OpenCV  5.0.0-pre
Open Source Computer Vision
Public Member Functions | List of all members
cv::Volume Class Reference

#include <opencv2/3d/volume.hpp>

Public Member Functions

 Volume ()
 Constructor of default volume - TSDF. More...
 
 Volume (VolumeType vtype, const VolumeSettings &settings)
 Constructor of custom volume. More...
 
 ~Volume ()
 
void fetchNormals (InputArray points, OutputArray normals) const
 Extract the all data from volume. More...
 
void fetchPointsNormals (OutputArray points, OutputArray normals) const
 Extract the all data from volume. More...
 
void fetchPointsNormalsColors (OutputArray points, OutputArray normals, OutputArray colors) const
 Extract the all data from volume. More...
 
size_t getTotalVolumeUnits () const
 return number of vulmeunits in volume. More...
 
int getVisibleBlocks () const
 return visible blocks in volume. More...
 
void integrate (const OdometryFrame &frame, InputArray pose)
 Integrates the input data to the volume. More...
 
void integrate (InputArray depth, InputArray pose)
 Integrates the input data to the volume. More...
 
void integrate (InputArray depth, InputArray image, InputArray pose)
 Integrates the input data to the volume. More...
 
void raycast (InputArray cameraPose, OdometryFrame &outFrame) const
 Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system. More...
 
void raycast (InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors=noArray()) const
 Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system. More...
 
void raycast (InputArray cameraPose, int height, int width, OdometryFrame &outFrame) const
 Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system. More...
 
void raycast (InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors=noArray()) const
 Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system. More...
 
void reset ()
 clear all data in volume. More...
 

Constructor & Destructor Documentation

◆ Volume() [1/2]

cv::Volume::Volume ( )

Constructor of default volume - TSDF.

◆ Volume() [2/2]

cv::Volume::Volume ( VolumeType  vtype,
const VolumeSettings settings 
)

Constructor of custom volume.

Parameters
vtypethe volume type [TSDF, HashTSDF, ColorTSDF].
settingsthe custom settings for volume.

◆ ~Volume()

cv::Volume::~Volume ( )

Member Function Documentation

◆ fetchNormals()

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

Extract the all data from volume.

Parameters
pointsthe input exist point.
normalsthe storage of normals (corresponding to input points) in the image.

◆ fetchPointsNormals()

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

Extract the all data from volume.

Parameters
pointsthe storage of all points.
normalsthe storage of all normals, corresponding to points.

◆ fetchPointsNormalsColors()

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

Extract the all data from volume.

Parameters
pointsthe storage of all points.
normalsthe storage of all normals, corresponding to points.
colorsthe storage of all colors, corresponding to points (only for ColorTSDF).

◆ getTotalVolumeUnits()

size_t cv::Volume::getTotalVolumeUnits ( ) const

return number of vulmeunits in volume.

◆ getVisibleBlocks()

int cv::Volume::getVisibleBlocks ( ) const

return visible blocks in volume.

◆ integrate() [1/3]

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

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters
framethe 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.
posethe pose of camera in global coordinates.

◆ integrate() [2/3]

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

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters
depththe depth image.
posethe pose of camera in global coordinates.

◆ integrate() [3/3]

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

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters
depththe depth image.
imagethe 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.
posethe pose of camera in global coordinates.

◆ raycast() [1/4]

void cv::Volume::raycast ( InputArray  cameraPose,
OdometryFrame outFrame 
) const

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
cameraPosethe pose of camera in global coordinates.
outFramethe object where to store rendered points and normals.

◆ raycast() [2/4]

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

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
cameraPosethe pose of camera in global coordinates.
pointsimage to store rendered points.
normalsimage to store rendered normals corresponding to points.
colorsimage to store rendered colors corresponding to points (only for ColorTSDF).

◆ raycast() [3/4]

void cv::Volume::raycast ( InputArray  cameraPose,
int  height,
int  width,
OdometryFrame outFrame 
) const

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
cameraPosethe pose of camera in global coordinates.
heightthe height of result image.
widththe width of result image.
outFramethe object where to store rendered points and normals.

◆ raycast() [4/4]

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

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
cameraPosethe pose of camera in global coordinates.
heightthe height of result image.
widththe width of result image.
pointsimage to store rendered points.
normalsimage to store rendered normals corresponding to points.
colorsimage to store rendered colors corresponding to points (only for ColorTSDF).

◆ reset()

void cv::Volume::reset ( )

clear all data in volume.


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