open3d.pipelines.integration.ScalableTSDFVolume

class open3d.pipelines.integration.ScalableTSDFVolume

The ScalableTSDFVolume implements a more memory efficient data structure for volumetric integration.

This implementation is based on the following repository: https://github.com/qianyizh/ElasticReconstruction/tree/master/Integrate

An observed depth pixel gives two types of information: (a) an approximation of the nearby surface, and (b) empty space from the camera to the surface. They induce two core concepts of volumetric integration: weighted average of a truncated signed distance function (TSDF), and carving. The weighted average of TSDF is great in addressing the Gaussian noise along surface normal and producing a smooth surface output. The carving is great in removing outlier structures like floating noise pixels and bumps along structure edges.

Ref: Dense Scene Reconstruction with Points of Interest

Q.-Y. Zhou and V. Koltun

In SIGGRAPH, 2013

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume, arg0: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume) -> None

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume, voxel_length: float, sdf_trunc: float, color_type: open3d.cpu.pybind.pipelines.integration.TSDFVolumeColorType, volume_unit_resolution: int = 16, depth_sampling_stride: int = 4) -> None

extract_point_cloud(self)

Function to extract a point cloud with normals

Returns

open3d.cpu.pybind.geometry.PointCloud

extract_triangle_mesh(self)

Function to extract a triangle mesh

Returns

open3d.cpu.pybind.geometry.TriangleMesh

extract_voxel_point_cloud(self)

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

Returns

open3d.cpu.pybind.geometry.PointCloud

integrate(self, image, intrinsic, extrinsic)

Function to integrate an RGB-D image into the volume

Parameters

  • image (open3d.cpu.pybind.geometry.RGBDImage) – RGBD image.

  • intrinsic (open3d.cpu.pybind.camera.PinholeCameraIntrinsic) – Pinhole camera intrinsic parameters.

  • extrinsic (numpy.ndarray[float64[4, 4]]) – 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 sdf_trunc

Truncation value for signed distance function (SDF).

Type

float

property voxel_length

Length of the voxel in meters.

Type

float