ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
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cloudViewer::pipelines::integration::TSDFVolume Class Referenceabstract

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

#include <TSDFVolume.h>

Inheritance diagram for cloudViewer::pipelines::integration::TSDFVolume:
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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< ccPointCloud > ExtractPointCloud ()=0
 Function to extract a point cloud with normals. More...
 
virtual std::shared_ptr< ccMesh > ExtractTriangleMesh ()=0
 Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes) More...
 

Public Attributes

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

Definition at line 43 of file TSDFVolume.h.

Constructor & Destructor Documentation

◆ TSDFVolume()

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

Default Constructor.

Parameters
voxel_lengthLength of the voxel in meters.
sdf_truncTruncation value for signed distance function (SDF).
color_typeColor type of the TSDF volume.

Definition at line 50 of file TSDFVolume.h.

◆ ~TSDFVolume()

virtual cloudViewer::pipelines::integration::TSDFVolume::~TSDFVolume ( )
inlinevirtual

Definition at line 56 of file TSDFVolume.h.

Member Function Documentation

◆ ExtractPointCloud()

virtual std::shared_ptr<ccPointCloud> cloudViewer::pipelines::integration::TSDFVolume::ExtractPointCloud ( )
pure virtual

Function to extract a point cloud with normals.

Implemented in cloudViewer::pipelines::integration::PyTSDFVolume< TSDFVolumeBase >, cloudViewer::pipelines::integration::UniformTSDFVolume, and cloudViewer::pipelines::integration::ScalableTSDFVolume.

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

◆ ExtractTriangleMesh()

virtual std::shared_ptr<ccMesh> cloudViewer::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 cloudViewer::pipelines::integration::PyTSDFVolume< TSDFVolumeBase >, cloudViewer::pipelines::integration::UniformTSDFVolume, and cloudViewer::pipelines::integration::ScalableTSDFVolume.

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

◆ Integrate()

virtual void cloudViewer::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 cloudViewer::pipelines::integration::PyTSDFVolume< TSDFVolumeBase >, cloudViewer::pipelines::integration::UniformTSDFVolume, and cloudViewer::pipelines::integration::ScalableTSDFVolume.

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

◆ Reset()

virtual void cloudViewer::pipelines::integration::TSDFVolume::Reset ( )
pure virtual

Function to reset the TSDFVolume.

Implemented in cloudViewer::pipelines::integration::PyTSDFVolume< TSDFVolumeBase >, cloudViewer::pipelines::integration::UniformTSDFVolume, and cloudViewer::pipelines::integration::ScalableTSDFVolume.

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

Member Data Documentation

◆ color_type_

TSDFVolumeColorType cloudViewer::pipelines::integration::TSDFVolume::color_type_

Color type of the TSDF volume.

Definition at line 80 of file TSDFVolume.h.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractPointCloud(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractPointCloud(), cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), and cloudViewer::pipelines::integration::pybind_integration_classes().

◆ sdf_trunc_

double cloudViewer::pipelines::integration::TSDFVolume::sdf_trunc_

Truncation value for signed distance function (SDF).

Definition at line 78 of file TSDFVolume.h.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), and cloudViewer::pipelines::integration::pybind_integration_classes().

◆ voxel_length_

double cloudViewer::pipelines::integration::TSDFVolume::voxel_length_

Length of the voxel in meters.

Definition at line 76 of file TSDFVolume.h.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractPointCloud(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractPointCloud(), cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractVoxelGrid(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractVoxelPointCloud(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), and cloudViewer::pipelines::integration::pybind_integration_classes().

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