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

#include <UniformTSDFVolume.h>

Inheritance diagram for cloudViewer::pipelines::integration::UniformTSDFVolume:

Collaboration diagram for cloudViewer::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< 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 () 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 cloudViewer::pipelines::integration::TSDFVolume
	TSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
	Default Constructor. More...

virtual	~TSDFVolume ()

Public Attributes
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...

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

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

Definition at line 40 of file UniformTSDFVolume.h.

Constructor & Destructor Documentation

◆ UniformTSDFVolume()

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

Definition at line 25 of file UniformTSDFVolume.cpp.

References voxel_num_, and voxels_.

◆ ~UniformTSDFVolume()

cloudViewer::pipelines::integration::UniformTSDFVolume::~UniformTSDFVolume ( )

override

Definition at line 39 of file UniformTSDFVolume.cpp.

Member Function Documentation

◆ ExtractPointCloud()

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

overridevirtual

Function to extract a point cloud with normals.

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

Definition at line 88 of file UniformTSDFVolume.cpp.

References cloudViewer::pipelines::integration::TSDFVolume::color_type_, fabs(), cloudViewer::pipelines::integration::Gray32, IndexOf(), origin_, resolution_, cloudViewer::pipelines::integration::RGB8, cloudViewer::pipelines::integration::TSDFVolume::voxel_length_, and voxels_.

◆ ExtractTriangleMesh()

std::shared_ptr< ccMesh > cloudViewer::pipelines::integration::UniformTSDFVolume::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 154 of file UniformTSDFVolume.cpp.

References abs(), ccPointCloud::addEigenColor(), cloudViewer::PointCloudTpl< T >::addEigenPoint(), cloudViewer::pipelines::integration::TSDFVolume::color_type_, cloudViewer::pipelines::integration::Gray32, ccPointCloud::hasColors(), IndexOf(), cloudViewer::pipelines::integration::NoColor, normals, origin_, ccPointCloud::reserveTheRGBTable(), resolution_, cloudViewer::pipelines::integration::RGB8, ccObject::setEnabled(), ccObject::setLocked(), ccPointCloud::shrinkToFit(), cloudViewer::PointCloudTpl< T >::size(), ccHObjectCaster::ToPointCloud(), cloudViewer::pipelines::integration::TSDFVolume::voxel_length_, and voxels_.

◆ ExtractVolumeColor()

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

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

Definition at line 370 of file UniformTSDFVolume.cpp.

References IndexOf(), resolution_, voxel_num_, and voxels_.

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

◆ ExtractVolumeTSDF()

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

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

Definition at line 344 of file UniformTSDFVolume.cpp.

References IndexOf(), resolution_, voxel_num_, and voxels_.

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

◆ ExtractVoxelGrid()

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

Debug function to extract the voxel data VoxelGrid.

Definition at line 296 of file UniformTSDFVolume.cpp.

References color, IndexOf(), origin_, resolution_, cloudViewer::pipelines::integration::TSDFVolume::voxel_length_, and voxels_.

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

◆ ExtractVoxelPointCloud()

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

Debug function to extract the voxel data into a VoxelGrid.

Definition at line 266 of file UniformTSDFVolume.cpp.

References IndexOf(), origin_, resolution_, cloudViewer::pipelines::integration::TSDFVolume::voxel_length_, and voxels_.

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

◆ IndexOf() [1/2]

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

inline

Definition at line 82 of file UniformTSDFVolume.h.

References IndexOf().

◆ IndexOf() [2/2]

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

inline

Definition at line 78 of file UniformTSDFVolume.h.

References resolution_.

Referenced by ExtractPointCloud(), ExtractTriangleMesh(), ExtractVolumeColor(), ExtractVolumeTSDF(), ExtractVoxelGrid(), ExtractVoxelPointCloud(), IndexOf(), InjectVolumeColor(), InjectVolumeTSDF(), and IntegrateWithDepthToCameraDistanceMultiplier().

◆ InjectVolumeColor()

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

Debug function to inject voxel Color data into the volume.

Definition at line 415 of file UniformTSDFVolume.cpp.

References IndexOf(), resolution_, and voxels_.

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

◆ InjectVolumeTSDF()

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

Debug function to inject voxel TSDF data into the volume.

Definition at line 393 of file UniformTSDFVolume.cpp.

References IndexOf(), resolution_, and voxels_.

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

◆ Integrate()

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

Definition at line 43 of file UniformTSDFVolume.cpp.

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

◆ IntegrateWithDepthToCameraDistanceMultiplier()

void cloudViewer::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

Definition at line 436 of file UniformTSDFVolume.cpp.

References cloudViewer::pipelines::integration::TSDFVolume::color_type_, cloudViewer::camera::PinholeCameraIntrinsic::GetFocalLength(), cloudViewer::camera::PinholeCameraIntrinsic::GetPrincipalPoint(), cloudViewer::pipelines::integration::Gray32, cloudViewer::camera::PinholeCameraIntrinsic::height_, image, IndexOf(), min(), origin_, cloudViewer::geometry::Image::PointerAt(), resolution_, cloudViewer::pipelines::integration::RGB8, cloudViewer::pipelines::integration::TSDFVolume::sdf_trunc_, cloudViewer::pipelines::integration::TSDFVolume::voxel_length_, voxels_, and cloudViewer::camera::PinholeCameraIntrinsic::width_.

Referenced by Integrate().

◆ Reset()

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

overridevirtual

Function to reset the TSDFVolume.

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

Definition at line 41 of file UniformTSDFVolume.cpp.

References voxels_.

Member Data Documentation

◆ length_

double cloudViewer::pipelines::integration::UniformTSDFVolume::length_

Total length, where voxel_length = length / resolution.

Definition at line 90 of file UniformTSDFVolume.h.

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

◆ origin_

Eigen::Vector3d cloudViewer::pipelines::integration::UniformTSDFVolume::origin_

Definition at line 88 of file UniformTSDFVolume.h.

Referenced by ExtractPointCloud(), ExtractTriangleMesh(), ExtractVoxelGrid(), ExtractVoxelPointCloud(), and IntegrateWithDepthToCameraDistanceMultiplier().

◆ resolution_

int cloudViewer::pipelines::integration::UniformTSDFVolume::resolution_

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

Definition at line 93 of file UniformTSDFVolume.h.

Referenced by ExtractPointCloud(), ExtractTriangleMesh(), ExtractVolumeColor(), ExtractVolumeTSDF(), ExtractVoxelGrid(), ExtractVoxelPointCloud(), IndexOf(), InjectVolumeColor(), InjectVolumeTSDF(), IntegrateWithDepthToCameraDistanceMultiplier(), and cloudViewer::pipelines::integration::pybind_integration_classes().

◆ voxel_num_

int cloudViewer::pipelines::integration::UniformTSDFVolume::voxel_num_

Number of voxels present.

Definition at line 95 of file UniformTSDFVolume.h.

Referenced by ExtractVolumeColor(), ExtractVolumeTSDF(), and UniformTSDFVolume().

◆ voxels_

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

Definition at line 87 of file UniformTSDFVolume.h.

Referenced by ExtractPointCloud(), ExtractTriangleMesh(), ExtractVolumeColor(), ExtractVolumeTSDF(), ExtractVoxelGrid(), ExtractVoxelPointCloud(), InjectVolumeColor(), InjectVolumeTSDF(), IntegrateWithDepthToCameraDistanceMultiplier(), Reset(), and UniformTSDFVolume().

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

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

Public Member Functions

Public Attributes

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()

Member Data Documentation

◆ length_

◆ origin_

◆ resolution_

◆ voxel_num_

◆ voxels_