Package org.opencv.cv3d

Class Volume

java.lang.Object

org.opencv.cv3d.Volume

public class Volume
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field	Description
protected long	nativeObj
static int	VOLUME_UNIT
static int	VOXEL

Constructor Summary

Constructors

Modifier	Constructor	Description
	Volume()	Constructor of custom volume.
	Volume(int vtype)	Constructor of custom volume.
	Volume(int vtype, VolumeSettings settings)	Constructor of custom volume.
protected	Volume(long addr)

Method Summary

Modifier and Type	Method	Description
static Volume	__fromPtr__(long addr)
void	fetchNormals(Mat points, Mat normals)	Extract the all data from volume.
void	fetchPointsNormals(Mat points, Mat normals)	Extract the all data from volume.
void	fetchPointsNormalsColors(Mat points, Mat normals, Mat colors)	Extract the all data from volume.
protected void	finalize()
void	getBoundingBox(Mat bb, int precision)	Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)
boolean	getEnableGrowth()	Returns if new volume units are allocated during integration or not.
long	getNativeObjAddr()
long	getTotalVolumeUnits()	return number of volume units in volume.
int	getVisibleBlocks()	return visible blocks in volume.
void	integrate(Mat depth, Mat pose)	Integrates the input data to the volume.
void	integrateColor(Mat depth, Mat image, Mat pose)	Integrates the input data to the volume.
void	integrateFrame(OdometryFrame frame, Mat pose)	Integrates the input data to the volume.
void	raycast(Mat cameraPose, Mat points, Mat normals)	Renders the volume contents into an image.
void	raycastColor(Mat cameraPose, Mat points, Mat normals, Mat colors)	Renders the volume contents into an image.
void	raycastEx(Mat cameraPose, int height, int width, Mat K, Mat points, Mat normals)	Renders the volume contents into an image.
void	raycastExColor(Mat cameraPose, int height, int width, Mat K, Mat points, Mat normals, Mat colors)	Renders the volume contents into an image.
void	reset()	clear all data in volume.
void	setEnableGrowth(boolean v)	Enables or disables new volume unit allocation during integration.

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nativeObj

protected final long nativeObj

VOLUME_UNIT

public static final int VOLUME_UNIT

See Also:

Constant Field Values

VOXEL

public static final int VOXEL

See Also:

Constant Field Values

Constructor Detail

Volume

protected Volume(long addr)

Volume

public Volume(int vtype,
              VolumeSettings settings)

Constructor of custom volume.

Parameters:

vtype - the volume type [TSDF, HashTSDF, ColorTSDF].

settings - the custom settings for volume.

Volume

public Volume(int vtype)

Constructor of custom volume.

Parameters:

vtype - the volume type [TSDF, HashTSDF, ColorTSDF].

Volume

public Volume()

Constructor of custom volume.

Method Detail

getNativeObjAddr

public long getNativeObjAddr()

__fromPtr__

public static Volume __fromPtr__(long addr)

integrateFrame

public void integrateFrame(OdometryFrame frame,
                           Mat 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

public void integrate(Mat depth,
                      Mat 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.

integrateColor

public void integrateColor(Mat depth,
                           Mat image,
                           Mat 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.

raycast

public void raycast(Mat cameraPose,
                    Mat points,
                    Mat normals)

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.

raycastColor

public void raycastColor(Mat cameraPose,
                         Mat points,
                         Mat normals,
                         Mat 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).

raycastEx

public void raycastEx(Mat cameraPose,
                      int height,
                      int width,
                      Mat K,
                      Mat points,
                      Mat normals)

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.

raycastExColor

public void raycastExColor(Mat cameraPose,
                           int height,
                           int width,
                           Mat K,
                           Mat points,
                           Mat normals,
                           Mat 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).

fetchNormals

public void fetchNormals(Mat points,
                         Mat 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

public void fetchPointsNormals(Mat points,
                               Mat normals)

Extract the all data from volume.

Parameters:

points - the storage of all points.

normals - the storage of all normals, corresponding to points.

fetchPointsNormalsColors

public void fetchPointsNormalsColors(Mat points,
                                     Mat normals,
                                     Mat 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).

reset

public void reset()

clear all data in volume.

getVisibleBlocks

public int getVisibleBlocks()

return visible blocks in volume.

Returns:

automatically generated

getTotalVolumeUnits

public long getTotalVolumeUnits()

return number of volume units in volume.

Returns:

automatically generated

getBoundingBox

public void getBoundingBox(Mat bb,
                           int precision)

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

setEnableGrowth

public void setEnableGrowth(boolean v)

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

Parameters:

v - automatically generated

getEnableGrowth

public boolean getEnableGrowth()

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

Returns:

automatically generated

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable