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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <RGBD/Include/ImFusion/RGBD/DepthMapToMeshAlgorithm.h>
DepthMapToMeshAlgorithm converts depth maps (optionally with color and mask images) into triangle meshes. More...
Inheritance diagram for DepthMapToMeshAlgorithm:DepthMapToMeshAlgorithm converts depth maps (optionally with color and mask images) into triangle meshes.
The algorithm triangulates the depth map points by considering the pixel grid, optionally skipping masked pixels. Internally, it uses DepthMapToPointCloudAlgorithm to first create a point cloud, then generates a mesh.
The camera-to-world transformation matrix in the transformation of the output mesh is formed by RGBDDataComponent::pose together with RGBDDataComponent::sensorTransform (default is identity) from the RGBDDataComponent of the input images to ensure correct spatial alignment.
You can also operate directly on point clouds for efficiency, bypassing depth map conversion.
Typical usage:
Public Member Functions | |
| DepthMapToMeshAlgorithm (const SharedImageSet *depths, const SharedImageSet *colors, const SharedImageSet *masks) | |
| Constructs the algorithm with depth, color, and mask image sets. | |
| DepthMapToMeshAlgorithm (const std::vector< std::unique_ptr< PointCloud > > pointClouds, const SharedImageSet *masks) | |
| Constructs the algorithm to operate directly on point clouds and masks. | |
| void | compute () override |
| Runs the mesh generation algorithm on depth maps. | |
| std::vector< std::unique_ptr< Mesh > > | takeMeshes () |
| Returns the generated meshes. | |
| OwningDataList | takeOutput () override |
| Returns the output data list containing generated meshes. | |
| Public Member Functions inherited from Algorithm | |
| Algorithm () | |
| Default constructor will registers a single "compute" action that calls compute() and returns status(). | |
| virtual void | setProgress (Progress *progress) |
| Sets a Progress interface the algorithm can use to notify observers about its computing progress. | |
| Progress * | progress () const |
| Returns the progress interface if set. | |
| virtual int | status () const |
| Indicates the status of the last call to compute(). | |
| virtual bool | survivesDataDeletion (const Data *) const |
| Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list. | |
| const FactoryInfo & | factoryInfo () const |
| Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| void | setFactoryInfo (const FactoryInfo &value) |
| Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| Status | runAction (const std::string &id) |
Run the action with name id if it exists. | |
| const std::vector< Action > & | actions () |
| Get a mapping from Action id to Action as registered in this algorithm. | |
| Public Member Functions inherited from Configurable | |
| virtual void | configure (const Properties *p) |
| Configure this object instance by de-serializing the given Properties. | |
| virtual void | configuration (Properties *p) const |
| Serialize the current object configuration into the given Properties object. | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=0) |
| Factory method for compatibility checking and creation. | |
| Static Public Member Functions inherited from Algorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory function to check algorithm compatibility with input data and optionally instantiate it. | |
Public Attributes | |
| Parameter< float > | p_decimateEdgeDist = {"Simplify mesh to max edge distance ", 5.0, this} |
| Parameter: Maximum edge distance for mesh simplification (in world units). | |
| Parameter< bool > | p_decimatePreserveColors = {"Preserve colors during decimation ", false, this} |
| Parameter: Preserve colors during mesh decimation. | |
| Parameter< float > | p_maxEdgeDist = {"Triangulate vertices at max distance ", 3.0, this} |
| Parameter: Maximum edge distance for triangulation (in world units). | |
| Public Attributes inherited from Algorithm | |
| Signal | signalOutputChanged |
| Signal should be emitted by Algorithms when their output/result has changed. | |
| Signal | signalParametersChanged |
| Signal should be emitted by Algorithms when their parameter configuration has changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
Additional Inherited Members | |
| Public Types inherited from Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
| Protected Member Functions inherited from Algorithm | |
| void | loadDefaults () |
| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| Register an action to be run via runAction. | |
| template<typename D> | |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| Template version of runAction that can be used with a pointer to a member function. | |
| void | registerAction (const Action &action) |
| Register an action. | |
| Protected Attributes inherited from Algorithm | |
| std::string | m_name |
| Algorithm name. | |
| Progress * | m_progress = nullptr |
| Non-owing pointer to a progress interface. May be a nullptr. | |
| FactoryInfo | m_factoryInfo = {} |
| Record describing how this algorithm was instantiated by the AlgorithmFactory. | |
| int | m_status = Status::Unknown |
| Algorithm status after last call to compute() | |
| std::vector< Action > | m_actions |
| Map of key given by the id of the action, of the available actions of this algorithm. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| DepthMapToMeshAlgorithm | ( | const SharedImageSet * | depths, |
| const SharedImageSet * | colors, | ||
| const SharedImageSet * | masks ) |
Constructs the algorithm with depth, color, and mask image sets.
| depths | Pointer to SharedImageSet containing depth images. |
| colors | Pointer to SharedImageSet containing color images. |
| masks | Pointer to SharedImageSet containing mask images (pixels with value 0 are ignored). |
Precondition: All input image sets must be valid and compatible.
| DepthMapToMeshAlgorithm | ( | const std::vector< std::unique_ptr< PointCloud > > | pointClouds, |
| const SharedImageSet * | masks ) |
Constructs the algorithm to operate directly on point clouds and masks.
| pointClouds | Vector of unique pointers to PointCloud objects. |
| masks | Pointer to SharedImageSet containing mask images. |
Precondition: pointClouds must contain valid point clouds; masks must be compatible.
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overridevirtual |
Runs the mesh generation algorithm on depth maps.
Generates meshes from the input depth, color, and mask images.
Error handling is performed via status codes and logging; no exceptions are thrown.
Implements Algorithm.
| std::vector< std::unique_ptr< Mesh > > takeMeshes | ( | ) |
Returns the generated meshes.
Ownership of the returned meshes is transferred to the caller.
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overridevirtual |
Returns the output data list containing generated meshes.
Reimplemented from Algorithm.
