Static Public Member Functions
static void	depthTo3d (Mat depth, Mat K, Mat points3d)

static void	depthTo3d (Mat depth, Mat K, Mat points3d, Mat mask)

static void	depthTo3dSparse (Mat depth, Mat in_K, Mat in_points, Mat points3d)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size, double threshold)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size, double threshold, double sensor_error_a)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size, double threshold, double sensor_error_a, double sensor_error_b)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size, double threshold, double sensor_error_a, double sensor_error_b, double sensor_error_c)

static void	findPlanes (Mat points3d, Mat normals, Mat mask, Mat plane_coefficients, int block_size, int min_size, double threshold, double sensor_error_a, double sensor_error_b, double sensor_error_c, int method)

static void	loadMesh (string filename, Mat vertices, List< Mat > indices)
	Loads a mesh from a file.

static void	loadMesh (string filename, Mat vertices, List< Mat > indices, Mat normals)
	Loads a mesh from a file.

static void	loadMesh (string filename, Mat vertices, List< Mat > indices, Mat normals, Mat colors)
	Loads a mesh from a file.

static void	loadMesh (string filename, Mat vertices, List< Mat > indices, Mat normals, Mat colors, Mat texCoords)
	Loads a mesh from a file.

static void	loadPointCloud (string filename, Mat vertices)
	Loads a point cloud from a file.

static void	loadPointCloud (string filename, Mat vertices, Mat normals)
	Loads a point cloud from a file.

static void	loadPointCloud (string filename, Mat vertices, Mat normals, Mat rgb)
	Loads a point cloud from a file.

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, in Vec2d outputImagePlaneSize, Mat registeredDepth)

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, in Vec2d outputImagePlaneSize, Mat registeredDepth, bool depthDilation)

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, in(double width, double height) outputImagePlaneSize, Mat registeredDepth)

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, in(double width, double height) outputImagePlaneSize, Mat registeredDepth, bool depthDilation)

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, Size outputImagePlaneSize, Mat registeredDepth)

static void	registerDepth (Mat unregisteredCameraMatrix, Mat registeredCameraMatrix, Mat registeredDistCoeffs, Mat Rt, Mat unregisteredDepth, Size outputImagePlaneSize, Mat registeredDepth, bool depthDilation)

static void	rescaleDepth (Mat _in, int type, Mat _out)

static void	rescaleDepth (Mat _in, int type, Mat _out, double depth_factor)

static void	saveMesh (string filename, Mat vertices, List< Mat > indices)
	Saves a mesh to a specified file.

static void	saveMesh (string filename, Mat vertices, List< Mat > indices, Mat normals)
	Saves a mesh to a specified file.

static void	saveMesh (string filename, Mat vertices, List< Mat > indices, Mat normals, Mat colors)
	Saves a mesh to a specified file.

static void	saveMesh (string filename, Mat vertices, List< Mat > indices, Mat normals, Mat colors, Mat texCoords)
	Saves a mesh to a specified file.

static void	savePointCloud (string filename, Mat vertices)
	Saves a point cloud to a specified file.

static void	savePointCloud (string filename, Mat vertices, Mat normals)
	Saves a point cloud to a specified file.

static void	savePointCloud (string filename, Mat vertices, Mat normals, Mat rgb)
	Saves a point cloud to a specified file.

static void	triangleRasterize (Mat vertices, Mat indices, Mat colors, Mat colorBuf, Mat depthBuf, Mat world2cam, double fovY, double zNear, double zFar)
	Renders a set of triangles on a depth and color image.

static void	triangleRasterize (Mat vertices, Mat indices, Mat colors, Mat colorBuf, Mat depthBuf, Mat world2cam, double fovY, double zNear, double zFar, TriangleRasterizeSettings settings)
	Renders a set of triangles on a depth and color image.

static void	triangleRasterizeColor (Mat vertices, Mat indices, Mat colors, Mat colorBuf, Mat world2cam, double fovY, double zNear, double zFar)
	Overloaded version of triangleRasterize() with color-only rendering.

static void	triangleRasterizeColor (Mat vertices, Mat indices, Mat colors, Mat colorBuf, Mat world2cam, double fovY, double zNear, double zFar, TriangleRasterizeSettings settings)
	Overloaded version of triangleRasterize() with color-only rendering.

