open3d.integration.ScalableTSDFVolume

class open3d.integration.ScalableTSDFVolume

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

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.integration.ScalableTSDFVolume, arg0: open3d.integration.ScalableTSDFVolume) -> None

Copy constructor

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

extract_point_cloud(self: open3d.integration.TSDFVolume) → open3d.geometry.PointCloud

Function to extract a point cloud with normals

extract_triangle_mesh(self: open3d.integration.TSDFVolume) → open3d.geometry.TriangleMesh

Function to extract a triangle mesh

extract_voxel_point_cloud(self: open3d.integration.ScalableTSDFVolume) → open3d.geometry.PointCloud

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

integrate(self: open3d.integration.TSDFVolume, image: open3d.geometry.RGBDImage, intrinsic: open3d.camera.PinholeCameraIntrinsic, extrinsic: numpy.ndarray[float64[4, 4]]) → None

Function to integrate an RGB-D image into the volume

reset(self: open3d.integration.TSDFVolume) → None

Function to reset the integration::TSDFVolume

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

Voxel size.

Type

float