Module opencv::rgbd

RGB-Depth Processing

[kinfu_icp]

Modules

• prelude

Structs

• ColoredKinfu_ColoredKinFu
  KinectFusion implementation
• ColoredKinfu_Params
• DepthCleaner
  Object that can clean a noisy depth image
• Dynafu_DynaFu
• FastICPOdometry
  A faster version of ICPOdometry which is used in KinectFusion implementation Partial list of differences:
• ICPOdometry
  Odometry based on the paper “KinectFusion: Real-Time Dense Surface Mapping and Tracking”, Richard A. Newcombe, Andrew Fitzgibbon, at al, SIGGRAPH, 2011.
• Kinfu_Detail_PoseGraph
• Kinfu_Intr
• Kinfu_Intr_Projector
  Projects camera space vector onto screen
• Kinfu_Intr_Reprojector
  Camera intrinsics Reprojects screen point to camera space given z coord.
• Kinfu_KinFu
  KinectFusion implementation
• Kinfu_Params
• Kinfu_Volume
• Kinfu_VolumeParams
• LargeKinfu
  Large Scale Dense Depth Fusion implementation
• LineMod_ColorGradient
  \brief Modality that computes quantized gradient orientations from a color image.
• LineMod_DepthNormal
  \brief Modality that computes quantized surface normals from a dense depth map.
• LineMod_Detector
  \brief Object detector using the LINE template matching algorithm with any set of modalities.
• LineMod_Feature
  \brief Discriminant feature described by its location and label.
• LineMod_Match
  \brief Represents a successful template match.
• LineMod_Modality
  \brief Interface for modalities that plug into the LINE template matching representation.
• LineMod_QuantizedPyramid
  \brief Represents a modality operating over an image pyramid.
• LineMod_Template
• Odometry
  Base class for computation of odometry.
• OdometryFrame
  Object that contains a frame data that is possibly needed for the Odometry. It’s used for the efficiency (to pass precomputed/cached data of the frame that participates in the Odometry processing several times).
• Params
• RgbdFrame
  Object that contains a frame data.
• RgbdICPOdometry
  Odometry that merges RgbdOdometry and ICPOdometry by minimize sum of their energy functions.
• RgbdNormals
  Object that can compute the normals in an image. It is an object as it can cache data for speed efficiency The implemented methods are either:
• RgbdOdometry
  Odometry based on the paper “Real-Time Visual Odometry from Dense RGB-D Images”, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
• RgbdPlane
  Object that can compute planes in an image

Enums

• DepthCleaner_DEPTH_CLEANER_METHOD
  NIL method is from Modeling Kinect Sensor Noise for Improved 3d Reconstruction and Tracking by C. Nguyen, S. Izadi, D. Lovel
• Kinfu_VolumeType
• RgbdNormals_RGBD_NORMALS_METHOD
• RgbdPlane_RGBD_PLANE_METHOD

Constants

• DepthCleaner_DEPTH_CLEANER_NIL
• Kinfu_VolumeType_COLOREDTSDF
• Kinfu_VolumeType_HASHTSDF
• Kinfu_VolumeType_TSDF
• OdometryFrame_CACHE_ALL
• OdometryFrame_CACHE_DST
• OdometryFrame_CACHE_SRC
• Odometry_RIGID_BODY_MOTION
• Odometry_ROTATION
• Odometry_TRANSLATION
• RgbdNormals_RGBD_NORMALS_METHOD_FALS
• RgbdNormals_RGBD_NORMALS_METHOD_LINEMOD
• RgbdNormals_RGBD_NORMALS_METHOD_SRI
• RgbdPlane_RGBD_PLANE_METHOD_DEFAULT

Traits

• ColoredKinfu_ColoredKinFuTrait
  Mutable methods for crate::rgbd::ColoredKinfu_ColoredKinFu
• ColoredKinfu_ColoredKinFuTraitConst
  Constant methods for crate::rgbd::ColoredKinfu_ColoredKinFu
• ColoredKinfu_ParamsTrait
  Mutable methods for crate::rgbd::ColoredKinfu_Params
• ColoredKinfu_ParamsTraitConst
  Constant methods for crate::rgbd::ColoredKinfu_Params
• DepthCleanerTrait
  Mutable methods for crate::rgbd::DepthCleaner
• DepthCleanerTraitConst
  Constant methods for crate::rgbd::DepthCleaner
• Dynafu_DynaFuTrait
  Mutable methods for crate::rgbd::Dynafu_DynaFu
• Dynafu_DynaFuTraitConst
  Constant methods for crate::rgbd::Dynafu_DynaFu
• FastICPOdometryTrait
  Mutable methods for crate::rgbd::FastICPOdometry
• FastICPOdometryTraitConst
  Constant methods for crate::rgbd::FastICPOdometry
• ICPOdometryTrait
  Mutable methods for crate::rgbd::ICPOdometry
• ICPOdometryTraitConst
  Constant methods for crate::rgbd::ICPOdometry
• Kinfu_Detail_PoseGraphTrait
  Mutable methods for crate::rgbd::Kinfu_Detail_PoseGraph
• Kinfu_Detail_PoseGraphTraitConst
  Constant methods for crate::rgbd::Kinfu_Detail_PoseGraph
• Kinfu_KinFuTrait
  Mutable methods for crate::rgbd::Kinfu_KinFu
• Kinfu_KinFuTraitConst
  Constant methods for crate::rgbd::Kinfu_KinFu
• Kinfu_ParamsTrait
  Mutable methods for crate::rgbd::Kinfu_Params
• Kinfu_ParamsTraitConst
  Constant methods for crate::rgbd::Kinfu_Params
• Kinfu_VolumeParamsTrait
  Mutable methods for crate::rgbd::Kinfu_VolumeParams
• Kinfu_VolumeParamsTraitConst
  Constant methods for crate::rgbd::Kinfu_VolumeParams
• Kinfu_VolumeTrait
  Mutable methods for crate::rgbd::Kinfu_Volume
• Kinfu_VolumeTraitConst
  Constant methods for crate::rgbd::Kinfu_Volume
• LargeKinfuTrait
  Mutable methods for crate::rgbd::LargeKinfu
• LargeKinfuTraitConst
  Constant methods for crate::rgbd::LargeKinfu
• LineMod_ColorGradientTrait
  Mutable methods for crate::rgbd::LineMod_ColorGradient
• LineMod_ColorGradientTraitConst
  Constant methods for crate::rgbd::LineMod_ColorGradient
• LineMod_DepthNormalTrait
  Mutable methods for crate::rgbd::LineMod_DepthNormal
• LineMod_DepthNormalTraitConst
  Constant methods for crate::rgbd::LineMod_DepthNormal
• LineMod_DetectorTrait
  Mutable methods for crate::rgbd::LineMod_Detector
• LineMod_DetectorTraitConst
  Constant methods for crate::rgbd::LineMod_Detector
• LineMod_MatchTrait
  Mutable methods for crate::rgbd::LineMod_Match
• LineMod_MatchTraitConst
  Constant methods for crate::rgbd::LineMod_Match
• LineMod_ModalityTrait
  Mutable methods for crate::rgbd::LineMod_Modality
• LineMod_ModalityTraitConst
  Constant methods for crate::rgbd::LineMod_Modality
• LineMod_QuantizedPyramidTrait
  Mutable methods for crate::rgbd::LineMod_QuantizedPyramid
• LineMod_QuantizedPyramidTraitConst
  Constant methods for crate::rgbd::LineMod_QuantizedPyramid
• LineMod_TemplateTrait
  Mutable methods for crate::rgbd::LineMod_Template
• LineMod_TemplateTraitConst
  Constant methods for crate::rgbd::LineMod_Template
• OdometryFrameTrait
  Mutable methods for crate::rgbd::OdometryFrame
• OdometryFrameTraitConst
  Constant methods for crate::rgbd::OdometryFrame
• OdometryTrait
  Mutable methods for crate::rgbd::Odometry
• OdometryTraitConst
  Constant methods for crate::rgbd::Odometry
• ParamsTrait
  Mutable methods for crate::rgbd::Params
• ParamsTraitConst
  Constant methods for crate::rgbd::Params
• RgbdFrameTrait
  Mutable methods for crate::rgbd::RgbdFrame
• RgbdFrameTraitConst
  Constant methods for crate::rgbd::RgbdFrame
• RgbdICPOdometryTrait
  Mutable methods for crate::rgbd::RgbdICPOdometry
• RgbdICPOdometryTraitConst
  Constant methods for crate::rgbd::RgbdICPOdometry
• RgbdNormalsTrait
  Mutable methods for crate::rgbd::RgbdNormals
• RgbdNormalsTraitConst
  Constant methods for crate::rgbd::RgbdNormals
• RgbdOdometryTrait
  Mutable methods for crate::rgbd::RgbdOdometry
• RgbdOdometryTraitConst
  Constant methods for crate::rgbd::RgbdOdometry
• RgbdPlaneTrait
  Mutable methods for crate::rgbd::RgbdPlane
• RgbdPlaneTraitConst
  Constant methods for crate::rgbd::RgbdPlane

Functions

• colormap
  \brief Debug function to colormap a quantized image for viewing.
• depth_to3d
  Converts a depth image to an organized set of 3d points. The coordinate system is x pointing left, y down and z away from the camera
• depth_to3d_sparse
  Parameters
• draw_features
  \brief Debug function to draw linemod features
• get_default_line
  \brief Factory function for detector using LINE algorithm with color gradients.
• get_default_linemod
  \brief Factory function for detector using LINE-MOD algorithm with color gradients and depth normals.
• is_valid_depth
  Checks if the value is a valid depth. For CV_16U or CV_16S, the convention is to be invalid if it is a limit. For a float/double, we just check if it is a NaN
• is_valid_depth_1
• is_valid_depth_2
• is_valid_depth_3
• is_valid_depth_4
• is_valid_depth_5
• make_volume
• register_depth
  Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.
• rescale_depth
  If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided by depth_factor to get a depth in meters, and the values 0 are converted to std::numeric_limits::quiet_NaN() Otherwise, the image is simply converted to floats
• warp_frame
  Warp the image: compute 3d points from the depth, transform them using given transformation, then project color point cloud to an image plane. This function can be used to visualize results of the Odometry algorithm.

Type Definitions

• Dynafu_Params
  Backwards compatibility for old versions