cv::dynafu::DynaFu Class Reference

#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 kinfu::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< kinfu::Params > &_params)

Constructor & Destructor Documentation

~DynaFu()

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

virtual

Member Function Documentation

create()

static Ptr<DynaFu> cv::dynafu::DynaFu::create ( const Ptr< kinfu::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 kinfu::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