Class cv::detail::Submap#

#include <opencv2/ptcloud/detail/submap.hpp>

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Member Typedef Documentation#

Constraints#

typedef std::map< int, PoseConstraint > cv::detail::Submap::Constraints

Constructor & Destructor Documentation#

Submap()#

cv::detail::Submap::Submap(
int _id,
const VolumeSettings & settings,
const cv::Affine3f & _pose = cv::Affine3f::Identity(),
int _startFrameId = 0 )

~Submap()#

cv::detail::Submap::~Submap()

Member Function Documentation#

addEdgeToSubmap()#

bool cv::detail::Submap::addEdgeToSubmap(
const int tarSubmapID,
const Affine3f & tarPose )

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calcVisibilityRatio()#

float cv::detail::Submap::calcVisibilityRatio(int currFrameId)

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composeCameraPose()#

void cv::detail::Submap::composeCameraPose(const cv::Affine3f & _relativePose)

getConstraint()#

PoseConstraint & cv::detail::Submap::getConstraint(const int _id)

getTotalAllocatedBlocks()#

int cv::detail::Submap::getTotalAllocatedBlocks()

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getVisibleBlocks()#

int cv::detail::Submap::getVisibleBlocks(int currFrameId)

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integrate()#

void cv::detail::Submap::integrate(
InputArray _depth,
const int currframeId )

raycast()#

void cv::detail::Submap::raycast(
const cv::Affine3f & cameraPose,
cv::Size frameSize,
cv::Matx33f K,
OutputArray points = noArray(),
OutputArray normals = noArray() )

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setStartFrameId()#

void cv::detail::Submap::setStartFrameId(int _startFrameId)

TODO: Possibly useless.

setStopFrameId()#

void cv::detail::Submap::setStopFrameId(int _stopFrameId)

Member Data Documentation#

cameraPose#

cv::Affine3f cv::detail::Submap::cameraPose

constraints#

Constraints cv::detail::Submap::constraints

frame#

OdometryFrame cv::detail::Submap::frame

TODO: Add support for GPU arrays (UMat)

id#

const int cv::detail::Submap::id

pose#

cv::Affine3f cv::detail::Submap::pose

renderFrame#

OdometryFrame cv::detail::Submap::renderFrame

startFrameId#

int cv::detail::Submap::startFrameId

stopFrameId#

int cv::detail::Submap::stopFrameId

volume#

Volume cv::detail::Submap::volume

FRAME_VISIBILITY_THRESHOLD#

static int cv::detail::Submap::FRAME_VISIBILITY_THRESHOLD = 5

TODO: Should we support submaps for regular volumes?

Source file#

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

opencv2/ptcloud/detail/submap.hpp