Open3D (C++ API)  0.18.0
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TSDFVolume.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
14
15namespace open3d {
16namespace pipelines {
17namespace integration {
18
24 NoColor = 0,
26 RGB8 = 1,
28 Gray32 = 2,
29};
30
43public:
49 TSDFVolume(double voxel_length,
50 double sdf_trunc,
51 TSDFVolumeColorType color_type)
52 : voxel_length_(voxel_length),
53 sdf_trunc_(sdf_trunc),
54 color_type_(color_type) {}
55 virtual ~TSDFVolume() {}
56
57public:
59 virtual void Reset() = 0;
60
62 virtual void Integrate(const geometry::RGBDImage &image,
63 const camera::PinholeCameraIntrinsic &intrinsic,
64 const Eigen::Matrix4d &extrinsic) = 0;
65
67 virtual std::shared_ptr<geometry::PointCloud> ExtractPointCloud() = 0;
68
71 virtual std::shared_ptr<geometry::TriangleMesh> ExtractTriangleMesh() = 0;
72
73public:
77 double sdf_trunc_;
80};
81
82} // namespace integration
83} // namespace pipelines
84} // namespace open3d
std::shared_ptr< core::Tensor > image
Definition FilamentRenderer.cpp:183
Contains the pinhole camera intrinsic parameters.
Definition PinholeCameraIntrinsic.h:32
RGBDImage is for a pair of registered color and depth images,.
Definition RGBDImage.h:27
Base class of the Truncated Signed Distance Function (TSDF) volume.
Definition TSDFVolume.h:42
virtual void Reset()=0
Function to reset the TSDFVolume.
virtual std::shared_ptr< geometry::TriangleMesh > ExtractTriangleMesh()=0
Function to extract a triangle mesh, using the marching cubes algorithm. (https://en....
double sdf_trunc_
Truncation value for signed distance function (SDF).
Definition TSDFVolume.h:77
virtual std::shared_ptr< geometry::PointCloud > ExtractPointCloud()=0
Function to extract a point cloud with normals.
virtual ~TSDFVolume()
Definition TSDFVolume.h:55
TSDFVolumeColorType color_type_
Color type of the TSDF volume.
Definition TSDFVolume.h:79
virtual void Integrate(const geometry::RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic)=0
Function to integrate an RGB-D image into the volume.
double voxel_length_
Length of the voxel in meters.
Definition TSDFVolume.h:75
TSDFVolume(double voxel_length, double sdf_trunc, TSDFVolumeColorType color_type)
Default Constructor.
Definition TSDFVolume.h:49
TSDFVolumeColorType
Definition TSDFVolume.h:22
Definition PinholeCameraIntrinsic.cpp:16