#include <opencv2/rgbd/dynafu.hpp>
◆ ~DynaFu()
virtual cv::dynafu::DynaFu::~DynaFu |
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virtual |
◆ create()
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| cv.dynafu.DynaFu.create( | _params | ) -> | retval |
| cv.dynafu.DynaFu_create( | _params | ) -> | retval |
◆ getCloud()
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| cv.dynafu.DynaFu.getCloud( | [, points[, normals]] | ) -> | 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
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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 |
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const |
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pure virtual |
◆ getNormals()
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| cv.dynafu.DynaFu.getNormals( | points[, normals] | ) -> | normals |
Calculates normals for given points.
- Parameters
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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 |
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const |
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pure virtual |
◆ getPoints()
virtual void cv::dynafu::DynaFu::getPoints |
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OutputArray |
points | ) |
const |
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pure virtual |
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| cv.dynafu.DynaFu.getPoints( | [, points] | ) -> | points |
Gets points of current 3d mesh.
The order of points is undefined.
- Parameters
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points | vector of points which are 4-float vectors |
◆ getPose()
virtual Affine3f cv::dynafu::DynaFu::getPose |
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const |
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pure virtual |
Get current pose in voxel space.
◆ marchCubes()
◆ render()
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| cv.dynafu.DynaFu.render( | [, image[, cameraPose]] | ) -> | image |
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
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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()
◆ reset()
virtual void cv::dynafu::DynaFu::reset |
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pure virtual |
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| cv.dynafu.DynaFu.reset( | | ) -> | None |
Resets the algorithm.
Clears current model and resets a pose.
◆ update()
virtual bool cv::dynafu::DynaFu::update |
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InputArray |
depth | ) |
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pure virtual |
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| cv.dynafu.DynaFu.update( | depth | ) -> | retval |
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
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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
The documentation for this class was generated from the following file: