Trait opencv::prelude::Kinfu_KinFuTraitConst

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pub trait Kinfu_KinFuTraitConst {
    // Required method
    fn as_raw_Kinfu_KinFu(&self) -> *const c_void;

    // Provided methods
    fn get_params(&self) -> Result<Kinfu_Params> { ... }
    fn render(&self, image: &mut impl ToOutputArray) -> Result<()> { ... }
    fn render_1(
        &self,
        image: &mut impl ToOutputArray,
        camera_pose: Matx44f
    ) -> Result<()> { ... }
    fn get_cloud(
        &self,
        points: &mut impl ToOutputArray,
        normals: &mut impl ToOutputArray
    ) -> Result<()> { ... }
    fn get_points(&self, points: &mut impl ToOutputArray) -> Result<()> { ... }
    fn get_normals(
        &self,
        points: &impl ToInputArray,
        normals: &mut impl ToOutputArray
    ) -> Result<()> { ... }
    fn get_pose(&self) -> Result<Affine3f> { ... }
}
Expand description

Constant methods for crate::rgbd::Kinfu_KinFu

Required Methods§

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fn as_raw_Kinfu_KinFu(&self) -> *const c_void

Provided Methods§

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fn get_params(&self) -> Result<Kinfu_Params>

Get current parameters

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fn render(&self, image: &mut impl ToOutputArray) -> Result<()>

Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in KinFu params.

Parameters
  • image: resulting image
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fn render_1( &self, image: &mut impl ToOutputArray, camera_pose: Matx44f ) -> Result<()>

Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in KinFu params.

Parameters
  • image: resulting image
  • cameraPose: pose of camera to render from. If empty then render from current pose which is a last frame camera pose.
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fn get_cloud( &self, points: &mut impl ToOutputArray, normals: &mut impl ToOutputArray ) -> Result<()>

Gets points and normals of current 3d mesh

The order of normals corresponds to order of points. The order of points is undefined.

Parameters
  • points: vector of points which are 4-float vectors
  • normals: vector of normals which are 4-float vectors
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fn get_points(&self, points: &mut impl ToOutputArray) -> Result<()>

Gets points of current 3d mesh

The order of points is undefined.

Parameters
  • points: vector of points which are 4-float vectors
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fn get_normals( &self, points: &impl ToInputArray, normals: &mut impl ToOutputArray ) -> Result<()>

Calculates normals for given points

Parameters
  • points: input vector of points which are 4-float vectors
  • normals: output vector of corresponding normals which are 4-float vectors
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fn get_pose(&self) -> Result<Affine3f>

Get current pose in voxel space

Object Safety§

This trait is not object safe.

Implementors§