Class DynaFu

Namespace

OpenCvSharp.Rgbd

Assembly

OpenCvSharp.dll

DynamicFusion implementation. Extends KinFu to handle non-rigidly deforming scenes by maintaining a sparse set of nodes covering the geometry, each holding a warp that transforms it from a canonical space to the live frame.

public class DynaFu : CvPtrObject, IDisposable

Inheritance

object

CvObject

CvPtrObject

DynaFu

Implements

IDisposable

Inherited Members

CvPtrObject.RawPtr

CvObject.IsDisposed

CvObject.ptr

CvObject.SetSafeHandle(OpenCvSafeHandle)

CvObject.SetPostReleaseAction(Action)

CvObject.Dispose()

CvObject.Dispose(bool)

CvObject.DisposeManaged()

CvObject.DisposeUnmanaged()

CvObject.ThrowIfDisposed()

CvObject.CvPtr

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

Create(KinFuParams)

Creates a DynaFu instance with the supplied parameters (shared with KinFu).

GetCloud(OutputArray, OutputArray)

Gets points and normals of the current 3D mesh. The order of points is undefined; normals correspond to points.

GetNodesPos()

Gets the positions of the deformation-graph nodes.

GetNormals(InputArray, OutputArray)

Calculates normals for the given points.

GetParams()

Gets the current parameters.

GetPoints(OutputArray)

Gets points of the current 3D mesh. The order of points is undefined.

GetPose()

Gets the current pose in voxel space, as a 4x4 homogeneous transform matrix.

MarchCubes(OutputArray, OutputArray)

Extracts a triangle mesh of the current model using the marching cubes algorithm.

Render(OutputArray)

Renders a 0-surface of the TSDF using Phong shading into a CV_8UC4 image, from the last frame's camera pose.

Render(OutputArray, InputArray)

Renders a 0-surface of the TSDF using Phong shading into a CV_8UC4 image, from the given camera pose.

RenderSurface(OutputArray, OutputArray, OutputArray, bool)

Renders the depth, vertex and normal images of the current (optionally warped) surface.

Reset()

Clears the current model and resets the pose.

Update(InputArray)

Integrates the next depth frame with respect to its ICP-calculated pose. The input image is converted to CV_32F internally if it has another type.