cloudViewer.pipelines.integration.TSDFVolume#
- class cloudViewer.pipelines.integration.TSDFVolume#
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:
A volumetric method for building complex models from range images
Curless and M. Levoy
In SIGGRAPH, 1996
- __init__(*args, **kwargs)#
- 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
- integrate(self, image, intrinsic, extrinsic)#
Function to integrate an RGB-D image into the volume
- Parameters:
image (cloudViewer.geometry.RGBDImage) – RGBD image.
intrinsic (cloudViewer.camera.PinholeCameraIntrinsic) – Pinhole camera intrinsic parameters.
extrinsic (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Extrinsic parameters.
- Returns:
None
- reset(self)#
Function to reset the TSDFVolume
- Returns:
None
- property color_type#
Color type of the TSDF volume.