static void	triangleRasterizeDepth (Mat vertices, Mat indices, Mat depthBuf, Mat world2cam, double fovY, double zNear, double zFar)
	Overloaded version of triangleRasterize() with depth-only rendering.

static void	triangleRasterizeDepth (Mat vertices, Mat indices, Mat depthBuf, Mat world2cam, double fovY, double zNear, double zFar, TriangleRasterizeSettings settings)
	Overloaded version of triangleRasterize() with depth-only rendering.

static void	warpFrame (Mat depth, Mat image, Mat mask, Mat Rt, Mat cameraMatrix)

static void	warpFrame (Mat depth, Mat image, Mat mask, Mat Rt, Mat cameraMatrix, Mat warpedDepth)

static void	warpFrame (Mat depth, Mat image, Mat mask, Mat Rt, Mat cameraMatrix, Mat warpedDepth, Mat warpedImage)

static void	warpFrame (Mat depth, Mat image, Mat mask, Mat Rt, Mat cameraMatrix, Mat warpedDepth, Mat warpedImage, Mat warpedMask)

Static Public Attributes
const int	N_PYRAMIDS = 8 + 1
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	OdometryAlgoType_COMMON = 0
	C++: enum OdometryAlgoType (cv.OdometryAlgoType)

const int	OdometryAlgoType_FAST = 1
	C++: enum OdometryAlgoType (cv.OdometryAlgoType)

const int	OdometryType_DEPTH = 0
	C++: enum OdometryType (cv.OdometryType)

const int	OdometryType_RGB = 1
	C++: enum OdometryType (cv.OdometryType)

const int	OdometryType_RGB_DEPTH = 2
	C++: enum OdometryType (cv.OdometryType)

const int	PYR_CLOUD = 3
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_DEPTH = 1
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_DIX = 4
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_DIY = 5
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_IMAGE = 0
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_MASK = 2
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_NORM = 7
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_NORMMASK = 8
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	PYR_TEXMASK = 6
	C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

const int	RASTERIZE_COMPAT_DISABLED = 0
	C++: enum TriangleGlCompatibleMode (cv.TriangleGlCompatibleMode)

const int	RASTERIZE_COMPAT_INVDEPTH = 1
	C++: enum TriangleGlCompatibleMode (cv.TriangleGlCompatibleMode)

const int	RASTERIZE_CULLING_CCW = 2
	C++: enum TriangleCullingMode (cv.TriangleCullingMode)

const int	RASTERIZE_CULLING_CW = 1
	C++: enum TriangleCullingMode (cv.TriangleCullingMode)

const int	RASTERIZE_CULLING_NONE = 0
	C++: enum TriangleCullingMode (cv.TriangleCullingMode)

const int	RASTERIZE_SHADING_FLAT = 1
	C++: enum TriangleShadingType (cv.TriangleShadingType)

const int	RASTERIZE_SHADING_SHADED = 2
	C++: enum TriangleShadingType (cv.TriangleShadingType)

const int	RASTERIZE_SHADING_WHITE = 0
	C++: enum TriangleShadingType (cv.TriangleShadingType)

const int	RGBD_PLANE_METHOD_DEFAULT = 0
	C++: enum RgbdPlaneMethod (cv.RgbdPlaneMethod)

const int	VolumeType_ColorTSDF = 2
	C++: enum VolumeType (cv.VolumeType)

const int	VolumeType_HashTSDF = 1
	C++: enum VolumeType (cv.VolumeType)

const int	VolumeType_TSDF = 0
	C++: enum VolumeType (cv.VolumeType)

Member Function Documentation

◆ depthTo3d() [1/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.depthTo3d	(	Mat	depth,
		Mat	K,
		Mat	points3d )

static

Converts a depth image to 3d points. If the mask is empty then the resulting array has the same dimensions as depth, otherwise it is 1d vector containing mask-enabled values only. The coordinate system is x pointing left, y down and z away from the camera

Parameters

depth	the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters)
K	The calibration matrix
points3d	the resulting 3d points (point is represented by 4 channels value [x, y, z, 0]). They are of the same depth as `depth` if it is CV_32F or CV_64F, and the depth of `K` if `depth` is of depth CV_16U or CV_16S
mask	the mask of the points to consider (can be empty)

