Feature #27286: Add ColoredHashTSDFVolume support in rgbd module(CPU) #3949
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Introduced 'ColoredHashTSDFVolume', a new CPU-only volume type extending 'HashTSDFVolume' with color integration support. This feature enables reconstruction of colored 3D scenes using aligned depth and RGB images, while benefiting from the memory and performance advantages of hashed volumetric fusion. Main contributions: - New data structure to store both TSDF and RGB color information - Updated integration logic to accumulate color per voxel - Extended raycasting and fetch functions to support color output - Comprehensive test coverage confirming correctness of the implementation This enhancement follows the direction proposed in issue #25155 and addresses feature request #27286. Tested: All new unit tests pass locally. Co-authored-by: Liane Lin <[email protected]>
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Introduced 'ColoredHashTSDFVolume', a new CPU-only volume type extending 'HashTSDFVolume' with color integration support. This feature enables reconstruction of colored 3D scenes using aligned depth and RGB images, while benefiting from the memory and performance advantages of hashed volumetric fusion.
Main contributions:
This enhancement follows the direction proposed in issue #25155 and addresses feature request #27286.
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.