Open3D (C++ API)  0.12.0
TSDFVolume.h
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26 
27 #pragma once
28 
33 
34 namespace open3d {
35 namespace pipelines {
36 namespace integration {
37 
41 enum class TSDFVolumeColorType {
43  NoColor = 0,
45  RGB8 = 1,
47  Gray32 = 2,
48 };
49 
61 class TSDFVolume {
62 public:
68  TSDFVolume(double voxel_length,
69  double sdf_trunc,
70  TSDFVolumeColorType color_type)
71  : voxel_length_(voxel_length),
72  sdf_trunc_(sdf_trunc),
73  color_type_(color_type) {}
74  virtual ~TSDFVolume() {}
75 
76 public:
78  virtual void Reset() = 0;
79 
81  virtual void Integrate(const geometry::RGBDImage &image,
82  const camera::PinholeCameraIntrinsic &intrinsic,
83  const Eigen::Matrix4d &extrinsic) = 0;
84 
86  virtual std::shared_ptr<geometry::PointCloud> ExtractPointCloud() = 0;
87 
90  virtual std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() = 0;
91 
92 public:
94  double voxel_length_;
96  double sdf_trunc_;
99 };
100 
101 } // namespace integration
102 } // namespace pipelines
103 } // namespace open3d
double voxel_length_
Length of the voxel in meters.
Definition: TSDFVolume.h:94
virtual ~TSDFVolume()
Definition: TSDFVolume.h:74
TSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
Default Constructor.
Definition: TSDFVolume.h:68
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
TSDFVolumeColorType color_type_
Color type of the TSDF volume.
Definition: TSDFVolume.h:98
double sdf_trunc_
Truncation value for signed distance function (SDF).
Definition: TSDFVolume.h:96
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
TSDFVolumeColorType
Definition: TSDFVolume.h:41
Definition: PinholeCameraIntrinsic.cpp:35
Base class of the Truncated Signed Distance Function (TSDF) volume.
Definition: TSDFVolume.h:61