opencv::rgbd

Trait Kinfu_KinFuTraitConst

Source 
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§

Source

fn as_raw_Kinfu_KinFu(&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) -> 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, ) -> 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

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§