open3d.pipelines.integration.TSDFVolume

class open3d.pipelines.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

  1. Curless and M. Levoy

In SIGGRAPH, 1996

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

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

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