Class LargeKinfu

Namespace

OpenCvSharp.Rgbd

Assembly

OpenCvSharp.dll

Large-scale dense depth fusion implementation. Reconstructs larger environments using spatially hashed TSDF volume "submaps", with periodic pose-graph optimization to reduce drift over long sequences.

public class LargeKinfu : CvPtrObject, IDisposable

Inheritance

object

CvObject

CvPtrObject

LargeKinfu

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(LargeKinfuParams)

Creates a LargeKinfu instance with the supplied parameters.

GetCloud(OutputArray, OutputArray)

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

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.

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.

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.