cv::large_kinfu::LargeKinfu Class Reference

Large Scale Dense Depth Fusion implementation. More...

#include <opencv2/rgbd/large_kinfu.hpp>

Public Member Functions
virtual	~LargeKinfu ()=default
virtual void	getCloud (OutputArray points, OutputArray normals) const =0
virtual void	getNormals (InputArray points, OutputArray normals) const =0
virtual const Params &	getParams () const =0
virtual void	getPoints (OutputArray points) const =0
virtual const Affine3f	getPose () const =0
virtual void	render (OutputArray image, const Matx44f &cameraPose=Matx44f::eye()) const =0
virtual void	reset ()=0
virtual bool	update (InputArray depth)=0

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

Detailed Description

Large Scale Dense Depth Fusion implementation.

This class implements a 3d reconstruction algorithm for larger environments using Spatially hashed TSDF volume "Submaps". It also runs a periodic posegraph optimization to minimize drift in tracking over long sequences. Currently the algorithm does not implement a relocalization or loop closure module. Potentially a Bag of words implementation or RGBD relocalization as described in Glocker et al. ISMAR 2013 will be implemented

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 spatially hashed voxel cube that stores TSDF values which represent the distance to the closest surface (for details read the [113] article about TSDF). There is no interface to that representation yet.

For posegraph optimization, a Submap abstraction over the Volume class is created. New submaps are added to the model when there is low visibility overlap between current viewing frustrum and the existing volume/model. Multiple submaps are simultaneously tracked and a posegraph is created and optimized periodically.

LargeKinfu does not use any OpenCL acceleration yet. To enable or disable it explicitly use cv::setUseOptimized() or cv::ocl::setUseOpenCL().

This implementation is inspired from Kintinuous, InfiniTAM and other SOTA algorithms

You need to set the OPENCV_ENABLE_NONFREE option in CMake to use KinectFusion.

Constructor & Destructor Documentation

~LargeKinfu()

virtual cv::large_kinfu::LargeKinfu::~LargeKinfu ( )

virtualdefault

Member Function Documentation

create()

static Ptr<LargeKinfu> cv::large_kinfu::LargeKinfu::create ( const Ptr< Params > &  _params )

static

Python:
	retval	=	cv.large_kinfu.LargeKinfu_create(	_params	)

getCloud()

virtual void cv::large_kinfu::LargeKinfu::getCloud ( OutputArray  points, OutputArray  normals  ) const

pure virtual

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

getNormals()

virtual void cv::large_kinfu::LargeKinfu::getNormals ( InputArray  points, OutputArray  normals  ) const

pure virtual

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

getParams()

virtual const Params& cv::large_kinfu::LargeKinfu::getParams ( ) const

pure virtual

getPoints()

virtual void cv::large_kinfu::LargeKinfu::getPoints ( OutputArray  points ) const

pure virtual

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

getPose()

virtual const Affine3f cv::large_kinfu::LargeKinfu::getPose ( ) const

pure virtual

render()

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

pure virtual

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

reset()

virtual void cv::large_kinfu::LargeKinfu::reset ( )

pure virtual

Python:
	None	=	cv.large_kinfu_LargeKinfu.reset(		)

update()

virtual bool cv::large_kinfu::LargeKinfu::update ( InputArray  depth )

pure virtual

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

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

• opencv2/rgbd/large_kinfu.hpp