open3d.pipelines.integration.UniformTSDFVolume#
- class open3d.pipelines.integration.UniformTSDFVolume#
UniformTSDFVolume implements the classic TSDF volume with uniform voxel grid (Curless and Levoy 1996).
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume, arg0: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume, length: float, resolution: int, sdf_trunc: float, color_type: open3d.cpu.pybind.pipelines.integration.TSDFVolumeColorType) -> None
__init__(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume, length: float, resolution: int, sdf_trunc: float, color_type: open3d.cpu.pybind.pipelines.integration.TSDFVolumeColorType, origin: numpy.ndarray[numpy.float64[3, 1]]) -> 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_volume_color(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume) open3d.cpu.pybind.utility.Vector3dVector #
Debug function to extract the volume color data.
- extract_volume_tsdf(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume) open3d.cpu.pybind.utility.Vector2dVector #
Debug function to extract the volume TSDF data.
- extract_voxel_grid(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume) open3d.cpu.pybind.geometry.VoxelGrid #
Debug function to extract the voxel data VoxelGrid.
- extract_voxel_point_cloud(self)#
Debug function to extract the voxel data into a point cloud.
- Returns:
open3d.geometry.PointCloud
- inject_volume_color(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume, color: open3d.cpu.pybind.utility.Vector3dVector) None #
Debug function to inject the voxel Color data.
- inject_volume_tsdf(self: open3d.cpu.pybind.pipelines.integration.UniformTSDFVolume, tsdf: open3d.cpu.pybind.utility.Vector2dVector) None #
Debug function to inject the voxel TSDF data.
- 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 length#
Total length, where
voxel_length = length / resolution
.
- property resolution#
Resolution over the total length, where
voxel_length = length / resolution
- property sdf_trunc#
Truncation value for signed distance function (SDF).
- Type:
float
- property voxel_length#
Length of the voxel in meters.
- Type:
float