#include <RGBD/Include/ImFusion/RGBD/SurfaceReconstructionData.h>

Data model for surface reconstruction. More...

Inheritance diagram for SurfaceReconstructionData:

Detailed Description

Data model for surface reconstruction.

This class encapsulates all configuration parameters for RGB-D surface reconstruction. It provides settings for volume size and resolution, preprocessing, registration (ICP), integration, prediction, rendering, texturing, and multi-sensor setups.

Usage:

Set volume, sensor, and algorithm parameters before starting reconstruction.
Use getter and setter methods to configure all aspects of the reconstruction process.
Add listeners to react to parameter changes.
Use configure() and configuration() for serialization.

Important aspects:

Per-sensor configuration for multi-sensor setups.
Not thread-safe.

Example:

SurfaceReconstructionData data;
data.setVolumeResolution(vec3i(256,256,256));
data.setVolumeSize(vec3(1000,1000,1000));
data.setIcpLevels(3);
data.setIntegrationMaxWeight(100);
data.setSensorCount(1);

Public Types
enum class	ReconstructionMethod { VolumetricFusion }

Public Member Functions
void	reset (bool partial=false)
	Set default values.

void	setVolumeResolution (const vec3i &value)
	Set volume resolution in voxels in each spatial dimension.

vec3i	volumeResolution () const

void	setUnlimitedVolumeSize (bool value)
	Set unlimited volume size.

bool	unlimitedVolumeSize () const

void	setVolumeSize (const vec3 &value)
	Set volume size in world units (usually mm) in each spatial dimension.

vec3	volumeSize () const

void	setVolumeTransform (const mat4 &value)
	Set initial transformation for moving reconstruction volume (centered on world origin) to reference sensor camera coordinate system.

mat4	volumeTransform () const
	Get transformation from world to local camera system.

void	setVolumeIncludeColor (bool value)
	Control whether to include color in reconstruction.

bool	volumeIncludeColor () const

void	setPreprocessingComputeCameraNormals (bool value)
	Control whether to compute cam normals.

bool	preprocessingComputeCameraNormals () const

void	setPreprocessingUseBilateralFilter (bool use)
	Control whether to use the bilateral filter.

bool	preprocessingUseBilateralFilter () const

void	setPreprocessingBilateralFilterSize (int value)
	Set size of bilateral filter kernel applied to depth image before integrating it.

int	preprocessingBilateralFilterSize () const

void	setPreprocessingBilateralFilterSpaceSigma (double value)
	Set spatial sigma of bilateral filter in pixels.

double	preprocessingBilateralFilterSpaceSigma () const

void	setPreprocessingBilateralFilterDepthSigma (double value)
	Set depth sigma of bilateral filter in world units (usually mm)

double	preprocessingBilateralFilterDepthSigma () const

void	setIcpLevels (int value)
	Set number of pyramid levels for ICP alignment. Each pyramid level is downsampled from the previous level by a factor of two.

int	icpLevels () const

void	setIcpMaxIterations (const std::vector< int > &value)
	Set maximum iterations for each pyramid level. Levels are sorted in increasing size, i.e. first entry refers to lowest resolution level.

std::vector< int >	icpMaxIterations () const

void	setIcpMinMatches (int value)
	Set minimum number of matches required to compute ICP.

int	icpMinMatches () const

void	setIcpDistanceThreshold (double value)
	Set distance threshold in world units (usually mm) between points to be considered for matching.

double	icpDistanceThreshold () const

void	setIcpMatchNeighborhoodHalfWinSize (int value)
	Set half of the window size of neighborhood in px when searching for the best matching point for ICP.

int	icpMatchNeighborhoodHalfWinSize () const

void	setIcpAngleThreshold (double value)
	Set minimum angle in degrees between point normals to be considered for matching.

double	icpAngleThreshold () const

void	setIcpUpdateThreshold (double value)
	Set threhsold for change in error function between two ICP iterations.

double	icpUpdateThreshold () const

void	setIcpUseCurvature (bool value)
	Only use high curvature points for ICP alignment. Experimental.

bool	icpUseCurvature () const

void	setIcpCurvatureThreshold (double value)
	Set threshold for curvature when using curvature-based point removal When set to smaller zero the ICP point threshold is used for selecting the curvature threshold.

double	icpCurvatureThreshold () const

void	setIcpPointThreshold (double value)
	Sorts curvate and takes curvature at passed in percentile (normalized to [0;1]) as curvature threshold.

double	icpPointThreshold () const

void	setIcpRotationThreshold (double value)
	Set threshold of rotation in degrees of ICP output after which the estimated pose is considered wrong.

double	icpRotationThreshold () const

void	setIcpTranslationThreshold (double value)
	Set threshold of translation in world units (usually mm) of ICP output after which the estimated pose is considered wrong.

double	icpTranslationThreshold () const

void	setIcpOptimizationParameters (const Eigen::Matrix< int, 6, 1 > &value)
	Set ICP optimization parameters (rx, ry, rz, tx, ty, tz)

Eigen::Matrix< int, 6, 1 >	icpOptimizationParameters () const

void	setIntegrationMaxDepthDiff (float value)
	Set maximum depth difference used in integration (in depth discontinuity map computation)

float	integrationMaxDepthDiff () const

void	setIntegrationMaxWeight (int value)
	Set maximum weight used in integration.

