open3d.integration.UniformTSDFVolume¶
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class
open3d.integration.
UniformTSDFVolume
¶ UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996).
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__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: open3d.integration.UniformTSDFVolume, arg0: open3d.integration.UniformTSDFVolume) -> None
Copy constructor
__init__(self: open3d.integration.UniformTSDFVolume, length: float, resolution: int, sdf_trunc: float, color_type: open3d.integration.TSDFVolumeColorType) -> 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_grid
(self: open3d.integration.UniformTSDFVolume) → open3d.geometry.VoxelGrid¶ Debug function to extract the voxel data VoxelGrid.
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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
length
¶ Total length, where
voxel_length = length / resolution
.
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property
resolution
¶ Resolution over the total length, where
voxel_length = length / resolution
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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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