Detailed Description

Algorithm for surface reconstruction from RGB-D data streams.

This class performs volumetric surface reconstruction using one or more RGB-D streams. It supports live sensor input and playback, pose tracking, relocalization, and keyframe management. The reconstruction process is highly configurable, supporting frame selection, buffering, integration, and synchronization.

Usage:

Construct with a list of RGBDStream pointers.
Configure reconstruction parameters as needed (e.g., relocalization, frame buffering).
SurfaceReconstructionData enables further and extensive configuration of the reconstruction process.
Call compute() or start() to begin reconstruction.
Use takeOutput() to retrieve results such as meshes or point clouds.
Register listeners via addListener() for frame-level callbacks.

Important aspects:

Supports both live and playback streams.
Pose tracking and relocalization are integrated.
By default it used RGBDRelocalization for relocalization, but a custom instance can be set.
Keyframe selection is configurable by rotation and translation thresholds.
Frame buffering and integration can be tuned for performance and memory usage.
Provides signals for reconstruction lifecycle events.
Configuration and serialization are supported via Properties.
Not thread-safe.

Example:

std::vector<RGBDStream*> streams;          // Stream vector must be filled with valid streams here
RGBDReconstructionAlgorithm algo(streams);
auto recData = algo.surfaceReconstructionData();
recData->setVolumeSize(vec3(1000, 1000, 000)); // in mm
recData->setVolumeResolution(256, 256, 256);  // in voxels
recData->setVolumeIncludeColor(false);
 
algo.setUseRelocalization(true);
algo.setKeyframeRotationDifference(30.0);
algo.start(); // starts reconstruction
 
// wait until enough frames have been processed
// for playback streams, use isReconstructing() to check when playback has ended and reconstruction is done
 
algo.stop();    // stops reconstruction, optional if isReconstructing() is used for playback streams
auto mesh = algo.getMesh();

See also: RGBDStream, RGBDPlayback, SurfaceReconstructionData, SurfaceReconstruction, Relocalization, RGBDRelocalization

Classes
struct	Keyframe
	Keyframe structure containing depth, color, and camera data. More...

Public Member Functions
	RGBDReconstructionAlgorithm (const std::vector< RGBDStream * > &streams)

bool	initialized () const
	Returns whether the algorithm has been initialized.

std::vector< RGBDStream * >	streams () const
	Returns the list of active streams used for reconstruction.

std::vector< RGBDStream * >	inputStreams () const
	Returns the input streams provided to the algorithm.

void	setRelocalization (std::unique_ptr< Relocalization > reloc)
	Sets a custom relocalization instance. Must be called before starting reconstruction.

Relocalization *	relocalization () const
	Returns the current relocalization instance.

bool	start ()
	Starts the reconstruction process.

void	stop (bool aborted=false)
	Stops the reconstruction process.

void	compute () override
	Calls start().

OwningDataList	takeOutput () override
	Returns the output data list containing reconstruction results.

std::unique_ptr< Mesh >	getMesh ()
	Returns a mesh of the reconstructed surface. Ownership is transferred to the caller.

SurfaceReconstructionData *	surfaceReconstructionData () const
	Returns the reconstruction data object.

SurfaceReconstruction *	surfaceReconstruction () const
	Returns the surface reconstruction instance.

bool	isReconstructing () const
	Returns true if reconstruction is currently running.

bool	trackingState (int idx) const
	Returns the tracking state for the specified sensor index.

void	setForceFirstFramePerSensor (bool force)
	Forces the first frame per sensor to be used for reconstruction.

bool	forceFirstFramePerSensor () const

void	setUseFramePose (bool use)
	Sets whether to use the frame pose for reconstruction.

bool	useFramePose () const

void	setUseFramePoseAsHint (bool use)
	Sets whether to use the frame pose as a hint for tracking.

bool	useFramePoseAsHint () const

void	setUseStableFrameHint (bool use)
	Sets whether to use stable frame hints for tracking.

bool	useStableFrameHint () const

void	setUseRelocalization (bool use)
	Sets whether to use relocalization during reconstruction.

bool	userRelocalization () const

void	setSyncLasers (bool sync)
	Enables or disables laser synchronization for multi-sensor setups.

bool	syncLasers () const

void	setSyncLaserWaitTime (int waitTimeMs)
	Sets the wait time (ms) for laser synchronization.

int	syncLaserWaitTime () const

void	configure (const Properties *p) override
	Configures the algorithm from a Properties object.

void	configuration (Properties *p) const override
	Serializes the algorithm configuration to a Properties object.

void	addListener (RGBDReconstructionCallback *listener)
	Registers a callback listener for frame events.

void	removeListener (const RGBDReconstructionCallback *listener)
	Removes a previously registered callback listener.

void	cleanup ()
	Cleans up internal resources and state.

void	setReconstructAllFrames (bool v)
	Forces reconstruction of all received frames (default for playback).

void	setReconstructAllBufferedFrames (bool v)
	Forces reconstruction of all buffered frames after stop() is called.

void	setMaxFrameBufferSize (int frames)
	Sets the maximum number of frames to buffer in memory.

void	setSkipEverySecondFrame (bool v)
	Skips every second frame for performance optimization.

void	setIntegrateFrames (bool integrate, int sensorId)
	Sets whether to integrate frames into the reconstruction for a given sensor.

std::unique_ptr< TrackingSequence >	trackingSequence (int sensor) const
	Returns a copy of the tracking sequence for the specified sensor.

TrackingStream *	liveTrackingStream () const
	Returns the live tracking stream, if available.

PointCloud *	livePointCloud () const
	Returns the live point cloud, if available.

TrackingSequence *	liveTrackingSequence () const
	Returns the live tracking sequence, if available.

std::vector< Keyframe >	keyframes ()
	Returns the list of keyframes used in reconstruction.

void	setKeyframeRotationDifference (double v)
	Sets the minimum rotation difference (degrees) for keyframe selection.

double	keyframeRotationDifference () const

void	setKeyframeTranslationDifference (double v)
	Sets the minimum translation difference (mm) for keyframe selection.

double	keyframeTranslationDifference () const

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	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

Public Member Functions inherited from SignalReceiver
	SignalReceiver ()=default
	Default constructor.

	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.

SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.

virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

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
Signal	signalReconstructionStarted
	Signal emitted when reconstruction starts.

Signal< bool >	signalReconstructionStopped
	Signal emitted when reconstruction stops.

Signal	signalUpdateDisplay
	Signal emitted when display should be updated.

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 Member Functions inherited from SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

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.

Member Function Documentation

◆ compute()

void compute ( )

overridevirtual

Calls start().

Implements Algorithm.

◆ takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns the output data list containing reconstruction results.

Reimplemented from Algorithm.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configures the algorithm from a Properties object.

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Serializes the algorithm configuration to a Properties object.

Reimplemented from Configurable.

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

RGBD/Include/ImFusion/RGBD/RGBDReconstructionAlgorithm.h

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ compute()

◆ takeOutput()

◆ configure()

◆ configuration()