Open3D (C++ API)  0.16.1
TSDFVolume.h
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26
27#pragma once
28
33
34namespace open3d {
35namespace pipelines {
36namespace integration {
37
43 NoColor = 0,
45 RGB8 = 1,
47 Gray32 = 2,
48};
49
62public:
68 TSDFVolume(double voxel_length,
69 double sdf_trunc,
70 TSDFVolumeColorType color_type)
71 : voxel_length_(voxel_length),
72 sdf_trunc_(sdf_trunc),
73 color_type_(color_type) {}
74 virtual ~TSDFVolume() {}
75
76public:
78 virtual void Reset() = 0;
79
81 virtual void Integrate(const geometry::RGBDImage &image,
82 const camera::PinholeCameraIntrinsic &intrinsic,
83 const Eigen::Matrix4d &extrinsic) = 0;
84
86 virtual std::shared_ptr<geometry::PointCloud> ExtractPointCloud() = 0;
87
90 virtual std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() = 0;
91
92public:
96 double sdf_trunc_;
99};
100
101} // namespace integration
102} // namespace pipelines
103} // namespace open3d
std::shared_ptr< core::Tensor > image
Definition: FilamentRenderer.cpp:202
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
Base class of the Truncated Signed Distance Function (TSDF) volume.
Definition: TSDFVolume.h:61
virtual void Reset()=0
Function to reset the TSDFVolume.
virtual std::shared_ptr< geometry::TriangleMesh > ExtractTriangleMesh()=0
Function to extract a triangle mesh, using the marching cubes algorithm. (https://en....
double sdf_trunc_
Truncation value for signed distance function (SDF).
Definition: TSDFVolume.h:96
virtual std::shared_ptr< geometry::PointCloud > ExtractPointCloud()=0
Function to extract a point cloud with normals.
virtual ~TSDFVolume()
Definition: TSDFVolume.h:74
TSDFVolumeColorType color_type_
Color type of the TSDF volume.
Definition: TSDFVolume.h:98
virtual void Integrate(const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic)=0
Function to integrate an RGB-D image into the volume.
double voxel_length_
Length of the voxel in meters.
Definition: TSDFVolume.h:94
TSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
Default Constructor.
Definition: TSDFVolume.h:68
TSDFVolumeColorType
Definition: TSDFVolume.h:41
Definition: PinholeCameraIntrinsic.cpp:35