OpenCVForUnity.PtcloudModule.Volume Class Reference

Public Member Functions
	Volume ()
	Constructor of custom volume.
	Volume (int vtype)
	Constructor of custom volume.
	Volume (int vtype, VolumeSettings settings)
	Constructor of custom volume.
void	fetchNormals (Mat points, Mat normals)
	Extract the all data from volume.
void	fetchPointsNormals (Mat points, Mat normals)
	Extract the all data from volume.
void	fetchPointsNormalsColors (Mat points, Mat normals, Mat colors)
	Extract the all data from volume.
void	getBoundingBox (Mat bb, int precision)
	Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)
bool	getEnableGrowth ()
	Returns if new volume units are allocated during integration or not. Makes sense for HashTSDF only.
IntPtr	getNativeObjAddr ()
long	getTotalVolumeUnits ()
	return number of volume units in volume.
int	getVisibleBlocks ()
	return visible blocks in volume.
void	integrate (Mat depth, Mat pose)
	Integrates the input data to the volume.
void	integrateColor (Mat depth, Mat image, Mat pose)
	Integrates the input data to the volume.
void	integrateFrame (OdometryFrame frame, Mat pose)
	Integrates the input data to the volume.
void	raycast (Mat cameraPose, Mat points, Mat normals)
	Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.
void	raycastColor (Mat cameraPose, Mat points, Mat normals, Mat colors)
	Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.
void	raycastEx (Mat cameraPose, int height, int width, Mat K, Mat points, Mat normals)
	Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.
void	raycastExColor (Mat cameraPose, int height, int width, Mat K, Mat points, Mat normals, Mat colors)
	Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.
void	reset ()
	clear all data in volume.
void	setEnableGrowth (bool v)
	Enables or disables new volume unit allocation during integration. Makes sense for HashTSDF only.
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
	Releases resources used by this object.
void	ThrowIfDisposed ()
	Throws ObjectDisposedException if this object has been disposed.

Static Public Member Functions
static Volume	__fromPtr__ (IntPtr addr)
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)
	Returns the native pointer, or throws CoreModule.CvException if it is zero.

Static Public Attributes
const int	VOLUME_UNIT = 0
	C++: enum BoundingBoxPrecision (cv.Volume.BoundingBoxPrecision)
const int	VOXEL = 1
	C++: enum BoundingBoxPrecision (cv.Volume.BoundingBoxPrecision)

Protected Member Functions
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	Initializes a new instance with a zero native pointer and dispose enabled.
	DisposableOpenCVObject (bool isEnabledDispose)
	Initializes a new instance with a zero native pointer.
	DisposableOpenCVObject (IntPtr ptr)
	Initializes a new instance with the specified native pointer and dispose enabled.
	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
	Initializes a new instance with the specified native pointer.
Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	Initializes a new instance with dispose enabled.
	DisposableObject (bool isEnabledDispose)
	Initializes a new instance.

Additional Inherited Members
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

Constructor & Destructor Documentation

Volume() [1/3]

OpenCVForUnity.PtcloudModule.Volume.Volume	(	int	vtype,
		VolumeSettings	settings )

Constructor of custom volume.

Parameters

vtype	the volume type [TSDF, HashTSDF, ColorTSDF].
settings	the custom settings for volume.

Volume() [2/3]

OpenCVForUnity.PtcloudModule.Volume.Volume

(

int

vtype

)

Constructor of custom volume.

Parameters

vtype	the volume type [TSDF, HashTSDF, ColorTSDF].
settings	the custom settings for volume.

Volume() [3/3]

OpenCVForUnity.PtcloudModule.Volume.Volume

(

)

Constructor of custom volume.

Parameters

vtype	the volume type [TSDF, HashTSDF, ColorTSDF].
settings	the custom settings for volume.

Member Function Documentation

__fromPtr__()

static Volume OpenCVForUnity.PtcloudModule.Volume.__fromPtr__ ( IntPtr addr )

static

Dispose()

override void OpenCVForUnity.PtcloudModule.Volume.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableOpenCVObject.

fetchNormals()

void OpenCVForUnity.PtcloudModule.Volume.fetchNormals	(	Mat	points,
		Mat	normals )

Extract the all data from volume.

Parameters

points	the input exist point.
normals	the storage of normals (corresponding to input points) in the image.

fetchPointsNormals()

void OpenCVForUnity.PtcloudModule.Volume.fetchPointsNormals	(	Mat	points,
		Mat	normals )

Extract the all data from volume.

