Performs colored surface reconstruction from depth data.
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Performs colored surface reconstruction from depth data.
◆ Reconstruction()
Construct surface reconstruction object.
 Parameters

To check whether the object was created successfully call good() after object creation.
◆ addFrame()
bool RecFusion::Reconstruction::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 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. 
 Returns
 True if frame was processed, false if an error occurred.
◆ getMesh()
bool RecFusion::Reconstruction::getMesh 
( 
Mesh * 
mesh  ) 
const 
Return reconstructed mesh. The caller has to create the mesh object.
 Parameters

mesh  Userallocated mesh object 
 Returns
 True if successful, false otherwise
◆ good()
bool RecFusion::Reconstruction::good 
( 
 ) 
const 
Get reconstruction object status.
 Returns
 True if reconstruction object is ready for reconstruction, false otherwise.
The documentation for this class was generated from the following file: