Extracting the current VoxelGrid for an additional processing step

[rcffc]

Hi everyone.
My goal is to add an extension that performs semantic instance segmentation on the Voxel Grid.

Therefore, I need to

1. extract the current reconstructed scene as voxelgrid
2. map the segmentated voxels back into the reconstructed scene

Is there a method to access the global voxel block?

Any help is appreciated.

[Dennis199607]

Hey, I think I can help you with that since I am also working with Infinitam for my master thesis.

You need to take a look into the ITMRepresentationAccess.h file. In the project you find it in ITMLib/Objects/Scene/ITMRepresentationAccess.h. There are several methods to directly access voxels in your scene.

I think for accessing a voxel I used 'readVoxel(localVBA, hashTable, globalBlockLocation, vmIndex)'

localVBA is the pointer to the local Voxelblock Array (you can get it in ITMScene in localVBA.GetVoxelBlocks()).
hashTable is the pointer to the Hash Table (you can get it also in ITMScene in index.getEntries())
globalBlockLocation is just a Vector3i, the global position of the voxel
vmIndex is an integer, which tells you after the call whether it found an allocated entry for that voxel (1) or not (0)

If you need more help we can also get in contact.