Struct LargeKinfu

pub struct LargeKinfu { /* private fields */ }

Large Scale Dense Depth Fusion implementation

This class implements a 3d reconstruction algorithm for larger environments using Spatially hashed TSDF volume “Submaps”. It also runs a periodic posegraph optimization to minimize drift in tracking over long sequences. Currently the algorithm does not implement a relocalization or loop closure module. Potentially a Bag of words implementation or RGBD relocalization as described in Glocker et al. ISMAR 2013 will be implemented

It takes a sequence of depth images taken from depth sensor (or any depth images source such as stereo camera matching algorithm or even raymarching renderer). The output can be obtained as a vector of points and their normals or can be Phong-rendered from given camera pose.

An internal representation of a model is a spatially hashed voxel cube that stores TSDF values which represent the distance to the closest surface (for details read the kinectfusion article about TSDF). There is no interface to that representation yet.

For posegraph optimization, a Submap abstraction over the Volume class is created. New submaps are added to the model when there is low visibility overlap between current viewing frustrum and the existing volume/model. Multiple submaps are simultaneously tracked and a posegraph is created and optimized periodically.

LargeKinfu does not use any OpenCL acceleration yet. To enable or disable it explicitly use cv::setUseOptimized() or cv::ocl::setUseOpenCL().

This implementation is inspired from Kintinuous, InfiniTAM and other SOTA algorithms

You need to set the OPENCV_ENABLE_NONFREE option in CMake to use KinectFusion.

Implementations

impl LargeKinfu

pub fn create(_params: &Ptr<Params>) -> Result<Ptr<LargeKinfu>>

Trait Implementations

impl Boxed for LargeKinfu

unsafe fn from_raw(ptr: <LargeKinfu as OpenCVFromExtern>::ExternReceive) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> <LargeKinfu as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> <LargeKinfu as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <LargeKinfu as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl Debug for LargeKinfu

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for LargeKinfu

fn drop(&mut self)

Executes the destructor for this type.

impl LargeKinfuTrait for LargeKinfu

fn as_raw_mut_LargeKinfu(&mut self) -> *mut c_void

fn reset(&mut self) -> Result<()>

fn update(&mut self, depth: &impl ToInputArray) -> Result<bool>

impl LargeKinfuTraitConst for LargeKinfu

fn as_raw_LargeKinfu(&self) -> *const c_void

fn get_params(&self) -> Result<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>

impl Send for LargeKinfu