#include <kinfu.hpp>

Public Types
typedef cv::Ptr< KinFu >	Ptr

enum	RenderMode { Scene = 0, Normals = 2, SceneAndNormals = 3 }

Public Member Functions
const cuda::CyclicalBuffer &	cyclical () const

cuda::CyclicalBuffer &	cyclical ()

Affine3f	getCameraPose (int time=-1) const

std::vector< Affine3f > &	getCameraPoses ()

bool	hasShifted ()

const cuda::ProjectiveICP &	icp () const

cuda::ProjectiveICP &	icp ()

bool	isLastScan ()

	KinFu (const KinFuParams &params)

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

const KinFuParams &	params () const

KinFuParams &	params ()

void	performLastScan ()

void	performShift ()

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

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	reset (Affine3f initialPose=Affine3f::Identity())

void	triggerCheckForShift ()

void	triggerRecord ()

const cuda::TsdfVolume &	tsdf () const

cuda::TsdfVolume &	tsdf ()

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]

const kfusion::cuda::CyclicalBuffer & kfusion::KinFu::cyclical ( ) const

Definition at line 52 of file kinfu.cpp.

◆ cyclical() [2/2]

kfusion::cuda::CyclicalBuffer & kfusion::KinFu::cyclical ( )

Definition at line 55 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]

const kfusion::cuda::ProjectiveICP & kfusion::KinFu::icp ( ) const

Definition at line 58 of file kinfu.cpp.

◆ icp() [2/2]

kfusion::cuda::ProjectiveICP & kfusion::KinFu::icp ( )

Definition at line 61 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]

const kfusion::KinFuParams & kfusion::KinFu::params ( ) const

Definition at line 35 of file kinfu.cpp.

◆ params() [2/2]

kfusion::KinFuParams & kfusion::KinFu::params ( )

Definition at line 38 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,
		int	flags = `0`
	)

Definition at line 214 of file kinfu.cpp.

◆ renderImage() [2/3]

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

Definition at line 241 of file kinfu.cpp.

◆ renderImage() [3/3]

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.

◆ 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]

const kfusion::cuda::TsdfVolume & kfusion::KinFu::tsdf ( ) const

Definition at line 46 of file kinfu.cpp.

◆ tsdf() [2/2]

kfusion::cuda::TsdfVolume & kfusion::KinFu::tsdf ( )

Definition at line 49 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:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Member Enumeration Documentation

◆ RenderMode

Constructor & Destructor Documentation

◆ KinFu()

Member Function Documentation

◆ allocate_buffers()

◆ cyclical() [1/2]

◆ cyclical() [2/2]

◆ getCameraPose()

◆ getCameraPoses()

◆ hasShifted()

◆ icp() [1/2]

◆ icp() [2/2]

◆ isLastScan()

◆ operator()()

◆ params() [1/2]

◆ params() [2/2]

◆ performLastScan()

◆ performShift()

◆ renderImage() [1/3]

◆ renderImage() [2/3]

◆ renderImage() [3/3]

◆ reset()

◆ triggerCheckForShift()

◆ triggerRecord()

◆ tsdf() [1/2]

◆ tsdf() [2/2]

Member Data Documentation

◆ checkForShift_

◆ curr_

◆ cyclical_

◆ depths_

◆ dists_

◆ frame_counter_

◆ has_shifted_

◆ icp_

◆ normals_

◆ params_

◆ perform_last_scan_

◆ perform_shift_

◆ points_

◆ poses_

◆ prev_

◆ record_mode_

◆ volume_