kfusion::KinFu Class Reference

#include <kinfu.hpp>

Public Types
typedef cv::Ptr< KinFu >	Ptr
enum	RenderMode { Scene = 0, Normals = 2, SceneAndNormals = 3 }

Public Member Functions
cuda::CyclicalBuffer &	cyclical ()
const cuda::CyclicalBuffer &	cyclical () const
Affine3f	getCameraPose (int time=-1) const
std::vector< Affine3f > &	getCameraPoses ()
bool	hasShifted ()
cuda::ProjectiveICP &	icp ()
const cuda::ProjectiveICP &	icp () const
bool	isLastScan ()
	KinFu (const KinFuParams &params)
bool	operator() (const cuda::Depth &dpeth, const cuda::Image &image=cuda::Image())
KinFuParams &	params ()
const KinFuParams &	params () const
void	performLastScan ()
void	performShift ()
void	renderImage (cuda::Image &image, const Affine3f &pose, int flags=0)
void	renderImage (cuda::Image &image, const Affine3f &pose, Intr cameraIntrinsics, cv::Size size, int flags=0)
void	renderImage (cuda::Image &image, int flags=0)
void	reset (Affine3f initialPose=Affine3f::Identity())
void	triggerCheckForShift ()
void	triggerRecord ()
cuda::TsdfVolume &	tsdf ()
const cuda::TsdfVolume &	tsdf () const

Private Member Functions
void	allocate_buffers ()

Private Attributes
bool	checkForShift_
cuda::Frame	curr_
cuda::CyclicalBuffer	cyclical_
	Cyclical buffer object. More...
cuda::Depth	depths_
cuda::Dists	dists_
int	frame_counter_
bool	has_shifted_
cv::Ptr< cuda::ProjectiveICP >	icp_
cuda::Normals	normals_
KinFuParams	params_
bool	perform_last_scan_
bool	perform_shift_
cuda::Cloud	points_
std::vector< Affine3f >	poses_
cuda::Frame	prev_
bool	record_mode_
cv::Ptr< cuda::TsdfVolume >	volume_

Detailed Description

Definition at line 22 of file kinfu.hpp.

Member Typedef Documentation

Ptr

typedef cv::Ptr<KinFu> kfusion::KinFu::Ptr

Definition at line 25 of file kinfu.hpp.

Member Enumeration Documentation

RenderMode

enum kfusion::KinFu::RenderMode

Enumerator
Scene
Normals
SceneAndNormals

Definition at line 27 of file kinfu.hpp.

Constructor & Destructor Documentation

KinFu()

kfusion::KinFu::KinFu

(

const KinFuParams &

params

)

Definition at line 9 of file kinfu.cpp.

Member Function Documentation

allocate_buffers()

void kfusion::KinFu::allocate_buffers ( )

private

Definition at line 64 of file kinfu.cpp.

cyclical() [1/2]

cuda::CyclicalBuffer& kfusion::KinFu::cyclical

(

)

cyclical() [2/2]

kfusion::cuda::CyclicalBuffer & kfusion::KinFu::cyclical

(

)

const

Definition at line 52 of file kinfu.cpp.

getCameraPose()

kfusion::Affine3f kfusion::KinFu::getCameraPose

(

int

time = -1

)

const

Definition at line 117 of file kinfu.cpp.

getCameraPoses()

std::vector<Affine3f>& kfusion::KinFu::getCameraPoses ( )

inline

Definition at line 73 of file kinfu.hpp.

hasShifted()

bool kfusion::KinFu::hasShifted ( )

inline

Definition at line 43 of file kinfu.hpp.

icp() [1/2]

cuda::ProjectiveICP& kfusion::KinFu::icp

(

)

icp() [2/2]

kfusion::cuda::ProjectiveICP & kfusion::KinFu::icp

(

)

const

Definition at line 58 of file kinfu.cpp.

isLastScan()

bool kfusion::KinFu::isLastScan ( )

inline

Definition at line 52 of file kinfu.hpp.

operator()()

bool kfusion::KinFu::operator()	(	const cuda::Depth &	dpeth,
		const cuda::Image &	image = cuda::Image()
	)

