#include <ScalableTSDFVolume.h>

Inheritance diagram for cloudViewer::pipelines::integration::ScalableTSDFVolume:

Collaboration diagram for cloudViewer::pipelines::integration::ScalableTSDFVolume:

Classes
struct	VolumeUnit

Public Member Functions
	ScalableTSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type, int volume_unit_resolution=16, int depth_sampling_stride=4)

	~ScalableTSDFVolume () 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< ccPointCloud >	ExtractPointCloud () override
	Function to extract a point cloud with normals. More...

std::shared_ptr< ccMesh >	ExtractTriangleMesh () override
	Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes) More...

std::shared_ptr< ccPointCloud >	ExtractVoxelPointCloud ()
	Debug function to extract the voxel data into a point cloud. More...

Public Member Functions inherited from cloudViewer::pipelines::integration::TSDFVolume
	TSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
	Default Constructor. More...

virtual	~TSDFVolume ()

Public Attributes
int	volume_unit_resolution_

double	volume_unit_length_

int	depth_sampling_stride_

std::unordered_map< Eigen::Vector3i, VolumeUnit, utility::hash_eigen< Eigen::Vector3i > >	volume_units_

Public Attributes inherited from cloudViewer::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

The ScalableTSDFVolume implements a more memory efficient data structure for volumetric integration.

This implementation is based on the following repository: https://github.com/qianyizh/ElasticReconstruction/tree/master/Integrate The reference is: Q.-Y. Zhou and V. Koltun Dense Scene Reconstruction with Points of Interest In SIGGRAPH 2013

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.

Definition at line 41 of file ScalableTSDFVolume.h.

Constructor & Destructor Documentation

◆ ScalableTSDFVolume()

cloudViewer::pipelines::integration::ScalableTSDFVolume::ScalableTSDFVolume	(	double	voxel_length,
		double	sdf_trunc,
		TSDFVolumeColorType	color_type,
		int	volume_unit_resolution = `16`,
		int	depth_sampling_stride = `4`
	)

Definition at line 24 of file ScalableTSDFVolume.cpp.

◆ ~ScalableTSDFVolume()

cloudViewer::pipelines::integration::ScalableTSDFVolume::~ScalableTSDFVolume ( )

override

Definition at line 34 of file ScalableTSDFVolume.cpp.

Member Function Documentation

◆ ExtractPointCloud()

std::shared_ptr< ccPointCloud > cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractPointCloud ( )

overridevirtual

Function to extract a point cloud with normals.

Implements cloudViewer::pipelines::integration::TSDFVolume.

Definition at line 106 of file ScalableTSDFVolume.cpp.

References cloudViewer::pipelines::integration::TSDFVolume::color_type_, fabs(), cloudViewer::pipelines::integration::Gray32, cloudViewer::pipelines::integration::NoColor, cloudViewer::pipelines::integration::RGB8, volume_unit_length_, volume_units_, and cloudViewer::pipelines::integration::TSDFVolume::voxel_length_.

◆ ExtractTriangleMesh()

std::shared_ptr< ccMesh > cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh ( )

overridevirtual

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

Implements cloudViewer::pipelines::integration::TSDFVolume.

Definition at line 218 of file ScalableTSDFVolume.cpp.

References abs(), ccPointCloud::addEigenColor(), cloudViewer::PointCloudTpl< T >::addEigenPoint(), cloudViewer::pipelines::integration::TSDFVolume::color_type_, cloudViewer::pipelines::integration::Gray32, ccPointCloud::hasColors(), cloudViewer::pipelines::integration::NoColor, normals, cloudViewer::pipelines::integration::RGB8, ccObject::setEnabled(), ccObject::setLocked(), ccPointCloud::shrinkToFit(), cloudViewer::PointCloudTpl< T >::size(), volume_unit_resolution_, volume_units_, and cloudViewer::pipelines::integration::TSDFVolume::voxel_length_.

◆ ExtractVoxelPointCloud()

std::shared_ptr< ccPointCloud > cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractVoxelPointCloud ( )

Debug function to extract the voxel data into a point cloud.

Definition at line 390 of file ScalableTSDFVolume.cpp.

References volume_units_.

Referenced by cloudViewer::pipelines::integration::pybind_integration_classes().

◆ Integrate()

void cloudViewer::pipelines::integration::ScalableTSDFVolume::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 cloudViewer::pipelines::integration::TSDFVolume.

Definition at line 38 of file ScalableTSDFVolume.cpp.

References cloudViewer::pipelines::integration::TSDFVolume::color_type_, cloudViewer::geometry::Image::CreateDepthToCameraDistanceMultiplierFloatImage(), ccPointCloud::CreateFromDepthImage(), depth_sampling_stride_, cloudViewer::pipelines::integration::Gray32, cloudViewer::camera::PinholeCameraIntrinsic::height_, image, LogError, cloudViewer::pipelines::integration::NoColor, cloudViewer::pipelines::integration::RGB8, cloudViewer::pipelines::integration::TSDFVolume::sdf_trunc_, and cloudViewer::camera::PinholeCameraIntrinsic::width_.

◆ Reset()

void cloudViewer::pipelines::integration::ScalableTSDFVolume::Reset ( )

overridevirtual

Function to reset the TSDFVolume.

Implements cloudViewer::pipelines::integration::TSDFVolume.

Definition at line 36 of file ScalableTSDFVolume.cpp.

References volume_units_.

Member Data Documentation

◆ depth_sampling_stride_

int cloudViewer::pipelines::integration::ScalableTSDFVolume::depth_sampling_stride_

Definition at line 73 of file ScalableTSDFVolume.h.

Referenced by Integrate().

◆ volume_unit_length_

double cloudViewer::pipelines::integration::ScalableTSDFVolume::volume_unit_length_

Definition at line 72 of file ScalableTSDFVolume.h.

Referenced by ExtractPointCloud().

◆ volume_unit_resolution_

int cloudViewer::pipelines::integration::ScalableTSDFVolume::volume_unit_resolution_

Definition at line 71 of file ScalableTSDFVolume.h.

Referenced by ExtractTriangleMesh().

◆ volume_units_

std::unordered_map<Eigen::Vector3i, VolumeUnit, utility::hash_eigen<Eigen::Vector3i> > cloudViewer::pipelines::integration::ScalableTSDFVolume::volume_units_

Assume the index of the volume unit is (x, y, z), then the unit spans from (x, y, z) * volume_unit_length_ to (x + 1, y + 1, z + 1) * volume_unit_length_

Definition at line 81 of file ScalableTSDFVolume.h.

Referenced by ExtractPointCloud(), ExtractTriangleMesh(), ExtractVoxelPointCloud(), and Reset().

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

/root/ACloudViewer/libs/cloudViewer/pipelines/integration/ScalableTSDFVolume.h
/root/ACloudViewer/libs/cloudViewer/pipelines/integration/ScalableTSDFVolume.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ScalableTSDFVolume()

◆ ~ScalableTSDFVolume()

Member Function Documentation

◆ ExtractPointCloud()

◆ ExtractTriangleMesh()

◆ ExtractVoxelPointCloud()

◆ Integrate()

◆ Reset()

Member Data Documentation

◆ depth_sampling_stride_

◆ volume_unit_length_

◆ volume_unit_resolution_

◆ volume_units_