OpenCV  5.0.0-pre
Open Source Computer Vision
Classes | Public Types | Public Member Functions | Public Attributes | Static Public Attributes | List of all members
cv::detail::Submap< MatType > Class Template Reference

#include <opencv2/3d/detail/submap.hpp>

Classes

struct  PoseConstraint
 

Public Types

typedef std::map< int, PoseConstraintConstraints
 

Public Member Functions

 Submap (int _id, const VolumeSettings &settings, const cv::Affine3f &_pose=cv::Affine3f::Identity(), int _startFrameId=0)
 
virtual ~Submap ()=default
 
bool addEdgeToSubmap (const int tarSubmapID, const Affine3f &tarPose)
 
float calcVisibilityRatio (int currFrameId) const
 
void composeCameraPose (const cv::Affine3f &_relativePose)
 
PoseConstraintgetConstraint (const int _id)
 
virtual int getTotalAllocatedBlocks () const
 
virtual int getVisibleBlocks (int currFrameId) const
 
virtual void integrate (InputArray _depth, const int currframeId)
 
virtual void raycast (const Odometry &icp, const cv::Affine3f &cameraPose, cv::Size frameSize, OutputArray points=noArray(), OutputArray normals=noArray())
 
virtual void setStartFrameId (int _startFrameId)
 TODO: Possibly useless. More...
 
virtual void setStopFrameId (int _stopFrameId)
 

Public Attributes

cv::Affine3f cameraPose
 
Constraints constraints
 
OdometryFrame frame
 TODO: Add support for GPU arrays (UMat) More...
 
const int id
 
cv::Affine3f pose
 
OdometryFrame renderFrame
 
int startFrameId
 
int stopFrameId
 
Volume volume
 

Static Public Attributes

static constexpr int FRAME_VISIBILITY_THRESHOLD = 5
 TODO: Should we support submaps for regular volumes? More...
 

Member Typedef Documentation

◆ Constraints

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

Constructor & Destructor Documentation

◆ Submap()

template<typename MatType >
cv::detail::Submap< MatType >::Submap ( int  _id,
const VolumeSettings settings,
const cv::Affine3f _pose = cv::Affine3f::Identity(),
int  _startFrameId = 0 
)
inline

◆ ~Submap()

template<typename MatType >
virtual cv::detail::Submap< MatType >::~Submap ( )
virtualdefault

Member Function Documentation

◆ addEdgeToSubmap()

template<typename MatType >
bool cv::detail::Submap< MatType >::addEdgeToSubmap ( const int  tarSubmapID,
const Affine3f tarPose 
)

◆ calcVisibilityRatio()

template<typename MatType >
float cv::detail::Submap< MatType >::calcVisibilityRatio ( int  currFrameId) const
inline

◆ composeCameraPose()

template<typename MatType >
void cv::detail::Submap< MatType >::composeCameraPose ( const cv::Affine3f _relativePose)
inline

◆ getConstraint()

template<typename MatType >
PoseConstraint& cv::detail::Submap< MatType >::getConstraint ( const int  _id)
inline

Creates constraints if doesn't exist yet

◆ getTotalAllocatedBlocks()

template<typename MatType >
virtual int cv::detail::Submap< MatType >::getTotalAllocatedBlocks ( ) const
inlinevirtual

◆ getVisibleBlocks()

template<typename MatType >
virtual int cv::detail::Submap< MatType >::getVisibleBlocks ( int  currFrameId) const
inlinevirtual

◆ integrate()

template<typename MatType >
void cv::detail::Submap< MatType >::integrate ( InputArray  _depth,
const int  currframeId 
)
virtual

◆ raycast()

template<typename MatType >
void cv::detail::Submap< MatType >::raycast ( const Odometry icp,
const cv::Affine3f cameraPose,
cv::Size  frameSize,
OutputArray  points = noArray(),
OutputArray  normals = noArray() 
)
virtual

◆ setStartFrameId()

template<typename MatType >
virtual void cv::detail::Submap< MatType >::setStartFrameId ( int  _startFrameId)
inlinevirtual

TODO: Possibly useless.

◆ setStopFrameId()

template<typename MatType >
virtual void cv::detail::Submap< MatType >::setStopFrameId ( int  _stopFrameId)
inlinevirtual

Member Data Documentation

◆ cameraPose

template<typename MatType >
cv::Affine3f cv::detail::Submap< MatType >::cameraPose

◆ constraints

template<typename MatType >
Constraints cv::detail::Submap< MatType >::constraints

◆ frame

template<typename MatType >
OdometryFrame cv::detail::Submap< MatType >::frame

TODO: Add support for GPU arrays (UMat)

◆ FRAME_VISIBILITY_THRESHOLD

template<typename MatType >
constexpr int cv::detail::Submap< MatType >::FRAME_VISIBILITY_THRESHOLD = 5
static

TODO: Should we support submaps for regular volumes?

◆ id

template<typename MatType >
const int cv::detail::Submap< MatType >::id

◆ pose

template<typename MatType >
cv::Affine3f cv::detail::Submap< MatType >::pose

◆ renderFrame

template<typename MatType >
OdometryFrame cv::detail::Submap< MatType >::renderFrame

◆ startFrameId

template<typename MatType >
int cv::detail::Submap< MatType >::startFrameId

◆ stopFrameId

template<typename MatType >
int cv::detail::Submap< MatType >::stopFrameId

◆ volume

template<typename MatType >
Volume cv::detail::Submap< MatType >::volume

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