Open3D (C++ API)  0.12.0
ScalableTSDFVolume.h
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26 
27 #pragma once
28 
29 #include <memory>
30 #include <unordered_map>
31 
33 #include "open3d/utility/Helper.h"
34 
35 namespace open3d {
36 namespace pipelines {
37 namespace integration {
38 
39 class UniformTSDFVolume;
40 
60 public:
61  struct VolumeUnit {
62  public:
63  VolumeUnit() : volume_(NULL) {}
64 
65  public:
66  std::shared_ptr<UniformTSDFVolume> volume_;
67  Eigen::Vector3i index_;
68  };
69 
70 public:
71  ScalableTSDFVolume(double voxel_length,
72  double sdf_trunc,
73  TSDFVolumeColorType color_type,
74  int volume_unit_resolution = 16,
75  int depth_sampling_stride = 4);
76  ~ScalableTSDFVolume() override;
77 
78 public:
79  void Reset() override;
80  void Integrate(const geometry::RGBDImage &image,
81  const camera::PinholeCameraIntrinsic &intrinsic,
82  const Eigen::Matrix4d &extrinsic) override;
83  std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override;
84  std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override;
86  std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud();
87 
88 public:
92 
96  std::unordered_map<Eigen::Vector3i,
97  VolumeUnit,
100 
101 private:
102  Eigen::Vector3i LocateVolumeUnit(const Eigen::Vector3d &point) {
103  return Eigen::Vector3i((int)std::floor(point(0) / volume_unit_length_),
104  (int)std::floor(point(1) / volume_unit_length_),
105  (int)std::floor(point(2) / volume_unit_length_));
106  }
107 
108  std::shared_ptr<UniformTSDFVolume> OpenVolumeUnit(
109  const Eigen::Vector3i &index);
110 
111  Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p);
112 
113  double GetTSDFAt(const Eigen::Vector3d &p);
114 };
115 
116 } // namespace integration
117 } // namespace pipelines
118 } // namespace open3d
Eigen::Vector3i index_
Definition: ScalableTSDFVolume.h:67
double volume_unit_length_
Definition: ScalableTSDFVolume.h:90
Definition: ScalableTSDFVolume.h:59
ScalableTSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type, int volume_unit_resolution=16, int depth_sampling_stride=4)
Definition: ScalableTSDFVolume.cpp:40
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
std::shared_ptr< geometry::PointCloud > ExtractVoxelPointCloud()
Debug function to extract the voxel data into a point cloud.
Definition: ScalableTSDFVolume.cpp:375
std::shared_ptr< UniformTSDFVolume > volume_
Definition: ScalableTSDFVolume.h:66
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:94
Definition: Helper.h:86
std::shared_ptr< geometry::PointCloud > ExtractPointCloud() override
Function to extract a point cloud with normals.
Definition: ScalableTSDFVolume.cpp:122
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
TSDFVolumeColorType
Definition: TSDFVolume.h:41
std::unordered_map< Eigen::Vector3i, VolumeUnit, utility::hash_eigen< Eigen::Vector3i > > volume_units_
Definition: ScalableTSDFVolume.h:99
Definition: PinholeCameraIntrinsic.cpp:35
std::shared_ptr< geometry::TriangleMesh > ExtractTriangleMesh() override
Function to extract a triangle mesh, using the marching cubes algorithm. (https://en.wikipedia.org/wiki/Marching_cubes)
Definition: ScalableTSDFVolume.cpp:225
void Reset() override
Function to reset the TSDFVolume.
Definition: ScalableTSDFVolume.cpp:52
Base class of the Truncated Signed Distance Function (TSDF) volume.
Definition: TSDFVolume.h:61
~ScalableTSDFVolume() override
Definition: ScalableTSDFVolume.cpp:50
int volume_unit_resolution_
Definition: ScalableTSDFVolume.h:89
void Integrate(const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic) override
Function to integrate an RGB-D image into the volume.
Definition: ScalableTSDFVolume.cpp:54
int depth_sampling_stride_
Definition: ScalableTSDFVolume.h:91