Class cv::Volume

#include <opencv2/ptcloud/volume.hpp>

Collaboration diagram for cv::Volume:

Public Types

enum BoundingBoxPrecision {
    VOLUME_UNIT = 0,
    VOXEL = 1
}

Member Enumeration Documentation

enum BoundingBoxPrecision

VOLUME_UNIT Python: cv.Volume_VOLUME_UNIT

VOXEL Python: cv.Volume_VOXEL

Constructor & Destructor Documentation

Volume()

cv::Volume::Volume(
VolumeType vtype = VolumeType::TSDF,
const VolumeSettings & settings = VolumeSettings(VolumeType::TSDF) )

Python:

cv.Volume([, vtype[, settings]]) -> <Volume object>

Constructor of custom volume.

Parameters

• vtype — the volume type [TSDF, HashTSDF, ColorTSDF].

• settings — the custom settings for volume.

~Volume()

cv::Volume::~Volume()

Member Function Documentation

fetchNormals()

void cv::Volume::fetchNormals(
InputArray points,
OutputArray normals )

Python:

cv.Volume.fetchNormals(points[, normals]) -> normals

Extract the all data from volume.

Parameters

• points — the input exist point.

• normals — the storage of normals (corresponding to input points) in the image.

fetchPointsNormals()

void cv::Volume::fetchPointsNormals(
OutputArray points,
OutputArray normals )

Python:

cv.Volume.fetchPointsNormals([, points[, normals]]) -> points, normals

Extract the all data from volume.

Parameters

• points — the storage of all points.

• normals — the storage of all normals, corresponding to points.

fetchPointsNormalsColors()

void cv::Volume::fetchPointsNormalsColors(
OutputArray points,
OutputArray normals,
OutputArray colors )

Python:

cv.Volume.fetchPointsNormalsColors([, points[, normals[, colors]]]) -> points, normals, colors

Extract the all data from volume.

Parameters

• points — the storage of all points.

• normals — the storage of all normals, corresponding to points.

• colors — the storage of all colors, corresponding to points (only for ColorTSDF).

getBoundingBox()

void cv::Volume::getBoundingBox(
OutputArray bb,
int precision )

Python:

cv.Volume.getBoundingBox(precision[, bb]) -> bb

Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)

Parameters

• bb — 6-float 1d array containing (min_x, min_y, min_z, max_x, max_y, max_z) in volume coordinates

• precision — bounding box calculation precision

getEnableGrowth()

bool cv::Volume::getEnableGrowth()

Python:

cv.Volume.getEnableGrowth() -> retval

Returns if new volume units are allocated during integration or not. Makes sense for HashTSDF only.

getTotalVolumeUnits()

size_t cv::Volume::getTotalVolumeUnits()

Python:

cv.Volume.getTotalVolumeUnits() -> retval

return number of volume units in volume.

getVisibleBlocks()

int cv::Volume::getVisibleBlocks()

Python:

cv.Volume.getVisibleBlocks() -> retval

return visible blocks in volume.

integrate()

void cv::Volume::integrate(
const OdometryFrame & frame,
InputArray pose )

Python:

cv.Volume.integrate(depth, pose)

cv.Volume.integrateColor(depth, image, pose)

cv.Volume.integrateFrame(frame, pose)

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

• frame — the object from which to take depth and image data. For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.

• pose — the pose of camera in global coordinates.

integrate()

void cv::Volume::integrate(
InputArray depth,
InputArray image,
InputArray pose )

Python:

cv.Volume.integrate(depth, pose)

cv.Volume.integrateColor(depth, image, pose)

cv.Volume.integrateFrame(frame, pose)

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

• depth — the depth image.

• image — the color image (only for ColorTSDF). For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.

• pose — the pose of camera in global coordinates.

integrate()

void cv::Volume::integrate(
InputArray depth,
InputArray pose )

Python:

cv.Volume.integrate(depth, pose)

cv.Volume.integrateColor(depth, image, pose)

cv.Volume.integrateFrame(frame, pose)

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

• depth — the depth image.

• pose — the pose of camera in global coordinates.

raycast()

void cv::Volume::raycast(
InputArray cameraPose,
int height,
int width,
InputArray K,
OutputArray points,
OutputArray normals )

Python:

cv.Volume.raycast(cameraPose[, points[, normals]]) -> points, normals

cv.Volume.raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

cv.Volume.raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

cv.Volume.raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

Renders the volume contents into an image. The resulting points and normals are in camera’s coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

• cameraPose — the pose of camera in global coordinates.

• height — the height of result image

• width — the width of result image

• K — camera raycast intrinsics

• points — image to store rendered points.

• normals — image to store rendered normals corresponding to points.

raycast()

void cv::Volume::raycast(
InputArray cameraPose,
int height,
int width,
InputArray K,
OutputArray points,
OutputArray normals,
OutputArray colors )

Python:

cv.Volume.raycast(cameraPose[, points[, normals]]) -> points, normals

cv.Volume.raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

cv.Volume.raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

cv.Volume.raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

Renders the volume contents into an image. The resulting points and normals are in camera’s coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

• cameraPose — the pose of camera in global coordinates.

• height — the height of result image

• width — the width of result image

• K — camera raycast intrinsics

• points — image to store rendered points.

• normals — image to store rendered normals corresponding to points.

• colors — image to store rendered colors corresponding to points (only for ColorTSDF).

raycast()

void cv::Volume::raycast(
InputArray cameraPose,
OutputArray points,
OutputArray normals )

Python:

cv.Volume.raycast(cameraPose[, points[, normals]]) -> points, normals

cv.Volume.raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

cv.Volume.raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

cv.Volume.raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

Renders the volume contents into an image. The resulting points and normals are in camera’s coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

• cameraPose — the pose of camera in global coordinates.

• points — image to store rendered points.

• normals — image to store rendered normals corresponding to points.

raycast()

void cv::Volume::raycast(
InputArray cameraPose,
OutputArray points,
OutputArray normals,
OutputArray colors )

Python:

cv.Volume.raycast(cameraPose[, points[, normals]]) -> points, normals

cv.Volume.raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

cv.Volume.raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

cv.Volume.raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

Renders the volume contents into an image. The resulting points and normals are in camera’s coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

• cameraPose — the pose of camera in global coordinates.

• points — image to store rendered points.

• normals — image to store rendered normals corresponding to points.

• colors — image to store rendered colors corresponding to points (only for ColorTSDF).

reset()

void cv::Volume::reset()

Python:

cv.Volume.reset()

clear all data in volume.

setEnableGrowth()

void cv::Volume::setEnableGrowth(bool v)

Python:

cv.Volume.setEnableGrowth(v)

Enables or disables new volume unit allocation during integration. Makes sense for HashTSDF only.

Member Data Documentation

impl

Ptr< Impl > cv::Volume::impl

Source file

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

• opencv2/ptcloud/volume.hpp