Volumetric 3D Mapping in Real-Time on a CPU
2018-02-13 20:39
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这篇文章如何将最voxel的更新在CPU的SIMD指令上并行
大概思路如下:
先在空间中建立八叉树, 然后将八叉树细分, 对于树枝结构的维持也会有相应的结构维持brick, 如图4(a)所示, 所以他们是一一对应的
所以对于新来的一帧深度图, 先将每个像素转到相机视角下的3D坐标, 然后将所以包含这个坐标的分枝(brick)放入一个queue中, 然后算出这个点的scale, 更新所有比这个scale(包括这个scale)还粗的brick的TSDF。
注意算法1,是针对每个包括深度3D点的brick中的每个voxel.
算法2只不过是把每维拆分开来了, 然后在x维上用了simd并行处理。
后面的meshing没有细看
大概思路如下:
先在空间中建立八叉树, 然后将八叉树细分, 对于树枝结构的维持也会有相应的结构维持brick, 如图4(a)所示, 所以他们是一一对应的
所以对于新来的一帧深度图, 先将每个像素转到相机视角下的3D坐标, 然后将所以包含这个坐标的分枝(brick)放入一个queue中, 然后算出这个点的scale, 更新所有比这个scale(包括这个scale)还粗的brick的TSDF。
注意算法1,是针对每个包括深度3D点的brick中的每个voxel.
算法2只不过是把每维拆分开来了, 然后在x维上用了simd并行处理。
后面的meshing没有细看
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