open3d.integration.TSDFVolume¶

class open3d.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__()¶: Initialize self. See help(type(self)) for accurate signature.

extract_point_cloud(self)¶

Function to extract a point cloud with normals

Returns: open3d.geometry.PointCloud

extract_triangle_mesh(self)¶

Function to extract a triangle mesh

Returns: open3d.geometry.TriangleMesh

integrate(self, image, intrinsic, extrinsic)¶

Function to integrate an RGB-D image into the volume

Parameters

image (open3d.geometry.RGBDImage) – RGBD image.
intrinsic (open3d.camera.PinholeCameraIntrinsic) – Pinhole camera intrinsic parameters.
extrinsic (numpy.ndarray[float64[4, 4]]) – Extrinsic parameters.

Returns

None

reset(self)¶

Function to reset the integration.TSDFVolume

Returns: None

property color_type¶

Color type of the TSDF volume.

Type: integration.TSDFVolumeColorType

property sdf_trunc¶

Truncation value for signed distance function (SDF).

Type: float

property voxel_length¶

Length of the voxel in meters.

Type: float