SurfaceReconstructionGPU Class Reference

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

GPU-accelerated volumetric surface reconstruction from RGB-D data. More...

Inheritance diagram for SurfaceReconstructionGPU:

Detailed Description

GPU-accelerated volumetric surface reconstruction from RGB-D data.

This class implements a dense or hashed volumetric fusion algorithm for reconstructing surfaces from depth and color images. It uses OpenCL for parallel processing and supports integration, pose tracking, mesh extraction, and volume management.

Usage:

• Construct with an OpenCL environment (or use the default).
• Initialize with reconstruction parameters using init().
• Add frames using addFrame() to update the volume and track pose.
• Use currentPose() and setCurrentPose() to manage camera pose.
• Extract the mesh using getMesh().
• Manage volumes and buffers with provided methods.
• Use cleanup() and resetReconstruction() to release or reset resources.

Important aspects:

• Supports both dense and hashed volume representations.
• Error codes from addFrame() and other methods provide detailed feedback.
• Mesh and volume ownership is transferred to the caller.
• Not thread-safe.

Example:

SurfaceReconstructionGPU reco;
reco.init(data);
reco.addFrame(depthImg, colorImg, sensorId, nullptr, &pose);
 
// some more adding of frames
 
auto mesh = reco.getMesh();
reco.resetReconstruction();
reco.cleanup();

Public Member Functions
	SurfaceReconstructionGPU (ClEnvironment *env=nullptr)
	Constructs the surface reconstruction object.
	~SurfaceReconstructionGPU ()
	Destructor.
bool	init (SurfaceReconstructionData &data)
	Initializes the object based on reconstruction parameters.
bool	initialized () const
	Returns true if the surface reconstruction object is initialized and ready for use.
void	cleanup ()
	Cleans up all reconstruction data and resources.
int	addFrame (const TypedImage< float > *imgDepth, const TypedImage< unsigned char > *imgColor, int sensor, const TypedImage< float > *imgDepthToColorMap=0, mat4 *T=0, bool poseHint=false, TypedImage< unsigned char > *imgScene=0, bool updateVolume=true, mat4 *sensorT=0, bool forceFirstFrame=false, bool ortho=false, int *icpMatches=nullptr, bool *isKeyframe=nullptr, double *timestamp=nullptr, const TypedImage< unsigned char > *mask=nullptr)
	Adds a frame to the reconstruction.
mat4f	currentPose () const
	Returns the current pose (world to camera).
void	setCurrentPose (const mat4f &T)
	Sets the current pose.
const ClImage *	getVolume () const
	Returns the reconstruction volume as an OpenCL buffer (TSDF).
const ClImage *	getColorVolume () const
	Returns the reconstruction color volume as an OpenCL buffer.
const ClImage *	getWeightVolume () const
	Returns the reconstruction weight volume as an OpenCL buffer.
void	resetReconstruction ()
	Resets the reconstruction volume. All other settings are left unchanged.
void	detachVolumes (ClImage *&tsdf, ClImage *&color, ClImage *&weights)
	Detaches TSDF and color volume.
std::unique_ptr< Mesh >	getMesh () const override
	Retrieves the reconstructed mesh. Ownership is transferred to the caller.
void	stopReconstruction () override
	Stops all reconstruction threads.
Public Member Functions inherited from SurfaceReconstruction
virtual	~SurfaceReconstruction ()
	Virtual destructor.

Constructor & Destructor Documentation

SurfaceReconstructionGPU()

SurfaceReconstructionGPU

(

ClEnvironment *

env = nullptr

)

Constructs the surface reconstruction object.

Parameters

env	Pointer to OpenCL environment to use. If not provided, the default environment is used.

Exceptions

std::runtime_error

if the OpenCL context could not be initialized.

Member Function Documentation

init()

bool init ( SurfaceReconstructionData & data )

virtual

Initializes the object based on reconstruction parameters.

Parameters

[out]

data

Reconstruction parameters.

Returns

True when initialization succeeded, false otherwise.

Implements SurfaceReconstruction.

cleanup()

void cleanup ( )

virtual

Cleans up all reconstruction data and resources.

Implements SurfaceReconstruction.

addFrame()

int addFrame ( const TypedImage< float > * imgDepth, const TypedImage< unsigned char > * imgColor, int sensor, const TypedImage< float > * imgDepthToColorMap = 0, mat4 * T = 0, bool poseHint = false, TypedImage< unsigned char > * imgScene = 0, bool updateVolume = true, mat4 * sensorT = 0, bool forceFirstFrame = false, bool ortho = false, int * icpMatches = nullptr, bool * isKeyframe = nullptr, double * timestamp = nullptr, const TypedImage< unsigned char > * mask = nullptr )

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.
	poseHint	If true, parameter T is used as the initial pose estimate and refined using ICP. If false, T is used as ground-truth pose.
[out]	imgScene	Rendered reconstruction volume from current viewpoint (4 channel image).
	updateVolume	If true, volume is updated.
	sensorT	Sensor transformation.
	forceFirstFrame	If true, forces integration of first frame.
	ortho	If true, uses orthographic projection for rendering imgScene.
[out]	icpMatches	Number of ICP matches.
[out]	isKeyframe	True if frame is a keyframe.
	timestamp	Frame timestamp.
	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. -8: Could not update image mapping.

Implements SurfaceReconstruction.

currentPose()

mat4f currentPose ( ) const

inlinevirtual

Returns the current pose (world to camera).

Returns

Current pose.

Implements SurfaceReconstruction.

setCurrentPose()

void setCurrentPose ( const mat4f & T )

inlinevirtual

Sets the current pose.

Don't use from different thread.

Parameters

T	Current pose.

Implements SurfaceReconstruction.

getVolume()

const ClImage * getVolume

(

)

const

Returns the reconstruction volume as an OpenCL buffer (TSDF).

Note: only experimental implementation for hashed representation, use getMesh directly.

getColorVolume()

const ClImage * getColorVolume ( ) const

inline

Returns the reconstruction color volume as an OpenCL buffer.

Note: for the hashed representation getVolume() needs to be executed first.

resetReconstruction()

void resetReconstruction ( )

virtual

Resets the reconstruction volume. All other settings are left unchanged.

Implements SurfaceReconstruction.

detachVolumes()

void detachVolumes	(	ClImage *&	tsdf,
		ClImage *&	color,
		ClImage *&	weights )

Detaches TSDF and color volume.

It is the caller's responsibility to release the buffers. After this call, addFrame will not succeed until initBuffers is called again. (Note: for the hashed representation getVolume() needs to be executed first.)

getMesh()

std::unique_ptr< Mesh > getMesh ( ) const

overridevirtual

Retrieves the reconstructed mesh. Ownership is transferred to the caller.

Implements SurfaceReconstruction.

stopReconstruction()

void stopReconstruction ( )

overridevirtual

Stops all reconstruction threads.

Implements SurfaceReconstruction.

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

• RGBD/Include/ImFusion/RGBD/SurfaceReconstructionGPU.h