◆ depthTo3d() [2/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.depthTo3d	(	Mat	depth,
		Mat	K,
		Mat	points3d,
		Mat	mask )

static

Converts a depth image to 3d points. If the mask is empty then the resulting array has the same dimensions as depth, otherwise it is 1d vector containing mask-enabled values only. The coordinate system is x pointing left, y down and z away from the camera

Parameters

depth	the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters)
K	The calibration matrix
points3d	the resulting 3d points (point is represented by 4 channels value [x, y, z, 0]). They are of the same depth as `depth` if it is CV_32F or CV_64F, and the depth of `K` if `depth` is of depth CV_16U or CV_16S
mask	the mask of the points to consider (can be empty)

◆ depthTo3dSparse()

static void OpenCVForUnity.PtcloudModule.Ptcloud.depthTo3dSparse	(	Mat	depth,
		Mat	in_K,
		Mat	in_points,
		Mat	points3d )

static

Parameters

depth	the depth image
in_K

Parameters

in_points	the list of xy coordinates
points3d	the resulting 3d points (point is represented by 4 chanels value [x, y, z, 0])

◆ findPlanes() [1/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [2/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [3/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [4/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size,
		double	threshold )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [5/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size,
		double	threshold,
		double	sensor_error_a )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [6/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size,
		double	threshold,
		double	sensor_error_a,
		double	sensor_error_b )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [7/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size,
		double	threshold,
		double	sensor_error_a,
		double	sensor_error_b,
		double	sensor_error_c )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ findPlanes() [8/8]

static void OpenCVForUnity.PtcloudModule.Ptcloud.findPlanes	(	Mat	points3d,
		Mat	normals,
		Mat	mask,
		Mat	plane_coefficients,
		int	block_size,
		int	min_size,
		double	threshold,
		double	sensor_error_a,
		double	sensor_error_b,
		double	sensor_error_c,
		int	method )

static

Find the planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image; optional, can be empty
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)
block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, use 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

◆ loadMesh() [1/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices )

static

Loads a mesh from a file.

The function loads mesh from the specified file and returns it. If the mesh cannot be read, throws an error Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized arrays with corresponding elements having the same indices. This means that if a face uses a vertex with a normal or a texture coordinate with different indices (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.

Currently, the following file formats are supported:

Wavefront obj file *.obj (ONLY TRIANGULATED FACES)
Polygon File Format *.ply

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ loadMesh() [2/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals )

static

Loads a mesh from a file.

The function loads mesh from the specified file and returns it. If the mesh cannot be read, throws an error Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized arrays with corresponding elements having the same indices. This means that if a face uses a vertex with a normal or a texture coordinate with different indices (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.

Currently, the following file formats are supported:

Wavefront obj file *.obj (ONLY TRIANGULATED FACES)
Polygon File Format *.ply

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ loadMesh() [3/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals,
		Mat	colors )

static

Loads a mesh from a file.

The function loads mesh from the specified file and returns it. If the mesh cannot be read, throws an error Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized arrays with corresponding elements having the same indices. This means that if a face uses a vertex with a normal or a texture coordinate with different indices (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.

Currently, the following file formats are supported:

Wavefront obj file *.obj (ONLY TRIANGULATED FACES)
Polygon File Format *.ply

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ loadMesh() [4/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals,
		Mat	colors,
		Mat	texCoords )

static

Loads a mesh from a file.

The function loads mesh from the specified file and returns it. If the mesh cannot be read, throws an error Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized arrays with corresponding elements having the same indices. This means that if a face uses a vertex with a normal or a texture coordinate with different indices (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.

Currently, the following file formats are supported:

Wavefront obj file *.obj (ONLY TRIANGULATED FACES)
Polygon File Format *.ply

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ loadPointCloud() [1/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadPointCloud	(	string	filename,
		Mat	vertices )

static

Loads a point cloud from a file.

The function loads point cloud from the specified file and returns it. If the cloud cannot be read, throws an error. Vertex coordinates, normals and colors are returned as they are saved in the file even if these arrays have different sizes and their elements do not correspond to each other (which is typical for OBJ files for example)

Currently, the following file formats are supported:

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ loadPointCloud() [2/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadPointCloud	(	string	filename,
		Mat	vertices,
		Mat	normals )

static

Loads a point cloud from a file.

The function loads point cloud from the specified file and returns it. If the cloud cannot be read, throws an error. Vertex coordinates, normals and colors are returned as they are saved in the file even if these arrays have different sizes and their elements do not correspond to each other (which is typical for OBJ files for example)

Currently, the following file formats are supported:

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ loadPointCloud() [3/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.loadPointCloud	(	string	filename,
		Mat	vertices,
		Mat	normals,
		Mat	rgb )

static

Loads a point cloud from a file.

The function loads point cloud from the specified file and returns it. If the cloud cannot be read, throws an error. Vertex coordinates, normals and colors are returned as they are saved in the file even if these arrays have different sizes and their elements do not correspond to each other (which is typical for OBJ files for example)

Currently, the following file formats are supported:

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ registerDepth() [1/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		in Vec2d	outputImagePlaneSize,
		Mat	registeredDepth )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ registerDepth() [2/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		in Vec2d	outputImagePlaneSize,
		Mat	registeredDepth,
		bool	depthDilation )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ registerDepth() [3/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		in(double width, double height)	outputImagePlaneSize,
		Mat	registeredDepth )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ registerDepth() [4/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		in(double width, double height)	outputImagePlaneSize,
		Mat	registeredDepth,
		bool	depthDilation )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ registerDepth() [5/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		Size	outputImagePlaneSize,
		Mat	registeredDepth )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ registerDepth() [6/6]

static void OpenCVForUnity.PtcloudModule.Ptcloud.registerDepth	(	Mat	unregisteredCameraMatrix,
		Mat	registeredCameraMatrix,
		Mat	registeredDistCoeffs,
		Mat	Rt,
		Mat	unregisteredDepth,
		Size	outputImagePlaneSize,
		Mat	registeredDepth,
		bool	depthDilation )

static

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

unregisteredCameraMatrix	the camera matrix of the depth camera
registeredCameraMatrix	the camera matrix of the external camera
registeredDistCoeffs	the distortion coefficients of the external camera
Rt	the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
unregisteredDepth	the input depth data
outputImagePlaneSize	the image plane dimensions of the external camera (width, height)
registeredDepth	the result of transforming the depth into the external camera
depthDilation	whether or not the depth is dilated to avoid holes and occlusion errors (optional)

◆ rescaleDepth() [1/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.rescaleDepth	(	Mat	_in,
		int	type,
		Mat	_out )

static

If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided by depth_factor to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN() Otherwise, the image is simply converted to floats

Parameters

in	the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), it is assumed in meters)
type	the desired output depth (CV_32F or CV_64F)
out	The rescaled float depth image
depth_factor	(optional) factor by which depth is converted to distance (by default = 1000.0 for Kinect sensor)

◆ rescaleDepth() [2/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.rescaleDepth	(	Mat	_in,
		int	type,
		Mat	_out,
		double	depth_factor )

static

If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided by depth_factor to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN() Otherwise, the image is simply converted to floats

Parameters

in	the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), it is assumed in meters)
type	the desired output depth (CV_32F or CV_64F)
out	The rescaled float depth image
depth_factor	(optional) factor by which depth is converted to distance (by default = 1000.0 for Kinect sensor)

◆ saveMesh() [1/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.saveMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices )

static

Saves a mesh to a specified file.

The function saves mesh to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file.
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ saveMesh() [2/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.saveMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals )

static

Saves a mesh to a specified file.

The function saves mesh to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file.
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ saveMesh() [3/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.saveMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals,
		Mat	colors )

static

Saves a mesh to a specified file.

The function saves mesh to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file.
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ saveMesh() [4/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.saveMesh	(	string	filename,
		Mat	vertices,
		List< Mat >	indices,
		Mat	normals,
		Mat	colors,
		Mat	texCoords )

static

Saves a mesh to a specified file.

The function saves mesh to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file.
vertices	vertex coordinates, each value contains 3 floats
indices	per-face list of vertices, each value is a vector of ints
normals	per-vertex normals, each value contains 3 floats
colors	per-vertex colors, each value contains 3 floats
texCoords	per-vertex texture coordinates, each value contains 2 or 3 floats

◆ savePointCloud() [1/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.savePointCloud	(	string	filename,
		Mat	vertices )

static

Saves a point cloud to a specified file.

The function saves point cloud to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ savePointCloud() [2/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.savePointCloud	(	string	filename,
		Mat	vertices,
		Mat	normals )

static

Saves a point cloud to a specified file.

The function saves point cloud to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ savePointCloud() [3/3]

static void OpenCVForUnity.PtcloudModule.Ptcloud.savePointCloud	(	string	filename,
		Mat	vertices,
		Mat	normals,
		Mat	rgb )

static

Saves a point cloud to a specified file.

The function saves point cloud to the specified file. File format is chosen based on the filename extension.

Parameters

filename	Name of the file
vertices	vertex coordinates, each value contains 3 floats
normals	per-vertex normals, each value contains 3 floats
rgb	per-vertex colors, each value contains 3 floats

◆ triangleRasterize() [1/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterize	(	Mat	vertices,
		Mat	indices,
		Mat	colors,
		Mat	colorBuf,
		Mat	depthBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar )

static

Renders a set of triangles on a depth and color image.

Triangles can be drawn white (1.0, 1.0, 1.0), flat-shaded or with a color interpolation between vertices. In flat-shaded mode the 1st vertex color of each triangle is used to fill the whole triangle.

The world2cam is an inverted camera pose matrix in fact. It transforms vertices from world to camera coordinate system.

The camera coordinate system emulates the OpenGL's coordinate system having coordinate origin in a screen center, X axis pointing right, Y axis pointing up and Z axis pointing towards the viewer except that image is vertically flipped after the render. This means that all visible objects are placed in z-negative area, or exactly in -zNear > z > -zFar since zNear and zFar are positive. For example, at fovY = PI/2 the point (0, 1, -1) will be projected to (width/2, 0) screen point, (1, 0, -1) to (width/2 + height/2, height/2). Increasing fovY makes projection smaller and vice versa.

The function does not create or clear output images before the rendering. This means that it can be used for drawing over an existing image or for rendering a model into a 3D scene using pre-filled Z-buffer.

Empty scene results in a depth buffer filled by the maximum value since every pixel is infinitely far from the camera. Therefore, before rendering anything from scratch the depthBuf should be filled by zFar values (or by ones in INVDEPTH mode).

There are special versions of this function named triangleRasterizeDepth and triangleRasterizeColor for cases if a user needs a color image or a depth image alone; they may run slightly faster.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
colors	per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array. If the values are out of [0; 1] range, the result correctness is not guaranteed
colorBuf	an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
depthBuf	an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene. Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ triangleRasterize() [2/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterize	(	Mat	vertices,
		Mat	indices,
		Mat	colors,
		Mat	colorBuf,
		Mat	depthBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar,
		TriangleRasterizeSettings	settings )

static

Renders a set of triangles on a depth and color image.

Triangles can be drawn white (1.0, 1.0, 1.0), flat-shaded or with a color interpolation between vertices. In flat-shaded mode the 1st vertex color of each triangle is used to fill the whole triangle.

The world2cam is an inverted camera pose matrix in fact. It transforms vertices from world to camera coordinate system.

The camera coordinate system emulates the OpenGL's coordinate system having coordinate origin in a screen center, X axis pointing right, Y axis pointing up and Z axis pointing towards the viewer except that image is vertically flipped after the render. This means that all visible objects are placed in z-negative area, or exactly in -zNear > z > -zFar since zNear and zFar are positive. For example, at fovY = PI/2 the point (0, 1, -1) will be projected to (width/2, 0) screen point, (1, 0, -1) to (width/2 + height/2, height/2). Increasing fovY makes projection smaller and vice versa.

The function does not create or clear output images before the rendering. This means that it can be used for drawing over an existing image or for rendering a model into a 3D scene using pre-filled Z-buffer.

Empty scene results in a depth buffer filled by the maximum value since every pixel is infinitely far from the camera. Therefore, before rendering anything from scratch the depthBuf should be filled by zFar values (or by ones in INVDEPTH mode).

There are special versions of this function named triangleRasterizeDepth and triangleRasterizeColor for cases if a user needs a color image or a depth image alone; they may run slightly faster.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
colors	per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array. If the values are out of [0; 1] range, the result correctness is not guaranteed
colorBuf	an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
depthBuf	an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene. Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ triangleRasterizeColor() [1/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterizeColor	(	Mat	vertices,
		Mat	indices,
		Mat	colors,
		Mat	colorBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar )

static

Overloaded version of triangleRasterize() with color-only rendering.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
colors	per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array. If the values are out of [0; 1] range, the result correctness is not guaranteed
colorBuf	an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ triangleRasterizeColor() [2/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterizeColor	(	Mat	vertices,
		Mat	indices,
		Mat	colors,
		Mat	colorBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar,
		TriangleRasterizeSettings	settings )

static

Overloaded version of triangleRasterize() with color-only rendering.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
colors	per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array. If the values are out of [0; 1] range, the result correctness is not guaranteed
colorBuf	an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ triangleRasterizeDepth() [1/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterizeDepth	(	Mat	vertices,
		Mat	indices,
		Mat	depthBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar )

static

Overloaded version of triangleRasterize() with depth-only rendering.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
depthBuf	an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene. Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ triangleRasterizeDepth() [2/2]

static void OpenCVForUnity.PtcloudModule.Ptcloud.triangleRasterizeDepth	(	Mat	vertices,
		Mat	indices,
		Mat	depthBuf,
		Mat	world2cam,
		double	fovY,
		double	zNear,
		double	zFar,
		TriangleRasterizeSettings	settings )

static

Overloaded version of triangleRasterize() with depth-only rendering.

Parameters

vertices	vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
indices	triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array. Should contain CV_32SC3 values or compatible
depthBuf	an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf. Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene. Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
world2cam	a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
fovY	field of view in vertical direction, given in radians
zNear	minimum Z value to render, everything closer is clipped
zFar	maximum Z value to render, everything farther is clipped
settings	see TriangleRasterizeSettings. By default the smooth shading is on, with CW culling and with disabled GL compatibility

◆ warpFrame() [1/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.warpFrame	(	Mat	depth,
		Mat	image,
		Mat	mask,
		Mat	Rt,
		Mat	cameraMatrix )

static

Warps depth or RGB-D image by reprojecting it in 3d, applying Rt transformation and then projecting it back onto the image plane. This function can be used to visualize the results of the Odometry algorithm.

Parameters

depth	Depth data, should be 1-channel CV_16U, CV_16S, CV_32F or CV_64F
image	RGB image (optional), should be 1-, 3- or 4-channel CV_8U
mask	Mask of used pixels (optional), should be CV_8UC1, CV_8SC1 or CV_BoolC1
Rt	Rotation+translation matrix (3x4 or 4x4) to be applied to depth points
cameraMatrix	Camera intrinsics matrix (3x3)
warpedDepth	The warped depth data (optional)
warpedImage	The warped RGB image (optional)
warpedMask	The mask of valid pixels in warped image (optional)

◆ warpFrame() [2/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.warpFrame	(	Mat	depth,
		Mat	image,
		Mat	mask,
		Mat	Rt,
		Mat	cameraMatrix,
		Mat	warpedDepth )

static

Warps depth or RGB-D image by reprojecting it in 3d, applying Rt transformation and then projecting it back onto the image plane. This function can be used to visualize the results of the Odometry algorithm.

Parameters

depth	Depth data, should be 1-channel CV_16U, CV_16S, CV_32F or CV_64F
image	RGB image (optional), should be 1-, 3- or 4-channel CV_8U
mask	Mask of used pixels (optional), should be CV_8UC1, CV_8SC1 or CV_BoolC1
Rt	Rotation+translation matrix (3x4 or 4x4) to be applied to depth points
cameraMatrix	Camera intrinsics matrix (3x3)
warpedDepth	The warped depth data (optional)
warpedImage	The warped RGB image (optional)
warpedMask	The mask of valid pixels in warped image (optional)

◆ warpFrame() [3/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.warpFrame	(	Mat	depth,
		Mat	image,
		Mat	mask,
		Mat	Rt,
		Mat	cameraMatrix,
		Mat	warpedDepth,
		Mat	warpedImage )

static

Warps depth or RGB-D image by reprojecting it in 3d, applying Rt transformation and then projecting it back onto the image plane. This function can be used to visualize the results of the Odometry algorithm.

Parameters

depth	Depth data, should be 1-channel CV_16U, CV_16S, CV_32F or CV_64F
image	RGB image (optional), should be 1-, 3- or 4-channel CV_8U
mask	Mask of used pixels (optional), should be CV_8UC1, CV_8SC1 or CV_BoolC1
Rt	Rotation+translation matrix (3x4 or 4x4) to be applied to depth points
cameraMatrix	Camera intrinsics matrix (3x3)
warpedDepth	The warped depth data (optional)
warpedImage	The warped RGB image (optional)
warpedMask	The mask of valid pixels in warped image (optional)

◆ warpFrame() [4/4]

static void OpenCVForUnity.PtcloudModule.Ptcloud.warpFrame	(	Mat	depth,
		Mat	image,
		Mat	mask,
		Mat	Rt,
		Mat	cameraMatrix,
		Mat	warpedDepth,
		Mat	warpedImage,
		Mat	warpedMask )

static

Warps depth or RGB-D image by reprojecting it in 3d, applying Rt transformation and then projecting it back onto the image plane. This function can be used to visualize the results of the Odometry algorithm.

Parameters

depth	Depth data, should be 1-channel CV_16U, CV_16S, CV_32F or CV_64F
image	RGB image (optional), should be 1-, 3- or 4-channel CV_8U
mask	Mask of used pixels (optional), should be CV_8UC1, CV_8SC1 or CV_BoolC1
Rt	Rotation+translation matrix (3x4 or 4x4) to be applied to depth points
cameraMatrix	Camera intrinsics matrix (3x3)
warpedDepth	The warped depth data (optional)
warpedImage	The warped RGB image (optional)
warpedMask	The mask of valid pixels in warped image (optional)

Member Data Documentation

◆ N_PYRAMIDS

const int OpenCVForUnity.PtcloudModule.Ptcloud.N_PYRAMIDS = 8 + 1

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ OdometryAlgoType_COMMON

const int OpenCVForUnity.PtcloudModule.Ptcloud.OdometryAlgoType_COMMON = 0

static

C++: enum OdometryAlgoType (cv.OdometryAlgoType)

◆ OdometryAlgoType_FAST

const int OpenCVForUnity.PtcloudModule.Ptcloud.OdometryAlgoType_FAST = 1

static

C++: enum OdometryAlgoType (cv.OdometryAlgoType)

◆ OdometryType_DEPTH

const int OpenCVForUnity.PtcloudModule.Ptcloud.OdometryType_DEPTH = 0

static

C++: enum OdometryType (cv.OdometryType)

◆ OdometryType_RGB

const int OpenCVForUnity.PtcloudModule.Ptcloud.OdometryType_RGB = 1

static

C++: enum OdometryType (cv.OdometryType)

◆ OdometryType_RGB_DEPTH

const int OpenCVForUnity.PtcloudModule.Ptcloud.OdometryType_RGB_DEPTH = 2

static

C++: enum OdometryType (cv.OdometryType)

◆ PYR_CLOUD

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_CLOUD = 3

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_DEPTH

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_DEPTH = 1

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_DIX

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_DIX = 4

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_DIY

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_DIY = 5

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_IMAGE

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_IMAGE = 0

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_MASK

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_MASK = 2

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_NORM

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_NORM = 7

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_NORMMASK

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_NORMMASK = 8

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ PYR_TEXMASK

const int OpenCVForUnity.PtcloudModule.Ptcloud.PYR_TEXMASK = 6

static

C++: enum OdometryFramePyramidType (cv.OdometryFramePyramidType)

◆ RASTERIZE_COMPAT_DISABLED

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_COMPAT_DISABLED = 0

static

C++: enum TriangleGlCompatibleMode (cv.TriangleGlCompatibleMode)

◆ RASTERIZE_COMPAT_INVDEPTH

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_COMPAT_INVDEPTH = 1

static

C++: enum TriangleGlCompatibleMode (cv.TriangleGlCompatibleMode)

◆ RASTERIZE_CULLING_CCW

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_CULLING_CCW = 2

static

C++: enum TriangleCullingMode (cv.TriangleCullingMode)

◆ RASTERIZE_CULLING_CW

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_CULLING_CW = 1

static

C++: enum TriangleCullingMode (cv.TriangleCullingMode)

◆ RASTERIZE_CULLING_NONE

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_CULLING_NONE = 0

static

C++: enum TriangleCullingMode (cv.TriangleCullingMode)

◆ RASTERIZE_SHADING_FLAT

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_SHADING_FLAT = 1

static

C++: enum TriangleShadingType (cv.TriangleShadingType)

◆ RASTERIZE_SHADING_SHADED

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_SHADING_SHADED = 2

static

C++: enum TriangleShadingType (cv.TriangleShadingType)