Parameters

points	the storage of all points.
normals	the storage of all normals, corresponding to points.

fetchPointsNormalsColors()

void OpenCVForUnity.PtcloudModule.Volume.fetchPointsNormalsColors	(	Mat	points,
		Mat	normals,
		Mat	colors )

Extract the all data from volume.

Parameters

points	the storage of all points.
normals	the storage of all normals, corresponding to points.
colors	the storage of all colors, corresponding to points (only for ColorTSDF).

getBoundingBox()

void OpenCVForUnity.PtcloudModule.Volume.getBoundingBox	(	Mat	bb,
		int	precision )

Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)

Parameters

bb	6-float 1d array containing (min_x, min_y, min_z, max_x, max_y, max_z) in volume coordinates
precision	bounding box calculation precision

getEnableGrowth()

bool OpenCVForUnity.PtcloudModule.Volume.getEnableGrowth

(

)

Returns if new volume units are allocated during integration or not. Makes sense for HashTSDF only.

getNativeObjAddr()

IntPtr OpenCVForUnity.PtcloudModule.Volume.getNativeObjAddr

(

)

getTotalVolumeUnits()

long OpenCVForUnity.PtcloudModule.Volume.getTotalVolumeUnits

(

)

return number of volume units in volume.

getVisibleBlocks()

int OpenCVForUnity.PtcloudModule.Volume.getVisibleBlocks

(

)

return visible blocks in volume.

integrate()

void OpenCVForUnity.PtcloudModule.Volume.integrate	(	Mat	depth,
		Mat	pose )

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

depth	the depth image.
pose	the pose of camera in global coordinates.

integrateColor()

void OpenCVForUnity.PtcloudModule.Volume.integrateColor	(	Mat	depth,
		Mat	image,
		Mat	pose )

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

depth	the depth image.
image	the color image (only for ColorTSDF). For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.
pose	the pose of camera in global coordinates.

integrateFrame()

void OpenCVForUnity.PtcloudModule.Volume.integrateFrame	(	OdometryFrame	frame,
		Mat	pose )

Integrates the input data to the volume.

Camera intrinsics are taken from volume settings structure.

Parameters

frame	the object from which to take depth and image data. For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.
pose	the pose of camera in global coordinates.

raycast()

void OpenCVForUnity.PtcloudModule.Volume.raycast	(	Mat	cameraPose,
		Mat	points,
		Mat	normals )

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

cameraPose	the pose of camera in global coordinates.
points	image to store rendered points.
normals	image to store rendered normals corresponding to points.

raycastColor()

void OpenCVForUnity.PtcloudModule.Volume.raycastColor	(	Mat	cameraPose,
		Mat	points,
		Mat	normals,
		Mat	colors )

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

cameraPose	the pose of camera in global coordinates.
points	image to store rendered points.
normals	image to store rendered normals corresponding to points.
colors	image to store rendered colors corresponding to points (only for ColorTSDF).

raycastEx()

void OpenCVForUnity.PtcloudModule.Volume.raycastEx	(	Mat	cameraPose,
		int	height,
		int	width,
		Mat	K,
		Mat	points,
		Mat	normals )

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

cameraPose	the pose of camera in global coordinates.
height	the height of result image
width	the width of result image
K	camera raycast intrinsics
points	image to store rendered points.
normals	image to store rendered normals corresponding to points.

raycastExColor()

void OpenCVForUnity.PtcloudModule.Volume.raycastExColor	(	Mat	cameraPose,
		int	height,
		int	width,
		Mat	K,
		Mat	points,
		Mat	normals,
		Mat	colors )

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Rendered image size and camera intrinsics are taken from volume settings structure.

Parameters

cameraPose	the pose of camera in global coordinates.
height	the height of result image
width	the width of result image
K	camera raycast intrinsics
points	image to store rendered points.
normals	image to store rendered normals corresponding to points.
colors	image to store rendered colors corresponding to points (only for ColorTSDF).

reset()

void OpenCVForUnity.PtcloudModule.Volume.reset

(

)

clear all data in volume.

setEnableGrowth()

void OpenCVForUnity.PtcloudModule.Volume.setEnableGrowth

(

bool

v

)

Enables or disables new volume unit allocation during integration. Makes sense for HashTSDF only.

Member Data Documentation

VOLUME_UNIT

const int OpenCVForUnity.PtcloudModule.Volume.VOLUME_UNIT = 0

static

C++: enum BoundingBoxPrecision (cv.Volume.BoundingBoxPrecision)

VOXEL

const int OpenCVForUnity.PtcloudModule.Volume.VOXEL = 1

static

C++: enum BoundingBoxPrecision (cv.Volume.BoundingBoxPrecision)

---

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

• OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Core/org/opencv/ptcloud/Volume.cs