open3d.integration.ScalableTSDFVolume¶
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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
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__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: open3d.integration.ScalableTSDFVolume, arg0: open3d.integration.ScalableTSDFVolume) -> None
Copy constructor
__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
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extract_point_cloud
(self)¶ Function to extract a point cloud with normals
- Returns
open3d.geometry.PointCloud
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extract_triangle_mesh
(self)¶ Function to extract a triangle mesh
- Returns
open3d.geometry.TriangleMesh
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extract_voxel_point_cloud
(self)¶ Debug function to extract the voxel data into a point cloud.
- Returns
open3d.geometry.PointCloud
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integrate
(self, image, intrinsic, extrinsic)¶ Function to integrate an RGB-D image into the volume
- Parameters
image (open3d.geometry.RGBDImage) – RGBD image.
intrinsic (open3d.camera.PinholeCameraIntrinsic) – Pinhole camera intrinsic parameters.
extrinsic (numpy.ndarray[float64[4, 4]]) – Extrinsic parameters.
- Returns
None
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reset
(self)¶ Function to reset the integration.TSDFVolume
- Returns
None
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property
color_type
¶ Color type of the TSDF volume.
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property
sdf_trunc
¶ Truncation value for signed distance function (SDF).
- Type
float
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property
voxel_length
¶ Voxel size.
- Type
float
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