「技术博客 004」TaichiSLAM 系列 2:网格的建立,TSDF,ESDF & Marching Cube
作者介绍
正文
TSDF & ESDF
block_size >
1:
Broot = ti.root.pointer(ti.ijk, (block_num_xy, block_num_xy, block_num_z))
B = Broot.dense(ti.ijk, (block_size, block_size, block_size))
else:
B = ti.root.dense(ti.ijk, (block_num_xy, block_num_xy, block_num_z))
Broot = B
return B, Broot
Marching Cube
isolevel =
0.0 self.num_triangles[
None] =
0for i, j, k
in tsdf:
if obs[i, j, k] ==
1:
#Marching... generate_marching_cube(i,j, k)
p_ret = p1
p_color = c1
mu =
0.0if abs(isolevel - valp1) < EPS:
passelif abs(isolevel - valp2) < EPS:
p_ret = p2
else:
mu = (isolevel - valp1) / (valp2 - valp1)
p_ret = p1 + mu*(p2-p1)
小结
References
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