Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
kfusion::KinFu Class Reference

#include <kinfu.hpp>

Public Types

typedef cv::Ptr< KinFuPtr
 
enum  RenderMode { Scene = 0, Normals = 2, SceneAndNormals = 3 }
 

Public Member Functions

cuda::CyclicalBuffercyclical ()
 
const cuda::CyclicalBuffercyclical () const
 
Affine3f getCameraPose (int time=-1) const
 
std::vector< Affine3f > & getCameraPoses ()
 
bool hasShifted ()
 
cuda::ProjectiveICPicp ()
 
const cuda::ProjectiveICPicp () const
 
bool isLastScan ()
 
 KinFu (const KinFuParams &params)
 
bool operator() (const cuda::Depth &dpeth, const cuda::Image &image=cuda::Image())
 
KinFuParamsparams ()
 
const KinFuParamsparams () 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::TsdfVolumetsdf ()
 
const cuda::TsdfVolumetsdf () 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::ProjectiveICPicp_
 
cuda::Normals normals_
 
KinFuParams params_
 
bool perform_last_scan_
 
bool perform_shift_
 
cuda::Cloud points_
 
std::vector< Affine3fposes_
 
cuda::Frame prev_
 
bool record_mode_
 
cv::Ptr< cuda::TsdfVolumevolume_
 

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

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.


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


lvr2
Author(s): Thomas Wiemann , Sebastian Pütz , Alexander Mock , Lars Kiesow , Lukas Kalbertodt , Tristan Igelbrink , Johan M. von Behren , Dominik Feldschnieders , Alexander Löhr
autogenerated on Wed Mar 2 2022 00:37:26