40 TSDFVoxel(
const Eigen::Vector3i &grid_index,
const Eigen::Vector3d &color)
41 :
Voxel(grid_index, color) {}
56 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;
77 std::shared_ptr<geometry::VoxelGrid> ExtractVoxelGrid()
const;
81 void IntegrateWithDepthToCameraDistanceMultiplier(
84 const Eigen::Matrix4d &extrinsic,
87 inline int IndexOf(
int x,
int y,
int z)
const {
88 return x * resolution_ * resolution_ + y * resolution_ + z;
91 inline int IndexOf(
const Eigen::Vector3i &xyz)
const {
92 return IndexOf(xyz(0), xyz(1), xyz(2));
103 Eigen::Vector3d GetNormalAt(
const Eigen::Vector3d &p);
105 double GetTSDFAt(
const Eigen::Vector3d &p);
TSDFVolumeColorType
Definition: TSDFVolume.h:37
~TSDFVoxel()
Definition: UniformTSDFVolume.h:42
Definition: UniformTSDFVolume.h:36
Definition: UniformTSDFVolume.h:49
Definition: PinholeCameraIntrinsic.h:42
Definition: TSDFVolume.h:50
Definition: RGBDImage.h:38
std::vector< TSDFVoxel > voxels_
Definition: UniformTSDFVolume.h:51
Definition: PinholeCameraIntrinsic.cpp:34
TSDFVoxel()
Definition: UniformTSDFVolume.h:38
Definition: VoxelGrid.h:55
Definition: VoxelGrid.h:42
float weight_
Definition: UniformTSDFVolume.h:46
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