cloudViewer.t.pipelines.slam.Model#

class cloudViewer.t.pipelines.slam.Model#

Volumetric model for Dense SLAM.

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self, arg0)

    Copy constructor

Parameters:

arg0 (cloudViewer.t.pipelines.slam.Model) –

  1. __init__(self)

  2. __init__(self, voxel_size, block_resolution=16, block_count: typing.SupportsInt = 10000, transformation=[[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64, , device=Device(“CUDA”, 0))

    Constructor of a VoxelBlockGrid

Parameters:

  • voxel_size (SupportsFloat) – The voxel size of the volume in meters.

  • (typing.SupportsInt (block_resolution) – typing.SupportsInt = 10000): Resolution of local dense voxel blocks. By default 16 is used to create 16^3 voxel blocks.

  • optional – typing.SupportsInt = 10000): Resolution of local dense voxel blocks. By default 16 is used to create 16^3 voxel blocks.

  • default=16 – typing.SupportsInt = 10000): Resolution of local dense voxel blocks. By default 16 is used to create 16^3 voxel blocks.

  • block_count – typing.SupportsInt = 10000): Resolution of local dense voxel blocks. By default 16 is used to create 16^3 voxel blocks.

  • transformation (cloudViewer.core.Tensor, optional, default=[[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64) – A 4x4 3D transformation matrix. ()

  • device (cloudViewer.core.Device, optional, default=Device("CUDA", 0)) – The CPU or CUDA device used for the object.

extract_pointcloud(self, weight_threshold=3.0, estimated_number=-1)#

Extract point cloud from the volumetric model.

Parameters:

  • weight_threshold (SupportsFloat, optional, default=3.0) – Weight threshold to filter outlier voxel blocks.

  • estimated_number (SupportsInt, optional, default=-1) – Estimated number of surface points. Use -1 if no estimation is available.

Returns:

cloudViewer::t::geometry::PointCloud

extract_trianglemesh(self, weight_threshold=3.0, estimated_number=-1)#

Extract triangle mesh from the volumetric model.

Parameters:

  • weight_threshold (SupportsFloat, optional, default=3.0) – Weight threshold to filter outlier voxel blocks.

  • estimated_number (SupportsInt, optional, default=-1) – Estimated number of surface points. Use -1 if no estimation is available.

Returns:

cloudViewer::t::geometry::TriangleMesh

get_current_frame_pose(self: cloudViewer.t.pipelines.slam.Model) → cloudViewer.core.Tensor#
get_hashmap(self: cloudViewer.t.pipelines.slam.Model) → cloudViewer.core.HashMap#

Get the underlying hash map from 3D coordinates to voxel blocks.

integrate(self, input_frame, depth_scale=1000.0, depth_max=3.0, trunc_voxel_multiplier=8.0)#

Integrate an input frame to a volume.

Parameters:

  • input_frame (cloudViewer::t::pipelines::slam::Frame) – The frame that contains raw depth and optionally images with the same size from the input.

  • depth_scale (SupportsFloat, optional, default=1000.0) – The scale factor to convert raw depth into meters.

  • depth_max (SupportsFloat, optional, default=3.0) – The max clipping depth to filter noisy observations too far.

  • trunc_voxel_multiplier (SupportsFloat, optional, default=8.0) – Truncation distance multiplier in voxel size for signed distance. For instance, –trunc_voxel_multiplier=8 with –voxel_size=0.006(m) creates a truncation distance of 0.048(m).

Returns:

None

synthesize_model_frame(self, model_frame, depth_scale=1000.0, depth_min=0.1, depth_max=3.0, trunc_voxel_multiplier=8.0, enable_color=False, weight_threshold=-1.0)#

Synthesize frame from the volumetric model using ray casting.

Parameters:

  • model_frame (cloudViewer::t::pipelines::slam::Frame) – The frame that contains ray casted depth and optionally color from the volumetric model.

  • depth_scale (SupportsFloat, optional, default=1000.0) – The scale factor to convert raw depth into meters.

  • depth_min (SupportsFloat, optional, default=0.1) – The min clipping depth.

  • depth_max (SupportsFloat, optional, default=3.0) – The max clipping depth to filter noisy observations too far.

  • trunc_voxel_multiplier (SupportsFloat, optional, default=8.0) – Truncation distance multiplier in voxel size for signed distance. For instance, –trunc_voxel_multiplier=8 with –voxel_size=0.006(m) creates a truncation distance of 0.048(m).

  • enable_color (bool, optional, default=False) –

  • weight_threshold (SupportsFloat, optional, default=-1.0) – Weight threshold to filter outlier voxel blocks.

Returns:

None

track_frame_to_model(self, input_frame, model_frame, depth_scale=1000.0, depth_max=3.0, depth_diff=0.07, method=Method.PointToPlane, criteria=[OdometryConvergenceCriteria(max_iteration=6, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06), OdometryConvergenceCriteria(max_iteration=3, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06), OdometryConvergenceCriteria(max_iteration=1, relative_rmse=1.000000e-06, relative_fitness=1.000000e-06)])#

Track input frame against raycasted frame from model.

Parameters:
Returns:

cloudViewer.t.pipelines.odometry.OdometryResult

update_frame_pose(self: cloudViewer.t.pipelines.slam.Model, arg0: SupportsInt, arg1: cloudViewer.core.Tensor) → None#
property frame_id#

Get the current frame index in a sequence.

property frustum_block_coords#

Active block coordinates from prior integration

property transformation_frame_to_world#

Get the 4x4 transformation matrix from the current frame to the world frame.

property voxel_grid#

Get the maintained VoxelBlockGrid.