This package provides pcl-compatible tools for building a smooth volumetric surface from registered point clouds, following a similar approach to that of Curless and Levoy, as made popular by KinectFusion. This runs on a CPU, using an octree to efficiently compress free space and scale to larger environments than can fit on a GPU. Also comes with a Marching Cube implementation, for extracting the isosurface.
mkdir build && cd build && cmake .. && makeLet's say you have a list of PointClouds (in the sensor frame) and the camera poses. To merge them into a volume:
TSDFVolumeOctree::Ptr tsdf (new TSDFVolumeOctree);
tsdf->setGridSize (10., 10., 10.); // 10m x 10m x 10m
tsdf->setResolution (2048, 2048, 2048); // Smallest cell size = 10m / 2048 = about half a centimeter
Eigen::Affine3d tsdf_center; // Optionally offset the center
tsdf->setGlobalTransform (tsdf_center);
tsdf->reset (); // Initialize it to be empty
for (size_t i = 0; i < clouds.size (); i++)
{
tsdf->integrateCloud (clouds[i], normals[i], poses[i]); // Integrate the cloud
// Note, the normals aren't being used in the default settings. Feel free to pass in an empty cloud
}
// Now what do you want to do with it?
float distance; pcl::PointXYZ query_point (1.0, 2.0, -1.0);
tsdf->getFxn (query_point, distance); // distance is normalized by the truncation limit -- goes from -1 to 1
pcl::PointCloud<pcl::PointNormal>::Ptr raytraced = tsdf->renderView (pose_to_render_from); // Optionally can render it
tsdf->save ("output.vol"); // Save it?
// Mesh with marching cubes
MarchingCubesTSDFOctree mc;
mc.setInputTSDF (tsdf);
pcl::PolygonMesh mesh;
mc.reconstruct (mesh);These are just the basics. You can add colors, store your own metadata in voxels (see octree.h), etc. Please ping me for bugs!