Function Polylidar::MeshHelper::ExtractUniformMeshFromFloatDepth

Function Documentation

std::tuple<std::vector<double>, std::vector<size_t>, std::vector<size_t>> Polylidar::MeshHelper::ExtractUniformMeshFromFloatDepth(const Matrix<float> &im, const Matrix<double> &intrinsics, const Matrix<double> &extrinsics, const size_t stride)

Extracts a Half-Edge Triangulated mesh (Uniform Mesh/Right Cut Mesh) from a depth image Mesh is returned as vertices, triangles, and halfedges TODO: Make this private?

Parameters

  • im – The float depth image. Organized into rows and columns and gives distance along z-axis to surface

  • intrinsics – Intrinsics of the camera sensor (3 X 3)

  • extrinsics – Extrinsics of the camera, send identity matrix when in doubt (4 X 4)

  • stride – Can stride over rows/cols for faster computation

Returns

std::tuple<std::vector<double>, std::vector<size_t>, std::vector<size_t>>