cv::kinfu::Volume Class Reference

#include <opencv2/rgbd/volume.hpp>

Public Member Functions
	Volume (float _voxelSize, Matx44f _pose, float _raycastStepFactor)
virtual	~Volume ()
virtual void	fetchNormals (InputArray points, OutputArray _normals) const =0
virtual void	fetchPointsNormals (OutputArray points, OutputArray normals) const =0
virtual void	fetchPointsNormalsColors (OutputArray, OutputArray, OutputArray) const
virtual void	integrate (InputArray _depth, float depthFactor, const Matx44f &cameraPose, const kinfu::Intr &intrinsics, const int frameId=0)=0
virtual void	integrate (InputArray _depth, InputArray _rgb, float depthFactor, const Matx44f &cameraPose, const kinfu::Intr &intrinsics, const Intr &rgb_intrinsics, const int frameId=0)=0
virtual void	raycast (const Matx44f &cameraPose, const kinfu::Intr &intrinsics, const Size &frameSize, OutputArray points, OutputArray normals) const =0
virtual void	raycast (const Matx44f &cameraPose, const kinfu::Intr &intrinsics, const Size &frameSize, OutputArray points, OutputArray normals, OutputArray colors) const =0
virtual void	reset ()=0

Public Attributes
const Affine3f	pose
const float	raycastStepFactor
const float	voxelSize
const float	voxelSizeInv

Constructor & Destructor Documentation

Volume()

cv::kinfu::Volume::Volume ( float  _voxelSize, Matx44f  _pose, float  _raycastStepFactor  )

inline

~Volume()

virtual cv::kinfu::Volume::~Volume ( )

inlinevirtual

Member Function Documentation

fetchNormals()

virtual void cv::kinfu::Volume::fetchNormals ( InputArray  points, OutputArray  _normals  ) const

pure virtual

fetchPointsNormals()

virtual void cv::kinfu::Volume::fetchPointsNormals ( OutputArray  points, OutputArray  normals  ) const

pure virtual

fetchPointsNormalsColors()

virtual void cv::kinfu::Volume::fetchPointsNormalsColors ( OutputArray  , OutputArray  , OutputArray    ) const

inlinevirtual

integrate() [1/2]

virtual void cv::kinfu::Volume::integrate ( InputArray  _depth, float  depthFactor, const Matx44f &  cameraPose, const kinfu::Intr &  intrinsics, const int  frameId = 0  )

pure virtual

integrate() [2/2]

virtual void cv::kinfu::Volume::integrate ( InputArray  _depth, InputArray  _rgb, float  depthFactor, const Matx44f &  cameraPose, const kinfu::Intr &  intrinsics, const Intr &  rgb_intrinsics, const int  frameId = 0  )

pure virtual

raycast() [1/2]

virtual void cv::kinfu::Volume::raycast ( const Matx44f &  cameraPose, const kinfu::Intr &  intrinsics, const Size &  frameSize, OutputArray  points, OutputArray  normals  ) const

pure virtual

raycast() [2/2]

virtual void cv::kinfu::Volume::raycast ( const Matx44f &  cameraPose, const kinfu::Intr &  intrinsics, const Size &  frameSize, OutputArray  points, OutputArray  normals, OutputArray  colors  ) const

pure virtual

reset()

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

pure virtual

Member Data Documentation

pose

const Affine3f cv::kinfu::Volume::pose

raycastStepFactor

const float cv::kinfu::Volume::raycastStepFactor

voxelSize

const float cv::kinfu::Volume::voxelSize

voxelSizeInv

const float cv::kinfu::Volume::voxelSizeInv

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

• opencv2/rgbd/volume.hpp