OpenCV  4.10.0-pre
Open Source Computer Vision
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Public Member Functions | Public Attributes | List of all members
cv::kinfu::Volume Class Referenceabstract

#include <opencv2/rgbd/volume.hpp>

Collaboration diagram for cv::kinfu::Volume:

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

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