1 // ---------------------------------------------------------------------------- 2 // - Open3D: www.open3d.org - 3 // ---------------------------------------------------------------------------- 4 // The MIT License (MIT) 5 // 6 // Copyright (c) 2018 www.open3d.org 7 // 8 // Permission is hereby granted, free of charge, to any person obtaining a copy 9 // of this software and associated documentation files (the "Software"), to deal 10 // in the Software without restriction, including without limitation the rights 11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 12 // copies of the Software, and to permit persons to whom the Software is 13 // furnished to do so, subject to the following conditions: 14 // 15 // The above copyright notice and this permission notice shall be included in 16 // all copies or substantial portions of the Software. 17 // 18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 24 // IN THE SOFTWARE. 25 // ---------------------------------------------------------------------------- 26 27 #pragma once 28 29 #include <Core/Integration/TSDFVolume.h> 30 31 namespace three { 32 33 class UniformTSDFVolume : public TSDFVolume { 34 public: 35 UniformTSDFVolume(double length, int resolution, double sdf_trunc, 36 bool with_color, const Eigen::Vector3d &origin = Eigen::Vector3d::Zero()); 37 ~UniformTSDFVolume() override; 38 39 public: 40 void Reset() override; 41 void Integrate(const RGBDImage &image, 42 const PinholeCameraIntrinsic &intrinsic, 43 const Eigen::Matrix4d &extrinsic) override; 44 std::shared_ptr<PointCloud> ExtractPointCloud() override; 45 std::shared_ptr<TriangleMesh> ExtractTriangleMesh() override; 46 47 /// Debug function to extract the voxel data into a point cloud 48 std::shared_ptr<PointCloud> ExtractVoxelPointCloud(); 49 50 /// Faster Integrate function that uses depth_to_camera_distance_multiplier 51 /// precomputed from camera intrinsic 52 void IntegrateWithDepthToCameraDistanceMultiplier(const RGBDImage &image, 53 const PinholeCameraIntrinsic &intrinsic, 54 const Eigen::Matrix4d &extrinsic, 55 const Image &depth_to_camera_distance_multiplier); 56 IndexOf(int x,int y,int z)57 inline int IndexOf(int x, int y, int z) const { 58 return x * resolution_ * resolution_ + y * resolution_ + z; 59 } 60 IndexOf(const Eigen::Vector3i & xyz)61 inline int IndexOf(const Eigen::Vector3i &xyz) const { 62 return IndexOf(xyz(0), xyz(1), xyz(2)); 63 } 64 65 public: 66 Eigen::Vector3d origin_; 67 double length_; 68 int resolution_; 69 int voxel_num_; 70 std::vector<float> tsdf_; 71 std::vector<Eigen::Vector3f> color_; 72 std::vector<float> weight_; 73 74 private: 75 Eigen::Vector3d GetNormalAt(const Eigen::Vector3d &p); 76 77 double GetTSDFAt(const Eigen::Vector3d &p); 78 }; 79 80 } // namespace three 81