opencv::prelude

Trait ColoredKinfu_ColoredKinFuTraitConst

Source 
pub trait ColoredKinfu_ColoredKinFuTraitConst {
    // Required method
    fn as_raw_ColoredKinfu_ColoredKinFu(&self) -> *const c_void;

    // Provided methods
    fn get_params(&self) -> Result<ColoredKinfu_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,
        colors: &mut impl ToOutputArray,
    ) -> Result<()> { ... }
    fn get_cloud_def(
        &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::ColoredKinfu_ColoredKinFu

Required Methods§

Source

fn as_raw_ColoredKinfu_ColoredKinFu(&self) -> *const c_void

Provided Methods§

Source

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

Get current parameters

Source

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
Source

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.
Source

fn get_cloud( &self, points: &mut impl ToOutputArray, normals: &mut impl ToOutputArray, colors: &mut impl ToOutputArray, ) -> Result<()>

Gets points, normals and colors 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
  • colors: vector of colors which are 4-float vectors
§C++ default parameters
  • colors: noArray()
Source

fn get_cloud_def( &self, points: &mut impl ToOutputArray, normals: &mut impl ToOutputArray, ) -> Result<()>

Gets points, normals and colors 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
  • colors: vector of colors which are 4-float vectors
§Note

This alternative version of ColoredKinfu_ColoredKinFuTraitConst::get_cloud function uses the following default values for its arguments:

  • colors: noArray()
Source

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
Source

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
Source

fn get_pose(&self) -> Result<Affine3f>

Get current pose in voxel space

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§