Open3D (C++ API)
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 integration {
37 
38 class UniformTSDFVolume;
39 
57 
59 public:
60  struct VolumeUnit {
61  public:
62  VolumeUnit() : volume_(NULL) {}
63 
64  public:
65  std::shared_ptr<UniformTSDFVolume> volume_;
66  Eigen::Vector3i index_;
67  };
68 
69 public:
70  ScalableTSDFVolume(double voxel_length,
71  double sdf_trunc,
72  TSDFVolumeColorType color_type,
73  int volume_unit_resolution = 16,
74  int depth_sampling_stride = 4);
75  ~ScalableTSDFVolume() override;
76 
77 public:
78  void Reset() override;
79  void Integrate(const geometry::RGBDImage &image,
80  const camera::PinholeCameraIntrinsic &intrinsic,
81  const Eigen::Matrix4d &extrinsic) override;
82  std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override;
83  std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override;
84  std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud();
85 
86 public:
90 
94  std::unordered_map<Eigen::Vector3i,
95  VolumeUnit,
98 
99 private:
100  Eigen::Vector3i LocateVolumeUnit(const Eigen::Vector3d &point) {
101  return Eigen::Vector3i((int)std::floor(point(0) / volume_unit_length_),
102  (int)std::floor(point(1) / volume_unit_length_),
103  (int)std::floor(point(2) / volume_unit_length_));
104  }
105 
106  std::shared_ptr<UniformTSDFVolume> OpenVolumeUnit(
107  const Eigen::Vector3i &index);
108 
109  Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p);
110 
111  double GetTSDFAt(const Eigen::Vector3d &p);
112 };
113 
114 } // namespace integration
115 } // namespace open3d
double volume_unit_length_
Definition: ScalableTSDFVolume.h:88
Definition: ScalableTSDFVolume.h:58
TSDFVolumeColorType
Definition: TSDFVolume.h:37
Definition: Helper.h:90
int volume_unit_resolution_
Definition: ScalableTSDFVolume.h:87
Definition: PinholeCameraIntrinsic.h:42
Definition: TSDFVolume.h:50
Eigen::Vector3i index_
Definition: ScalableTSDFVolume.h:66
int depth_sampling_stride_
Definition: ScalableTSDFVolume.h:89
VolumeUnit()
Definition: ScalableTSDFVolume.h:62
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:53
std::shared_ptr< geometry::TriangleMesh > ExtractTriangleMesh() override
Definition: ScalableTSDFVolume.cpp:220
Definition: RGBDImage.h:38
std::shared_ptr< geometry::PointCloud > ExtractVoxelPointCloud()
Definition: ScalableTSDFVolume.cpp:378
std::unordered_map< Eigen::Vector3i, VolumeUnit, utility::hash_eigen::hash< Eigen::Vector3i > > volume_units_
Definition: ScalableTSDFVolume.h:97
~ScalableTSDFVolume() override
Definition: ScalableTSDFVolume.cpp:49
Definition: PinholeCameraIntrinsic.cpp:34
Definition: ScalableTSDFVolume.h:60
ScalableTSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type, int volume_unit_resolution=16, int depth_sampling_stride=4)
Definition: ScalableTSDFVolume.cpp:39
std::shared_ptr< geometry::PointCloud > ExtractPointCloud() override
Function to extract a point cloud with normals.
Definition: ScalableTSDFVolume.cpp:109
void Reset() override
Function to reset the TSDFVolume.
Definition: ScalableTSDFVolume.cpp:51
std::shared_ptr< UniformTSDFVolume > volume_
Definition: ScalableTSDFVolume.h:65