RecFusion SDK

#include <Reconstruction.h>
Performs colored surface reconstruction from depth data. More...
Performs colored surface reconstruction from depth data.
Public Member Functions  
Reconstruction (const ReconstructionParams ¶ms)  
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...  
Reconstruction  (  const ReconstructionParams &  params  ) 
Construct surface reconstruction object.
params  Reconstruction parameters. 
To check whether the object was created successfully call good() after object creation.
bool good  (  )  const 
Get reconstruction object status.
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.
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 zaxis 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. 
bool getMesh  (  Mesh *  mesh  )  const 
Return reconstructed mesh.
The caller has to create the mesh object.
mesh  Userallocated mesh object 