Performs a kinect-fusion-like dense TSDF reconstruction. More...

Public Member Functions
	DenseTSDFReconstruction (const AABB3D &volume, const IntTriple &res, Real truncationDistance=0.1)

void	SetTruncationDistance (Real truncationDistance)
	Changes the truncation distance (this clears the TSDF)

void	Register (const Meshing::PointCloud3D &pc, const RigidTransform &Tcamera_est, ICPParameters &params)
	Performs registration between the point cloud and the TSDF. More...

void	Fuse (const RigidTransform &Tcamera, const Meshing::PointCloud3D &pc, Real weight=1.0)
	Fuses the point cloud (in camera coordinates) into the TSDF.

void	ExtractMesh (Meshing::TriMesh &mesh)
	Builds the mesh using the marching cubes algorithm.

void	ExtractMesh (Meshing::TriMesh &mesh, GLDraw::GeometryAppearance &app)
	Builds a colored mesh using the marching cubes algorithm.

void	ExtractMesh (const AABB3D &roi, Meshing::TriMesh &mesh)
	Extracts the mesh at a region of interest (bounding box)

void	ExtractMesh (const AABB3D &roi, Meshing::TriMesh &mesh, GLDraw::GeometryAppearance &app)
	Extracts a colored mesh at a region of interest (bounding box)

void	GetColor (const Vector3 &point, float *color) const
	Gets the 3 color channels of a point, if colored. Each of r,g,b is in the range [0,1].

void	ClearPoint (const Vector3 &p, Real dist=0, Real weight=1.0)
	Clears the TSDF at a given point.

void	ClearBox (const Vector3 &bmin, const Vector3 &bmax, Real weight=1.0)
	Clears the TSDF in a given box.

size_t	MemoryUsage () const
	Estimates memory usage, in bytes.

Public Attributes
Real	truncationDistance
	The max truncation distance (default 0.1)

Real	depthStddev0
	The standard deviation of a depth value is assumed to be depthStddev0 + d*depthStddev1 (defaults 0.005, 0.01)

Real	depthStddev1

Real	forgettingRate
	The rate at which voxel data is forgotten due to age e^-(forgettingRate*age) (default 0)

bool	colored
	If true, the TSDF will be colored (as long as the first point cloud is colored) (default true)

std::vector< int >	auxiliaryAttributes
	These indices are added from a PointCloud's attributes to the auxilary volume grid (default empty)

Meshing::VolumeGridTemplate< float >	tsdf

MultiVolumeGrid	auxiliary

Array3D< VoxelInfo >	info

int	scanID

Meshing::TriMesh	currentMesh

int	currentMeshID

Detailed Description

Performs a kinect-fusion-like dense TSDF reconstruction.

All camera transforms have the convention that z > 0 is forward.

Member Function Documentation

void DenseTSDFReconstruction::Register	(	const Meshing::PointCloud3D &	pc,
		const RigidTransform &	Tcamera_est,
		ICPParameters &	params
	)

Performs registration between the point cloud and the TSDF.

The documentation for this class was generated from the following files: