Reconstruction Class Reference

#include <Reconstruction.h>

Performs colored surface reconstruction from depth data. More...

Detailed Description

Performs colored surface reconstruction from depth data.

Public Member Functions
	Reconstruction (const ReconstructionParams &params)
	Construct surface reconstruction object. More...
	~Reconstruction ()
	Destructor.
bool	good () const
	Get reconstruction object status. More...
bool	addFrame (int sensor, const DepthImage &imgDepth, const ColorImage &imgColor, bool *trackingStatus=0, ColorImage *imgScene=0, Mat4 *T=0, Mat4 *sensorT=0, Mat4 *trackedT=0, bool dontForceFirstFrame=false)
	Add frame to reconstruction. More...
bool	getMesh (Mesh *mesh) const
	Return reconstructed mesh. More...

Constructor & Destructor Documentation

Reconstruction()

Reconstruction

(

const ReconstructionParams &

params

)

Construct surface reconstruction object.

Parameters

params

Reconstruction parameters.

To check whether the object was created successfully call good() after object creation.

Member Function Documentation

good()

bool good

(

)

const

Get reconstruction object status.

Returns

True if reconstruction object is ready for reconstruction, false otherwise.

addFrame()

bool addFrame	(	int	sensor,
		const DepthImage &	imgDepth,
		const ColorImage &	imgColor,
		bool *	trackingStatus = 0,
		ColorImage *	imgScene = 0,
		Mat4 *	T = 0,
		Mat4 *	sensorT = 0,
		Mat4 *	trackedT = 0,
		bool	dontForceFirstFrame = false
	)

Add frame to reconstruction.

Parameters

sensor	Index of sensor from which frame was captured
imgDepth	Depth image. Units are assumed to be 0.1 mm.
imgColor	Color image
trackingStatus	Ignored if zero. True when frame has been tracked successfully, false when track was lost
imgScene	Ignored if zero, otherwise it must point to a color image into which the reconstruction volume will be rendered from the current camera viewpoint. The measurements from the current view are not included in the rendering so on the first call it will return an empty image. Must have same size as depth image.
T	Ignored if zero, otherwise it must point to a 4x4 matrix giving the transformation in mm from the camera coordinate system to the center of the reconstruction volume. The camera coordinate system is looking along the positive z-axis with x to the right and y pointing downwards. If T is given the volumePosition in the reconstruction parameters is ignored.
sensorT	Ignored if zero, otherwise it must point to a 4x4 matrix specifying the transformation of this sensor relative to the reference sensor.
trackedT	Ignored if zero, otherwise it must point to a 4x4 matrix which will return the current pose in mm from the camera coordinate system to the center of the reconstruction volume. This entry is only valid if trackingStatus is true.

Returns

True if frame was processed, false if an error occurred.

getMesh()

bool getMesh

(

Mesh *

mesh

)

const

Return reconstructed mesh.

The caller has to create the mesh object.

Parameters

mesh	User-allocated mesh object

Returns

True if successful, false otherwise

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

• E:/BuildAgent/work/97cc5eac790048b1/RecFusionSDK/include/Reconstruction.h