Open3D (C++ API)
Public Member Functions | Data Fields
open3d::integration::TSDFVolume Class Referenceabstract

Base class of the Truncated Signed Distance Function (TSDF) volume. More...

#include <TSDFVolume.h>

Inheritance diagram for open3d::integration::TSDFVolume:
open3d::integration::ScalableTSDFVolume open3d::integration::UniformTSDFVolume

Public Member Functions

 TSDFVolume (double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
 Default Constructor. More...
 
virtual ~TSDFVolume ()
 
virtual void Reset ()=0
 Function to reset the TSDFVolume. More...
 
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. More...
 
virtual std::shared_ptr< geometry::PointCloudExtractPointCloud ()=0
 Function to extract a point cloud with normals. More...
 
virtual std::shared_ptr< geometry::TriangleMeshExtractTriangleMesh ()=0
 Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes) More...
 

Data Fields

double voxel_length_
 Length of the voxel in meters. More...
 
double sdf_trunc_
 Truncation value for signed distance function (SDF). More...
 
TSDFVolumeColorType color_type_
 Color type of the TSDF volume. More...
 

Detailed Description

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:

B. Curless and M. Levoy A volumetric method for building complex models from range images In SIGGRAPH, 1996

Constructor & Destructor Documentation

◆ TSDFVolume()

open3d::integration::TSDFVolume::TSDFVolume ( double  voxel_length,
double  sdf_trunc,
TSDFVolumeColorType  color_type 
)
inline

Default Constructor.

Parameters
voxel_lengthLength of the voxel in meters.
sdf_truncTruncation value for signed distance function (SDF).
color_typeColor type of the TSDF volume.

◆ ~TSDFVolume()

virtual open3d::integration::TSDFVolume::~TSDFVolume ( )
inlinevirtual

Member Function Documentation

◆ ExtractPointCloud()

virtual std::shared_ptr<geometry::PointCloud> open3d::integration::TSDFVolume::ExtractPointCloud ( )
pure virtual

Function to extract a point cloud with normals.

Implemented in open3d::integration::ScalableTSDFVolume, and open3d::integration::UniformTSDFVolume.

◆ ExtractTriangleMesh()

virtual std::shared_ptr<geometry::TriangleMesh> open3d::integration::TSDFVolume::ExtractTriangleMesh ( )
pure virtual

Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes)

Implemented in open3d::integration::ScalableTSDFVolume, and open3d::integration::UniformTSDFVolume.

◆ Integrate()

virtual void open3d::integration::TSDFVolume::Integrate ( const geometry::RGBDImage image,
const camera::PinholeCameraIntrinsic intrinsic,
const Eigen::Matrix4d &  extrinsic 
)
pure virtual

Function to integrate an RGB-D image into the volume.

Implemented in open3d::integration::ScalableTSDFVolume, and open3d::integration::UniformTSDFVolume.

◆ Reset()

virtual void open3d::integration::TSDFVolume::Reset ( )
pure virtual

Field Documentation

◆ color_type_

TSDFVolumeColorType open3d::integration::TSDFVolume::color_type_

Color type of the TSDF volume.

◆ sdf_trunc_

double open3d::integration::TSDFVolume::sdf_trunc_

Truncation value for signed distance function (SDF).

◆ voxel_length_

double open3d::integration::TSDFVolume::voxel_length_

Length of the voxel in meters.


The documentation for this class was generated from the following file: