open3d.integration.TSDFVolume¶
-
class
open3d.integration.
TSDFVolume
¶ Base class of the Truncated Signed Distance Function (TSDF) volume This volume is usually used to integrate surface data (e.g., a series of RGB-D images) into a Mesh or PointCloud. The basic technique is presented in the following paper:
A volumetric method for building complex models from range images
Curless and M. Levoy
In SIGGRAPH, 1996
-
__init__
()¶ Initialize self. See help(type(self)) for accurate signature.
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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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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.
-
property
sdf_trunc
¶ Truncation value for signed distance function (SDF).
- Type
float
-
property
voxel_length
¶ Voxel size.
- Type
float