juehess/cpu_tsdf

Code for integrating, raytracing, and meshing a TSDF on the CPU

This package provides pcl-compatible tools for building a smooth volumetric surface from registered point clouds, following a similar approach to that of Curless and Levoy, as made popular by KinectFusion. This runs on a CPU, using an octree to efficiently compress free space and scale to larger environments than can fit on a GPU. Also comes with a Marching Cube implementation, for extracting the isosurface.

Build Instructions

mkdir build && cd build && cmake .. && make

Usage

Let's say you have a list of PointClouds (in the sensor frame) and the camera poses. To merge them into a volume:

 TSDFVolumeOctree::Ptr tsdf (new TSDFVolumeOctree);
 tsdf->setGridSize (10., 10., 10.); // 10m x 10m x 10m
 tsdf->setResolution (2048, 2048, 2048); // Smallest cell size = 10m / 2048 = about half a centimeter
 Eigen::Affine3d tsdf_center; // Optionally offset the center
 tsdf->setGlobalTransform (tsdf_center);
 tsdf->reset (); // Initialize it to be empty
 for (size_t i = 0; i < clouds.size (); i++)
 {
   tsdf->integrateCloud (clouds[i], normals[i], poses[i]); // Integrate the cloud
   // Note, the normals aren't being used in the default settings. Feel free to pass in an empty cloud
 }
 // Now what do you want to do with it? 
 float distance; pcl::PointXYZ query_point (1.0, 2.0, -1.0);
 tsdf->getFxn (query_point, distance); // distance is normalized by the truncation limit -- goes from -1 to 1
 pcl::PointCloud<pcl::PointNormal>::Ptr raytraced = tsdf->renderView (pose_to_render_from); // Optionally can render it
 tsdf->save ("output.vol"); // Save it?  
 
 // Mesh with marching cubes
 MarchingCubesTSDFOctree mc;
 mc.setInputTSDF (tsdf);
 pcl::PolygonMesh mesh;
 mc.reconstruct (mesh);

These are just the basics. You can add colors, store your own metadata in voxels (see octree.h), etc. Please ping me for bugs!