cv::dynafu::DynaFu Class Reference

DynamicFusion implementation. More...

#include <opencv2/rgbd/dynafu.hpp>

Public Member Functions
virtual	~DynaFu ()
virtual void	getCloud (OutputArray points, OutputArray normals) const =0
	Gets points and normals of current 3d mesh. More...
virtual std::vector< Point3f >	getNodesPos () const =0
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 space. More...
virtual void	marchCubes (OutputArray vertices, OutputArray edges) const =0
virtual void	render (OutputArray image, const Matx44f &cameraPose=Matx44f::eye()) const =0
	Renders a volume into an image. More...
virtual void	renderSurface (OutputArray depthImage, OutputArray vertImage, OutputArray normImage, bool warp=true)=0
virtual void	reset ()=0
	Resets the algorithm. More...
virtual bool	update (InputArray depth)=0
	Process next depth frame. More...

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

Detailed Description

DynamicFusion implementation.

This class implements a 3d reconstruction algorithm as described in [174].

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.

It extends the KinectFusion algorithm to handle non-rigidly deforming scenes by maintaining a sparse set of nodes covering the geometry such that each node contains a warp to transform it from a canonical space to the live frame.

An internal representation of a model is a voxel cuboid that keeps TSDF values which are a sort of distances to the surface (for details read the [112] article about TSDF). There is no interface to that representation yet.

Note that DynamicFusion is based on the KinectFusion algorithm which is patented and its use may be restricted by the list of patents mentioned in README.md file in this module directory.

That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use DynamicFusion.

Constructor & Destructor Documentation

~DynaFu()

virtual cv::dynafu::DynaFu::~DynaFu ( )

virtual

Member Function Documentation

create()

static Ptr<DynaFu> cv::dynafu::DynaFu::create ( const Ptr< Params > &  _params )

static

Python:
	retval	=	cv.dynafu.DynaFu_create(	_params	)

getCloud()

virtual void cv::dynafu::DynaFu::getCloud ( OutputArray  points, OutputArray  normals  ) const

pure virtual

Python:
	points, normals	=	cv.dynafu_DynaFu.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

getNodesPos()

virtual std::vector<Point3f> cv::dynafu::DynaFu::getNodesPos ( ) const

pure virtual

getNormals()

virtual void cv::dynafu::DynaFu::getNormals ( InputArray  points, OutputArray  normals  ) const

pure virtual

Python:
	normals	=	cv.dynafu_DynaFu.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::dynafu::DynaFu::getParams ( ) const

pure virtual

Get current parameters.

getPoints()

virtual void cv::dynafu::DynaFu::getPoints ( OutputArray  points ) const

pure virtual

Python:
	points	=	cv.dynafu_DynaFu.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::dynafu::DynaFu::getPose ( ) const

pure virtual

Get current pose in voxel space.

marchCubes()

virtual void cv::dynafu::DynaFu::marchCubes ( OutputArray  vertices, OutputArray  edges  ) const

pure virtual

render()

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

pure virtual

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

Renders a volume into an image.

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in DynaFu 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.

renderSurface()

virtual void cv::dynafu::DynaFu::renderSurface ( OutputArray  depthImage, OutputArray  vertImage, OutputArray  normImage, bool  warp = true  )

pure virtual

reset()

virtual void cv::dynafu::DynaFu::reset ( )

pure virtual

Python:
	None	=	cv.dynafu_DynaFu.reset(		)

Resets the algorithm.

Clears current model and resets a pose.

update()

virtual bool cv::dynafu::DynaFu::update ( InputArray  depth )

pure virtual

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

Process next depth frame.

Integrates depth into voxel space 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 succeeded 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:

• opencv2/rgbd/dynafu.hpp