cloudViewer.pipelines.integration.UniformTSDFVolume

class cloudViewer.pipelines.integration.UniformTSDFVolume

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

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

2. __init__(self: cloudViewer.pipelines.integration.UniformTSDFVolume, length: typing.SupportsFloat, resolution: typing.SupportsInt, sdf_trunc: typing.SupportsFloat, color_type: cloudViewer.pipelines.integration.TSDFVolumeColorType) -> None

3. __init__(self: cloudViewer.pipelines.integration.UniformTSDFVolume, length: typing.SupportsFloat, resolution: typing.SupportsInt, sdf_trunc: typing.SupportsFloat, color_type: cloudViewer.pipelines.integration.TSDFVolumeColorType, origin: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> 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_volume_color(self: cloudViewer.pipelines.integration.UniformTSDFVolume) → cloudViewer.utility.Vector3dVector

Debug function to extract the volume color data.

extract_volume_tsdf(self: cloudViewer.pipelines.integration.UniformTSDFVolume) → cloudViewer.utility.Vector2dVector

Debug function to extract the volume TSDF data.

extract_voxel_grid(self: cloudViewer.pipelines.integration.UniformTSDFVolume) → cloudViewer.geometry.VoxelGrid

Debug function to extract the voxel data VoxelGrid.

extract_voxel_point_cloud(self)

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

Returns:

cloudViewer.geometry.ccPointCloud

inject_volume_color(self: cloudViewer.pipelines.integration.UniformTSDFVolume, color: cloudViewer.utility.Vector3dVector) → None

Debug function to inject the voxel Color data.

inject_volume_tsdf(self: cloudViewer.pipelines.integration.UniformTSDFVolume, tsdf: cloudViewer.utility.Vector2dVector) → None

Debug function to inject the voxel TSDF data.

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.

Type:

integration.TSDFVolumeColorType

property length

Total length, where voxel_length = length / resolution.

property resolution

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

property sdf_trunc

Truncation value for signed distance function (SDF).

Type:

float

property voxel_length

Length of the voxel in meters.

Type:

float