open3d.pipelines.integration.ScalableTSDFVolume#
- class open3d.pipelines.integration.ScalableTSDFVolume#
The ScalableTSDFVolume implements a more memory efficient data structure for volumetric integration.
This implementation is based on the following repository: https://github.com/qianyizh/ElasticReconstruction/tree/master/Integrate
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
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume, arg0: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.integration.ScalableTSDFVolume, voxel_length: float, sdf_trunc: float, color_type: open3d.cpu.pybind.pipelines.integration.TSDFVolumeColorType, volume_unit_resolution: int = 16, depth_sampling_stride: int = 4) -> None
- extract_point_cloud(self)#
Function to extract a point cloud with normals
- Returns:
open3d.geometry.PointCloud
- extract_triangle_mesh(self)#
Function to extract a triangle mesh
- Returns:
open3d.geometry.TriangleMesh
- extract_voxel_point_cloud(self)#
Debug function to extract the voxel data into a point cloud.
- Returns:
open3d.geometry.PointCloud
- 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[numpy.float64[4, 4]]) – Extrinsic parameters.
- Returns:
None
- reset(self)#
Function to reset the TSDFVolume
- Returns:
None
- property color_type#
Color type of the TSDF volume.
- property sdf_trunc#
Truncation value for signed distance function (SDF).
- Type:
float
- property voxel_length#
Length of the voxel in meters.
- Type:
float