UniformTSDFVolume.h
cpp/open3d/pipelines/integration/UniformTSDFVolume.cpp

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ UniformTSDFVolume()

◆ ~UniformTSDFVolume()

Member Function Documentation

◆ ExtractPointCloud()

◆ ExtractTriangleMesh()

◆ ExtractVolumeColor()

◆ ExtractVolumeTSDF()

◆ ExtractVoxelGrid()

◆ ExtractVoxelPointCloud()

◆ IndexOf() [1/2]

◆ IndexOf() [2/2]

◆ InjectVolumeColor()

◆ InjectVolumeTSDF()

◆ Integrate()

◆ IntegrateWithDepthToCameraDistanceMultiplier()

◆ Reset()

Field Documentation

◆ length_

◆ origin_

◆ resolution_

◆ voxel_num_

◆ voxels_