Struct Kinfu_KinFu

pub struct Kinfu_KinFu { /* private fields */ }

KinectFusion implementation

This class implements a 3d reconstruction algorithm described in kinectfusion paper.

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 voxel cuboid that keeps TSDF values which are a sort of distances to the surface (for details read the kinectfusion article about TSDF). There is no interface to that representation yet.

KinFu uses OpenCL acceleration automatically if available. To enable or disable it explicitly use cv::setUseOptimized() or cv::ocl::setUseOpenCL().

This implementation is based on kinfu-remake.

Note that the KinectFusion algorithm was patented and its use may be restricted by the list of patents mentioned in README.md file in this module directory.

That’s why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use KinectFusion.

Implementations

impl Kinfu_KinFu

pub fn create(_params: &Ptr<Kinfu_Params>) -> Result<Ptr<Kinfu_KinFu>>

Trait Implementations

impl Boxed for Kinfu_KinFu

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

Wrap the specified raw pointer

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

Return the underlying raw pointer while consuming this wrapper.

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

Return the underlying raw pointer.

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

Return the underlying mutable raw pointer

impl Debug for Kinfu_KinFu

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

Formats the value using the given formatter.

impl Drop for Kinfu_KinFu

fn drop(&mut self)

Executes the destructor for this type.

impl Kinfu_KinFuTrait for Kinfu_KinFu

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

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

Resets the algorithm

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

Process next depth frame

impl Kinfu_KinFuTraitConst for Kinfu_KinFu

fn as_raw_Kinfu_KinFu(&self) -> *const c_void

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

Get current parameters

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

Renders a volume into an image

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

Renders a volume into an image

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

Gets points and normals of current 3d mesh

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

Gets points of current 3d mesh

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

Calculates normals for given points

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

Get current pose in voxel space

impl Send for Kinfu_KinFu