int	integrationMaxWeight () const

void	setIntegrationMinTruncation (double value)
	Set distance in front of current surface estimate until which new measurements will be integrated.

double	integrationMinTruncation () const

void	setIntegrationMaxTruncation (double value)
	Set distance behind current surface estimate until which new measurements will be integrated.

double	integrationMaxTruncation () const

void	setIntegrationMovementBasedUpdate (bool value)
	Control whether new frames with only small pose changes will be integrated.

bool	integrationMovementBasedUpdate () const

void	setPredictionTruncationFactor (double value)
	Controls step size of scene prediction from volume.

double	predictionTruncationFactor () const

void	setSceneColor (const vec3 &color)
	Sets color of rendered preview.

vec3	sceneColor () const

void	setRenderPreviewFromColorCamera (bool value)

bool	renderPreviewFromColorCamera () const

void	setSensorCount (int value)
	Set number of sensors used in reconstruction.

int	sensorCount () const

void	setDepthImageWidth (int sensor, int value)
	Set depth image width.

int	depthImageWidth (int sensor) const

void	setDepthImageHeight (int sensor, int value)
	Set depth image height.

int	depthImageHeight (int sensor) const

void	setColorImageWidth (int sensor, int value)
	Set color image width.

int	colorImageWidth (int sensor) const

void	setColorImageHeight (int sensor, int value)
	Set color image height.

int	colorImageHeight (int sensor) const

void	setDepthImageIntrinsics (int sensor, const mat3 &value)
	Set intrinsic paramters of depth image. Image is assumed to be undistorted.

bool	depthImageIntrinsics (int sensor, mat3 &value) const

void	setColorImageIntrinsics (int sensor, const mat3 &value)
	Set intrinsic parameters of color image. Image is assumed to be undistorted.

bool	colorImageIntrinsics (int sensor, mat3 &value) const

void	setDepthToColorTransform (int sensor, const mat4 &value)
	Set transformation matrix for going from depth sensor to color sensor camera coordinate system.

bool	depthToColorTransform (int sensor, mat4 &value) const

void	setSensorT (int sensor, const mat4 &value)
	Set transformation from specified sensor to reference sensor coordinate system. Not needed for single sensor use.

bool	sensorT (int sensor, mat4 &value) const

void	setDepthCutoff (int sensor, int value)
	Set depth from sensor in world units (usually mm) after which points will not be considered in reconstruction.

int	depthCutoff (int sensor) const

void	setUseDepthCutoff (int sensor, bool value)
	Control whether to use depth cutoff.

bool	useDepthCutoff (int sensor) const

void	setOrthographicSensor (int sensor, bool value)

bool	orthographicSensor (int sensor) const

void	setColorScene (bool value)
	Control whether the preview image is colored from color image or used uniform Phong shading on the surface.

bool	colorScene () const

void	setPreprocessingDepthThreshold (double value)
	Set depth threshold to avoid computing properties (tangent map and normal map) over depth-discontinuities.

double	preprocessingDepthThreshold () const

void	setActive (bool value)
	Set whether reconstruction is active. Certain parameters cannot be changed during reconstruction.

bool	active () const

void	addListener (SurfaceReconstructionDataListener *listener)
	Add listener which gets notified when parameters change.

void	removeListener (const SurfaceReconstructionDataListener *listener)

void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.

void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.

void	setIcpSvdThreshold (double value)
	Registration settings.

double	icpSvdThreshold () const

void	setTexturingSkipSimilarFrames (bool value)

bool	texturingSkipSimilarFrames () const

void	setTexturingRotationThreshold (double value)

double	texturingRotationThreshold () const

void	setTexturingTranslationThreshold (double value)

double	texturingTranslationThreshold () const

void	setTexturingSkip (int value)

int	texturingSkip () const

void	setTexturingDepthMatchThreshold (double value)

double	texturingDepthMatchThreshold () const

void	setTexturingErosionRadius (int value)

int	texturingErosionRadius () const

void	setRecoMethod (ReconstructionMethod m)

ReconstructionMethod	recoMethod () const

bool	supportsLimitedVolume () const

bool	supportsUnlimitedVolume () const

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

Additional Inherited Members
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' `signalValueChanged` signal was emitted.

Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Enumeration Documentation

◆ ReconstructionMethod

enum class ReconstructionMethod

strong

Enumerator
VolumetricFusion	OpenCL-based reconstruction running on GPU, implemented using OpenCL with dense volume representation, should be preferred for small scenes.

Member Function Documentation

◆ setPreprocessingBilateralFilterSize()

void setPreprocessingBilateralFilterSize ( int value )

Set size of bilateral filter kernel applied to depth image before integrating it.

This parameter controls the depth value smoothing. Significantly affects runtime of preprocessing step.

◆ setIcpUpdateThreshold()

void setIcpUpdateThreshold ( double value )

Set threhsold for change in error function between two ICP iterations.

If the change is smaller the optimization will be terminated even if the number of runs has not been reached.

◆ setIcpRotationThreshold()

void setIcpRotationThreshold ( double value )

Set threshold of rotation in degrees of ICP output after which the estimated pose is considered wrong.

Used to control robustness of tracking.

◆ setIcpTranslationThreshold()

void setIcpTranslationThreshold ( double value )

Set threshold of translation in world units (usually mm) of ICP output after which the estimated pose is considered wrong.

Used to control robustness of tracking.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configuration() for the inverse functionality

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const