Detailed Description

Abstract interface for surface reconstruction from RGB-D data.

This class defines the interface for surface reconstruction algorithms. Implementations are responsible for integrating RGB-D frames into a 3D representation, tracking camera pose, and extracting a mesh representation of the reconstructed surface.

Usage:

Call init() with reconstruction parameters to initialize the algorithm.
Add frames using addFrame() to update the reconstruction representation.
Use currentPose() and setCurrentPose() to manage camera pose.
Call getMesh() to extract the reconstructed surface as a mesh.
Use resetReconstruction() to clear the volume while keeping settings.
Call cleanup() to release resources.
Use stopReconstruction() to terminate all reconstruction threads.

Public Member Functions
virtual	~SurfaceReconstruction ()
	Virtual destructor.

virtual bool	init (SurfaceReconstructionData &data)=0
	Initializes the reconstruction algorithm with the given parameters.

virtual void	cleanup ()=0
	Cleans up all reconstruction data and resources.

virtual int	addFrame (const TypedImage< float > imgDepth, const TypedImage< unsigned char > imgColor, int sensor, const TypedImage< float > imgDepthToColorMap=nullptr, mat4 T=nullptr, bool poseHint=false, TypedImage< unsigned char > imgScene=nullptr, bool updateVolume=true, mat4 sensorT=nullptr, bool forceFirstFrame=false, bool ortho=false, int icpMatches=nullptr, bool isKeyframe=nullptr, double timestamp=nullptr, const TypedImage< unsigned char > mask=nullptr)=0
	Adds a frame to the reconstruction.

virtual mat4f	currentPose () const =0
	Returns the current transformation from camera to world coordinate system.

virtual void	setCurrentPose (const mat4f &T)=0
	Sets the current transformation from camera to world coordinate system.

virtual void	resetReconstruction ()=0
	Resets the reconstruction volume. All other settings are left unchanged.

virtual std::unique_ptr< Mesh >	getMesh () const =0
	Retrieves the reconstructed mesh. Ownership is transferred to the caller.

virtual void	stopReconstruction ()=0
	Stops all reconstruction threads. The controller will wait until this function finishes execution when the stop button is triggered.

Member Function Documentation

◆ init()

virtual bool init ( SurfaceReconstructionData & data )

pure virtual

Initializes the reconstruction algorithm with the given parameters.

Returns: True when initialization succeeded, false otherwise.

Implemented in SurfaceReconstructionGPU.

◆ cleanup()

virtual void cleanup ( )

pure virtual

Cleans up all reconstruction data and resources.

Implemented in SurfaceReconstructionGPU.

◆ addFrame()

virtual int addFrame	(	const TypedImage< float > *	imgDepth,
		const TypedImage< unsigned char > *	imgColor,
		int	sensor,
		const TypedImage< float > *	imgDepthToColorMap = nullptr,
		mat4 *	T = nullptr,
		bool	poseHint = false,
		TypedImage< unsigned char > *	imgScene = nullptr,
		bool	updateVolume = true,
		mat4 *	sensorT = nullptr,
		bool	forceFirstFrame = false,
		bool	ortho = false,
		int *	icpMatches = nullptr,
		bool *	isKeyframe = nullptr,
		double *	timestamp = nullptr,
		const TypedImage< unsigned char > *	mask = nullptr )

pure virtual

Adds a frame to the reconstruction.

Parameters

	imgDepth	Depth map.
	imgColor	RGB color image.
	sensor	Sensor index.
	imgDepthToColorMap	Depth-to-color mapping.
	T	Pose hint.
	poseHint	True if pose hint is provided.
[out]	imgScene	Rendered reconstruction volume from current viewpoint.
	updateVolume	If true, volume is updated.
	sensorT	Sensor transformation.
	forceFirstFrame	If true, forces integration of first frame.
	ortho	If true, uses orthographic projection.
[out]	icpMatches	Number of ICP matches.
[out]	isKeyframe	True if frame is a keyframe.
[out]	timestamp	Frame timestamp.
[out]	mask	mask image.

Returns: Error code: 0: No error. Frame was added. 1: No error. Frame was not added. -1: Invalid OpenCL context. -2: Invalid input. -3: Preprocessing failed. -4: Surface prediction failed. -5: ICP failed. -6: Volume integration failed. -7: Could not download reduction results.

Implemented in SurfaceReconstructionGPU.