cv::detail::Submap< MatType > Class Template Reference

#include <opencv2/ptcloud/detail/submap.hpp>

Classes
struct	PoseConstraint

Public Types
typedef std::map< int, PoseConstraint >	Constraints

Public Member Functions
	Submap (int _id, const VolumeSettings &settings, const cv::Affine3f &_pose=cv::Affine3f::Identity(), int _startFrameId=0)
virtual	~Submap ()=default
bool	addEdgeToSubmap (const int tarSubmapID, const Affine3f &tarPose)
float	calcVisibilityRatio (int currFrameId) const
void	composeCameraPose (const cv::Affine3f &_relativePose)
PoseConstraint &	getConstraint (const int _id)
virtual int	getTotalAllocatedBlocks () const
virtual int	getVisibleBlocks (int currFrameId) const
virtual void	integrate (InputArray _depth, const int currframeId)
virtual void	raycast (const cv::Affine3f &cameraPose, cv::Size frameSize, cv::Matx33f K, OutputArray points=noArray(), OutputArray normals=noArray())
virtual void	setStartFrameId (int _startFrameId)
	TODO: Possibly useless.
virtual void	setStopFrameId (int _stopFrameId)

Public Attributes
cv::Affine3f	cameraPose
Constraints	constraints
OdometryFrame	frame
	TODO: Add support for GPU arrays (UMat).
const int	id
cv::Affine3f	pose
OdometryFrame	renderFrame
int	startFrameId
int	stopFrameId
Volume	volume

Static Public Attributes
static constexpr int	FRAME_VISIBILITY_THRESHOLD = 5
	TODO: Should we support submaps for regular volumes?

Member Typedef Documentation

Constraints

template<typename MatType>

typedef std::map<int, PoseConstraint> cv::detail::Submap< MatType >::Constraints

Constructor & Destructor Documentation

Submap()

template<typename MatType>

cv::detail::Submap< MatType >::Submap ( int _id, const VolumeSettings & settings, const cv::Affine3f & _pose = cv::Affine3f::Identity(), int _startFrameId = 0 )

inline

~Submap()

template<typename MatType>

virtual cv::detail::Submap< MatType >::~Submap ( )

virtualdefault

Member Function Documentation

addEdgeToSubmap()

template<typename MatType>

bool cv::detail::Submap< MatType >::addEdgeToSubmap	(	const int	tarSubmapID,
		const Affine3f &	tarPose )

calcVisibilityRatio()

template<typename MatType>

float cv::detail::Submap< MatType >::calcVisibilityRatio ( int currFrameId ) const

inline

composeCameraPose()

template<typename MatType>

void cv::detail::Submap< MatType >::composeCameraPose ( const cv::Affine3f & _relativePose )

inline

getConstraint()

template<typename MatType>

PoseConstraint & cv::detail::Submap< MatType >::getConstraint ( const int _id )

inline

Creates constraints if doesn't exist yet

getTotalAllocatedBlocks()

template<typename MatType>

virtual int cv::detail::Submap< MatType >::getTotalAllocatedBlocks ( ) const

inlinevirtual

getVisibleBlocks()

template<typename MatType>

virtual int cv::detail::Submap< MatType >::getVisibleBlocks ( int currFrameId ) const

inlinevirtual

integrate()

template<typename MatType>

void cv::detail::Submap< MatType >::integrate ( InputArray _depth, const int currframeId )

virtual

raycast()

template<typename MatType>

void cv::detail::Submap< MatType >::raycast ( const cv::Affine3f & cameraPose, cv::Size frameSize, cv::Matx33f K, OutputArray points = noArray(), OutputArray normals = noArray() )

virtual

setStartFrameId()

template<typename MatType>

virtual void cv::detail::Submap< MatType >::setStartFrameId ( int _startFrameId )

inlinevirtual

TODO: Possibly useless.

setStopFrameId()

template<typename MatType>

virtual void cv::detail::Submap< MatType >::setStopFrameId ( int _stopFrameId )

inlinevirtual

Member Data Documentation

cameraPose

template<typename MatType>

cv::Affine3f cv::detail::Submap< MatType >::cameraPose

constraints

template<typename MatType>

Constraints cv::detail::Submap< MatType >::constraints

frame

template<typename MatType>

OdometryFrame cv::detail::Submap< MatType >::frame

TODO: Add support for GPU arrays (UMat).

FRAME_VISIBILITY_THRESHOLD

template<typename MatType>

int cv::detail::Submap< MatType >::FRAME_VISIBILITY_THRESHOLD = 5

staticconstexpr

TODO: Should we support submaps for regular volumes?

id

template<typename MatType>

const int cv::detail::Submap< MatType >::id

pose

template<typename MatType>

cv::Affine3f cv::detail::Submap< MatType >::pose

renderFrame

template<typename MatType>

OdometryFrame cv::detail::Submap< MatType >::renderFrame

startFrameId

template<typename MatType>

int cv::detail::Submap< MatType >::startFrameId

stopFrameId

template<typename MatType>

int cv::detail::Submap< MatType >::stopFrameId

volume

template<typename MatType>

Volume cv::detail::Submap< MatType >::volume

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

• opencv2/ptcloud/detail/submap.hpp