Open3D (C++ API)
UniformTSDFVolume.h
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26 
27 #pragma once
28 
31 
32 namespace open3d {
33 
34 namespace geometry {
35 
36 class TSDFVoxel : public Voxel {
37 public:
38  TSDFVoxel() : Voxel() {}
39  TSDFVoxel(const Eigen::Vector3i &grid_index) : Voxel(grid_index) {}
40  TSDFVoxel(const Eigen::Vector3i &grid_index, const Eigen::Vector3d &color)
41  : Voxel(grid_index, color) {}
43 
44 public:
45  float tsdf_ = 0;
46  float weight_ = 0;
47 };
48 
49 class TSDFVoxelGrid : public VoxelGrid {
50 public:
51  std::vector<TSDFVoxel> voxels_;
52 };
53 
54 } // namespace geometry
55 
56 namespace integration {
57 
58 class UniformTSDFVolume : public TSDFVolume {
59 public:
60  UniformTSDFVolume(double length,
61  int resolution,
62  double sdf_trunc,
63  TSDFVolumeColorType color_type,
64  const Eigen::Vector3d &origin = Eigen::Vector3d::Zero());
65  ~UniformTSDFVolume() override;
66 
67 public:
68  void Reset() override;
69  void Integrate(const geometry::RGBDImage &image,
70  const camera::PinholeCameraIntrinsic &intrinsic,
71  const Eigen::Matrix4d &extrinsic) override;
72  std::shared_ptr<geometry::PointCloud> ExtractPointCloud() override;
73  std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() override;
74 
76  std::shared_ptr<geometry::PointCloud> ExtractVoxelPointCloud() const;
77  std::shared_ptr<geometry::VoxelGrid> ExtractVoxelGrid() const;
78 
81  void IntegrateWithDepthToCameraDistanceMultiplier(
82  const geometry::RGBDImage &image,
83  const camera::PinholeCameraIntrinsic &intrinsic,
84  const Eigen::Matrix4d &extrinsic,
85  const geometry::Image &depth_to_camera_distance_multiplier);
86 
87  inline int IndexOf(int x, int y, int z) const {
88  return x * resolution_ * resolution_ + y * resolution_ + z;
89  }
90 
91  inline int IndexOf(const Eigen::Vector3i &xyz) const {
92  return IndexOf(xyz(0), xyz(1), xyz(2));
93  }
94 
95 public:
97  Eigen::Vector3d origin_;
98  double length_;
101 
102 private:
103  Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p);
104 
105  double GetTSDFAt(const Eigen::Vector3d &p);
106 };
107 
108 } // namespace integration
109 } // namespace open3d
int IndexOf(const Eigen::Vector3i &xyz) const
Definition: UniformTSDFVolume.h:91
TSDFVolumeColorType
Definition: TSDFVolume.h:37
~TSDFVoxel()
Definition: UniformTSDFVolume.h:42
geometry::TSDFVoxelGrid voxel_grid_
Definition: UniformTSDFVolume.h:96
Definition: UniformTSDFVolume.h:36
Definition: UniformTSDFVolume.h:49
Definition: PinholeCameraIntrinsic.h:42
int resolution_
Definition: UniformTSDFVolume.h:99
Definition: TSDFVolume.h:50
Definition: RGBDImage.h:38
Definition: UniformTSDFVolume.h:58
int voxel_num_
Definition: UniformTSDFVolume.h:100
std::vector< TSDFVoxel > voxels_
Definition: UniformTSDFVolume.h:51
Definition: PinholeCameraIntrinsic.cpp:34
TSDFVoxel()
Definition: UniformTSDFVolume.h:38
Definition: VoxelGrid.h:55
double length_
Definition: UniformTSDFVolume.h:98
Eigen::Vector3d origin_
Definition: UniformTSDFVolume.h:97
Definition: VoxelGrid.h:42
float weight_
Definition: UniformTSDFVolume.h:46
Definition: Image.h:44
float tsdf_
Definition: UniformTSDFVolume.h:45
TSDFVoxel(const Eigen::Vector3i &grid_index)
Definition: UniformTSDFVolume.h:39
int IndexOf(int x, int y, int z) const
Definition: UniformTSDFVolume.h:87
TSDFVoxel(const Eigen::Vector3i &grid_index, const Eigen::Vector3d &color)
Definition: UniformTSDFVolume.h:40