41 :
Voxel(grid_index, color) {}
52 namespace integration {
64 const Eigen::Vector3d &origin = Eigen::Vector3d::Zero());
68 void Reset()
override;
71 const Eigen::Matrix4d &extrinsic)
override;
72 std::shared_ptr<geometry::PointCloud> ExtractPointCloud()
override;
73 std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh()
override;
76 std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud()
const;
78 std::shared_ptr<geometry::VoxelGrid> ExtractVoxelGrid()
const;
82 void IntegrateWithDepthToCameraDistanceMultiplier(
85 const Eigen::Matrix4d &extrinsic,
88 inline int IndexOf(
int x,
int y,
int z)
const {
89 return x * resolution_ * resolution_ + y * resolution_ + z;
92 inline int IndexOf(
const Eigen::Vector3i &xyz)
const {
93 return IndexOf(xyz(0), xyz(1), xyz(2));
108 Eigen::Vector3d GetNormalAt(
const Eigen::Vector3d &p);
110 double GetTSDFAt(
const Eigen::Vector3d &p);
~TSDFVoxel()
Definition: UniformTSDFVolume.h:42
Definition: UniformTSDFVolume.h:36
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
math::float4 color
Definition: LineSetBuffers.cpp:64
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
TSDFVolumeColorType
Definition: TSDFVolume.h:41
Definition: PinholeCameraIntrinsic.cpp:35
TSDFVoxel()
Definition: UniformTSDFVolume.h:38
Base class of the Truncated Signed Distance Function (TSDF) volume.
Definition: TSDFVolume.h:61
Base Voxel class, containing grid id and color.
Definition: VoxelGrid.h:54
float weight_
Definition: UniformTSDFVolume.h:46
The Image class stores image with customizable width, height, num of channels and bytes per channel...
Definition: Image.h:53
float tsdf_
Definition: UniformTSDFVolume.h:45
TSDFVoxel(const Eigen::Vector3i &grid_index)
Definition: UniformTSDFVolume.h:39
TSDFVoxel(const Eigen::Vector3i &grid_index, const Eigen::Vector3d &color)
Definition: UniformTSDFVolume.h:40