open3d.pipelines.integration.TSDFVolume#
- class open3d.pipelines.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__(*args, **kwargs)#
- 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
- 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