Struct TsdfVolume 

pub struct TsdfVolume { /* private fields */ }

Axis-aligned truncated signed distance volume.

Implementations

impl TsdfVolume

pub fn try_new( origin: Vec3<f32>, voxel_size: f32, dims: [usize; 3], truncation: f32, ) -> SceneResult<Self>

Creates an empty TSDF volume initialized to truncation distance.

pub fn dims(&self) -> [usize; 3]

Returns voxel dimensions [nx, ny, nz].

pub fn integrate_point(&mut self, point: Vec3<f32>, sensor_origin: Vec3<f32>)

Integrates one metric depth sample at a world-space point.

Updates every voxel whose center lies within the truncation band, using a view-ray signed distance so the field has zero crossings for meshing.

pub fn integrate_xyz( &mut self, xyz: &[f32], sensor_origin: Vec3<f32>, ) -> SceneResult<()>

Integrates every XYZ triple from interleaved storage.

pub fn integrate_cloud( &mut self, cloud: &PointCloud, sensor_origin: Vec3<f32>, ) -> SceneResult<usize>

Integrates XYZ columns directly from a point cloud without interleaving or allocating a temporary coordinate vector.

Returns the number of point samples visited. Invalid metric samples are ignored by TsdfVolume::integrate_point with the same semantics as TsdfVolume::integrate_xyz.

pub fn integrate_cloud_with_pose( &mut self, cloud: &PointCloud, volume_t_sensor: Isometry3<f32>, sensor_origin: Vec3<f32>, ) -> SceneResult<usize>

Integrates a point cloud after an explicit sensor-to-volume pose.

Both positions and the supplied sensor origin are transformed by volume_t_sensor; no transformed point-cloud allocation is created.

pub fn extract_mesh(&self, min_weight: f32) -> TriangleMesh

Extracts the zero isolevel surface with marching tetrahedra.

Voxels with weight < min_weight are treated as free space (+truncation).

Trait Implementations

impl Clone for TsdfVolume

fn clone(&self) -> TsdfVolume

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for TsdfVolume

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for TsdfVolume

fn eq(&self, other: &TsdfVolume) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for TsdfVolume