opencv::prelude

Trait Dynafu_DynaFuTraitConst

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

    // Provided methods
    fn get_params(&self) -> Result<Kinfu_Params> { ... }
    fn render(
        &self,
        image: &mut impl ToOutputArray,
        camera_pose: Matx44f,
    ) -> Result<()> { ... }
    fn render_def(&self, image: &mut impl ToOutputArray) -> 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> { ... }
    fn get_nodes_pos(&self) -> Result<Vector<Point3f>> { ... }
    fn march_cubes(
        &self,
        vertices: &mut impl ToOutputArray,
        edges: &mut impl ToOutputArray,
    ) -> Result<()> { ... }
}
Expand description

Constant methods for crate::rgbd::Dynafu_DynaFu

Required Methods§

Source

fn as_raw_Dynafu_DynaFu(&self) -> *const c_void

Provided Methods§

Source

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

Get current parameters

Source

fn render( &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 DynaFu 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.
§C++ default parameters
  • camera_pose: Matx44f::eye()
Source

fn render_def(&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 DynaFu 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.
§Note

This alternative version of Dynafu_DynaFuTraitConst::render function uses the following default values for its arguments:

  • camera_pose: Matx44f::eye()
Source

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
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

Source

fn get_nodes_pos(&self) -> Result<Vector<Point3f>>

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fn march_cubes( &self, vertices: &mut impl ToOutputArray, edges: &mut impl ToOutputArray, ) -> Result<()>

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§