Performs a kinect-fusion-like sparse TSDF reconstruction. A hash grid is used to build multiple TSDFs across an infinite domain. More...

Public Member Functions
	SparseTSDFReconstruction (const Vector3 &cellSize, Real truncationDistance=0.1)

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.

void	StartThreads ()

void	StopThreads ()

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)

int	numThreads
	Number of threads to use (default 1)

SparseVolumeGrid	tsdf

int	depthChannel

int	weightChannel

int	ageChannel

int	rgbChannel

int	surfaceWeightChannel

int	auxiliaryChannelStart

int	scanID

std::map< int, int >	blockLastTouched

std::vector< Thread >	threads

std::vector< void * >	threadData

Mutex	lock

Detailed Description

Performs a kinect-fusion-like sparse TSDF reconstruction. A hash grid is used to build multiple TSDFs across an infinite domain.

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

Member Function Documentation

void SparseTSDFReconstruction::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: