cloudViewer.pipelines.integration.ScalableTSDFVolume#

class cloudViewer.pipelines.integration.ScalableTSDFVolume#

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

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.

Ref: Dense Scene Reconstruction with Points of Interest

Q.-Y. Zhou and V. Koltun

In SIGGRAPH, 2013

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: cloudViewer.pipelines.integration.ScalableTSDFVolume, arg0: cloudViewer.pipelines.integration.ScalableTSDFVolume) -> None

Copy constructor

  1. __init__(self: cloudViewer.pipelines.integration.ScalableTSDFVolume, voxel_length: typing.SupportsFloat, sdf_trunc: typing.SupportsFloat, color_type: cloudViewer.pipelines.integration.TSDFVolumeColorType, volume_unit_resolution: typing.SupportsInt = 16, depth_sampling_stride: typing.SupportsInt = 4) -> None

extract_point_cloud(self)#

Function to extract a point cloud with normals

Returns:

cloudViewer.geometry.ccPointCloud

extract_triangle_mesh(self)#

Function to extract a triangle mesh

Returns:

cloudViewer.geometry.ccMesh

extract_voxel_point_cloud(self)#

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

Returns:

cloudViewer.geometry.ccPointCloud

integrate(self, image, intrinsic, extrinsic)#

Function to integrate an RGB-D image into the volume

Parameters:
Returns:

None

reset(self)#

Function to reset the TSDFVolume

Returns:

None

property color_type#

Color type of the TSDF volume.

Type:

integration.TSDFVolumeColorType

property sdf_trunc#

Truncation value for signed distance function (SDF).

Type:

float

property voxel_length#

Length of the voxel in meters.

Type:

float