Function Polylidar::MeshHelper::ExtractTriMeshFromFloatDepth

Function Documentation

HalfEdgeTriangulation Polylidar::MeshHelper::ExtractTriMeshFromFloatDepth(const Matrix<float> &im, const Matrix<double> &intrinsics, const Matrix<double> &extrinsics, const size_t stride, const bool calc_normals = PL_DEFAULT_CALC_NORMALS)

Extracts a Half-Edge Triangulated mesh (Uniform Mesh/Right Cut Mesh) from a depth image.

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

  • calc_normals – Will calculate triangle normals if requested

Returns

HalfEdgeTriangulation