Definition at line 124 of file kinfu.cpp.

params() [1/2]

KinFuParams& kfusion::KinFu::params

(

)

params() [2/2]

kfusion::KinFuParams & kfusion::KinFu::params

(

)

const

Definition at line 35 of file kinfu.cpp.

performLastScan()

void kfusion::KinFu::performLastScan

(

)

Definition at line 41 of file kinfu.cpp.

performShift()

void kfusion::KinFu::performShift ( )

inline

Definition at line 41 of file kinfu.hpp.

renderImage() [1/3]

void kfusion::KinFu::renderImage	(	cuda::Image &	image,
		const Affine3f &	pose,
		int	flags = 0
	)

Definition at line 241 of file kinfu.cpp.

renderImage() [2/3]

void kfusion::KinFu::renderImage	(	cuda::Image &	image,
		const Affine3f &	pose,
		Intr	cameraIntrinsics,
		cv::Size	size,
		int	flags = 0
	)

Definition at line 273 of file kinfu.cpp.

renderImage() [3/3]

void kfusion::KinFu::renderImage	(	cuda::Image &	image,
		int	flags = 0
	)

Definition at line 214 of file kinfu.cpp.

reset()

void kfusion::KinFu::reset

(

Affine3f

initialPose = Affine3f::Identity()

)

Definition at line 101 of file kinfu.cpp.

triggerCheckForShift()

void kfusion::KinFu::triggerCheckForShift ( )

inline

Definition at line 46 of file kinfu.hpp.

triggerRecord()

void kfusion::KinFu::triggerRecord ( )

inline

Definition at line 49 of file kinfu.hpp.

tsdf() [1/2]

cuda::TsdfVolume& kfusion::KinFu::tsdf

(

)

tsdf() [2/2]

kfusion::cuda::TsdfVolume & kfusion::KinFu::tsdf

(

)

const

Definition at line 46 of file kinfu.cpp.

Member Data Documentation

checkForShift_

bool kfusion::KinFu::checkForShift_

private

Definition at line 93 of file kinfu.hpp.

curr_

cuda::Frame kfusion::KinFu::curr_

private

Definition at line 83 of file kinfu.hpp.

cyclical_

cuda::CyclicalBuffer kfusion::KinFu::cyclical_

private

Cyclical buffer object.

Definition at line 96 of file kinfu.hpp.

depths_

cuda::Depth kfusion::KinFu::depths_

private

Definition at line 87 of file kinfu.hpp.

dists_

cuda::Dists kfusion::KinFu::dists_

private

Definition at line 82 of file kinfu.hpp.

frame_counter_

int kfusion::KinFu::frame_counter_

private

Definition at line 77 of file kinfu.hpp.

has_shifted_

bool kfusion::KinFu::has_shifted_

private

Definition at line 89 of file kinfu.hpp.

icp_

cv::Ptr<cuda::ProjectiveICP> kfusion::KinFu::icp_

private

Definition at line 97 of file kinfu.hpp.

normals_

cuda::Normals kfusion::KinFu::normals_

private

Definition at line 86 of file kinfu.hpp.

params_

KinFuParams kfusion::KinFu::params_

private

Definition at line 78 of file kinfu.hpp.

perform_last_scan_

bool kfusion::KinFu::perform_last_scan_

private

Definition at line 90 of file kinfu.hpp.

perform_shift_

bool kfusion::KinFu::perform_shift_

private

Definition at line 91 of file kinfu.hpp.

points_

cuda::Cloud kfusion::KinFu::points_

private

Definition at line 85 of file kinfu.hpp.

poses_

std::vector<Affine3f> kfusion::KinFu::poses_

private

Definition at line 80 of file kinfu.hpp.

prev_

cuda::Frame kfusion::KinFu::prev_

private

Definition at line 83 of file kinfu.hpp.

record_mode_

bool kfusion::KinFu::record_mode_

private

Definition at line 92 of file kinfu.hpp.

volume_

cv::Ptr<cuda::TsdfVolume> kfusion::KinFu::volume_

private

Definition at line 94 of file kinfu.hpp.

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The documentation for this class was generated from the following files:

• kinfu.hpp
• kinfu.cpp