Struct TsdfVolumeGpu

pub struct TsdfVolumeGpu {
    pub volume: TsdfVolume,
    pub voxel_buffer: Buffer,
}

Represents a TSDF volume stored on the GPU.

Fields

volume: TsdfVolume

voxel_buffer: Buffer

Implementations

impl TsdfVolumeGpu

pub fn new(gpu: &GpuContext, volume_params: TsdfVolume) -> Self

Creates a new TSDF volume on the GPU.

pub async fn integrate( &self, gpu: &GpuContext, depth_image: &[f32], color_image: Option<&[u8]>, camera_pose: &Matrix4<f32>, intrinsics: &CameraIntrinsics, ) -> Result<()>

Integrates a depth image into the TSDF volume.

pub async fn download_voxels(&self, gpu: &GpuContext) -> Result<Vec<TsdfVoxel>>

Downloads the TSDF voxel data from the GPU.

pub async fn extract_surface( &self, gpu: &GpuContext, iso_value: f32, ) -> Result<PointCloud<ColoredPoint3f>>

Extract point cloud from TSDF volume using marching cubes