cv::kinfu::KinFu Class Reference

KinectFusion implementation. More...

#include "kinfu.hpp"

Public Member Functions
virtual	~KinFu ()
virtual void	getCloud (OutputArray points, OutputArray normals) const =0
	Gets points and normals of current 3d mesh. More...
virtual void	getNormals (InputArray points, OutputArray normals) const =0
	Calculates normals for given points. More...
virtual const Params &	getParams () const =0
	Get current parameters. More...
virtual void	getPoints (OutputArray points) const =0
	Gets points of current 3d mesh. More...
virtual const Affine3f	getPose () const =0
	Get current pose in voxel cube space. More...
virtual void	render (OutputArray image, const Matx44f &cameraPose=Matx44f::eye()) const =0
	Renders a volume into an image. More...
virtual void	reset ()=0
	Resets the algorithm. More...
virtual void	setParams (const Params &)=0
virtual bool	update (InputArray depth)=0
	Process next depth frame. More...

Static Public Member Functions
static Ptr< KinFu >	create (const Ptr< Params > &_params)

Detailed Description

KinectFusion implementation.

This class implements a 3d reconstruction algorithm described in [93] paper.

It takes a sequence of depth images taken from depth sensor (or any depth images source such as stereo camera matching algorithm or even raymarching renderer). The output can be obtained as a vector of points and their normals or can be Phong-rendered from given camera pose.

An internal representation of a model is a voxel cube that keeps TSDF values which are a sort of distances to the surface (for details read the [93] article about TSDF). There is no interface to that representation yet.

This implementation is based on (kinfu-remake)[https://github.com/Nerei/kinfu_remake].

Constructor & Destructor Documentation

~KinFu()

virtual cv::kinfu::KinFu::~KinFu ( )

virtual

Member Function Documentation

create()

static Ptr<KinFu> cv::kinfu::KinFu::create ( const Ptr< Params > &  _params )

static

Python:
	retval	=	cv.kinfu.KinFu_create(	_params	)

getCloud()

virtual void cv::kinfu::KinFu::getCloud ( OutputArray  points, OutputArray  normals  ) const

pure virtual

Python:
	points, normals	=	cv.kinfu_KinFu.getCloud(	[, points[, normals]]	)

Gets points and normals of current 3d mesh.

The order of normals corresponds to order of points. The order of points is undefined.

Parameters

points	vector of points which are 4-float vectors
normals	vector of normals which are 4-float vectors

getNormals()

virtual void cv::kinfu::KinFu::getNormals ( InputArray  points, OutputArray  normals  ) const

pure virtual

Python:
	normals	=	cv.kinfu_KinFu.getNormals(	points[, normals]	)

Calculates normals for given points.

Parameters

points	input vector of points which are 4-float vectors
normals	output vector of corresponding normals which are 4-float vectors

getParams()

virtual const Params& cv::kinfu::KinFu::getParams ( ) const

pure virtual

Get current parameters.

getPoints()

virtual void cv::kinfu::KinFu::getPoints ( OutputArray  points ) const

pure virtual

Python:
	points	=	cv.kinfu_KinFu.getPoints(	[, points]	)

Gets points of current 3d mesh.

The order of points is undefined.

Parameters

points

vector of points which are 4-float vectors

getPose()

virtual const Affine3f cv::kinfu::KinFu::getPose ( ) const

pure virtual

Get current pose in voxel cube space.

render()

virtual void cv::kinfu::KinFu::render ( OutputArray  image, const Matx44f &  cameraPose = Matx44f::eye()  ) const

pure virtual

Python:
	image	=	cv.kinfu_KinFu.render(	[, image[, cameraPose]]	)

Renders a volume into an image.

Renders a 0-surface of TSDF using Phong shading into a CV_8UC3 Mat. Light pose is fixed in KinFu params.

Parameters

image	resulting image
cameraPose	pose of camera to render from. If empty then render from current pose which is a last frame camera pose.

reset()

virtual void cv::kinfu::KinFu::reset ( )

pure virtual

Python:
	None	=	cv.kinfu_KinFu.reset(		)

Resets the algorithm.

Clears current model and resets a pose.

setParams()

virtual void cv::kinfu::KinFu::setParams ( const Params &  )

pure virtual

update()

virtual bool cv::kinfu::KinFu::update ( InputArray  depth )

pure virtual

Python:
	retval	=	cv.kinfu_KinFu.update(	depth	)

Process next depth frame.

Integrates depth into voxel cube with respect to its ICP-calculated pose. Input image is converted to CV_32F internally if has another type.

Parameters

depth

one-channel image which size and depth scale is described in algorithm's parameters

Returns

true if succeded to align new frame with current scene, false if opposite

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The documentation for this class was generated from the following file:

• /build/master-contrib_docs-lin64/opencv_contrib/modules/rgbd/include/opencv2/rgbd/kinfu.hpp