◆ RASTERIZE_SHADING_WHITE

const int OpenCVForUnity.PtcloudModule.Ptcloud.RASTERIZE_SHADING_WHITE = 0

static

C++: enum TriangleShadingType (cv.TriangleShadingType)

◆ RGBD_PLANE_METHOD_DEFAULT

const int OpenCVForUnity.PtcloudModule.Ptcloud.RGBD_PLANE_METHOD_DEFAULT = 0

static

C++: enum RgbdPlaneMethod (cv.RgbdPlaneMethod)

◆ VolumeType_ColorTSDF

const int OpenCVForUnity.PtcloudModule.Ptcloud.VolumeType_ColorTSDF = 2

static

C++: enum VolumeType (cv.VolumeType)

◆ VolumeType_HashTSDF

const int OpenCVForUnity.PtcloudModule.Ptcloud.VolumeType_HashTSDF = 1

static

C++: enum VolumeType (cv.VolumeType)

◆ VolumeType_TSDF

const int OpenCVForUnity.PtcloudModule.Ptcloud.VolumeType_TSDF = 0

static

C++: enum VolumeType (cv.VolumeType)

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

OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Core/org/opencv/ptcloud/Ptcloud.cs
OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Extensions/org/opencv/ptcloud/Ptcloud_Struct.cs
OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Extensions/org/opencv/ptcloud/Ptcloud_ValueTuple.cs

Static Public Member Functions

Static Public Attributes

Member Function Documentation

◆ depthTo3d() [1/2]

◆ depthTo3d() [2/2]

◆ depthTo3dSparse()

◆ findPlanes() [1/8]

◆ findPlanes() [2/8]

◆ findPlanes() [3/8]

◆ findPlanes() [4/8]

◆ findPlanes() [5/8]

◆ findPlanes() [6/8]

◆ findPlanes() [7/8]

◆ findPlanes() [8/8]

◆ loadMesh() [1/4]

◆ loadMesh() [2/4]

◆ loadMesh() [3/4]

◆ loadMesh() [4/4]

◆ loadPointCloud() [1/3]

◆ loadPointCloud() [2/3]

◆ loadPointCloud() [3/3]

◆ registerDepth() [1/6]

◆ registerDepth() [2/6]

◆ registerDepth() [3/6]

◆ registerDepth() [4/6]

◆ registerDepth() [5/6]

◆ registerDepth() [6/6]

◆ rescaleDepth() [1/2]

◆ rescaleDepth() [2/2]

◆ saveMesh() [1/4]

◆ saveMesh() [2/4]

◆ saveMesh() [3/4]

◆ saveMesh() [4/4]

◆ savePointCloud() [1/3]

◆ savePointCloud() [2/3]

◆ savePointCloud() [3/3]

◆ triangleRasterize() [1/2]

◆ triangleRasterize() [2/2]

◆ triangleRasterizeColor() [1/2]

◆ triangleRasterizeColor() [2/2]

◆ triangleRasterizeDepth() [1/2]

◆ triangleRasterizeDepth() [2/2]

◆ warpFrame() [1/4]

◆ warpFrame() [2/4]

◆ warpFrame() [3/4]

◆ warpFrame() [4/4]

Member Data Documentation

◆ N_PYRAMIDS

◆ OdometryAlgoType_COMMON

◆ OdometryAlgoType_FAST

◆ OdometryType_DEPTH

◆ OdometryType_RGB

◆ OdometryType_RGB_DEPTH

◆ PYR_CLOUD

◆ PYR_DEPTH

◆ PYR_DIX

◆ PYR_DIY

◆ PYR_IMAGE

◆ PYR_MASK

◆ PYR_NORM

◆ PYR_NORMMASK

◆ PYR_TEXMASK

◆ RASTERIZE_COMPAT_DISABLED

◆ RASTERIZE_COMPAT_INVDEPTH

◆ RASTERIZE_CULLING_CCW

◆ RASTERIZE_CULLING_CW

◆ RASTERIZE_CULLING_NONE

◆ RASTERIZE_SHADING_FLAT

◆ RASTERIZE_SHADING_SHADED

◆ RASTERIZE_SHADING_WHITE

◆ RGBD_PLANE_METHOD_DEFAULT

◆ VolumeType_ColorTSDF

◆ VolumeType_HashTSDF

◆ VolumeType_TSDF