@spec create(Evision.DynaFu.Params.t()) :: t() | {:error, String.t()}

create

Positional Arguments

• params: kinfu::Params

Return

• retval: DynaFu

Python prototype (for reference only):

create(_params) -> retval

@spec getCloud(t()) :: {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

Gets points and normals of current 3d mesh

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Return

• points: Evision.Mat.t().

  vector of points which are 4-float vectors

• normals: Evision.Mat.t().

  vector of normals which are 4-float vectors

The order of normals corresponds to order of points. The order of points is undefined.

Python prototype (for reference only):

getCloud([, points[, normals]]) -> points, normals

@spec getCloud(t(), [{atom(), term()}, ...] | nil) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

Gets points and normals of current 3d mesh

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Return

• points: Evision.Mat.t().

  vector of points which are 4-float vectors

• normals: Evision.Mat.t().

  vector of normals which are 4-float vectors

The order of normals corresponds to order of points. The order of points is undefined.

Python prototype (for reference only):

getCloud([, points[, normals]]) -> points, normals

@spec getNormals(t(), Evision.Mat.maybe_mat_in()) ::
  Evision.Mat.t() | {:error, String.t()}

Calculates normals for given points

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

• points: Evision.Mat.t().

  input vector of points which are 4-float vectors

Return

• normals: Evision.Mat.t().

  output vector of corresponding normals which are 4-float vectors

Python prototype (for reference only):

getNormals(points[, normals]) -> normals

@spec getNormals(t(), Evision.Mat.maybe_mat_in(), [{atom(), term()}, ...] | nil) ::
  Evision.Mat.t() | {:error, String.t()}

Calculates normals for given points

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

• points: Evision.Mat.t().

  input vector of points which are 4-float vectors

Return

• normals: Evision.Mat.t().

  output vector of corresponding normals which are 4-float vectors

Python prototype (for reference only):

getNormals(points[, normals]) -> normals

@spec getPoints(t()) :: Evision.Mat.t() | {:error, String.t()}

Gets points of current 3d mesh

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Return

• points: Evision.Mat.t().

  vector of points which are 4-float vectors

The order of points is undefined.

Python prototype (for reference only):

getPoints([, points]) -> points

@spec getPoints(t(), [{atom(), term()}, ...] | nil) ::
  Evision.Mat.t() | {:error, String.t()}

Gets points of current 3d mesh

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Return

• points: Evision.Mat.t().

  vector of points which are 4-float vectors

The order of points is undefined.

Python prototype (for reference only):

getPoints([, points]) -> points

@spec render(t()) :: Evision.Mat.t() | {:error, String.t()}

Renders a volume into an image

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Keyword Arguments

• cameraPose: Evision.Mat.t().

  pose of camera to render from. If empty then render from current pose which is a last frame camera pose.

Return

• image: Evision.Mat.t().

  resulting image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in DynaFu params.

Python prototype (for reference only):

render([, image[, cameraPose]]) -> image

@spec render(t(), [{atom(), term()}, ...] | nil) ::
  Evision.Mat.t() | {:error, String.t()}

Renders a volume into an image

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Keyword Arguments

• cameraPose: Evision.Mat.t().

  pose of camera to render from. If empty then render from current pose which is a last frame camera pose.

Return

• image: Evision.Mat.t().

  resulting image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. Light pose is fixed in DynaFu params.

Python prototype (for reference only):

render([, image[, cameraPose]]) -> image

@spec reset(t()) :: t() | {:error, String.t()}

Resets the algorithm

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

Clears current model and resets a pose.

Python prototype (for reference only):

reset() -> None

@spec update(t(), Evision.Mat.maybe_mat_in()) :: boolean() | {:error, String.t()}

Process next depth frame

Positional Arguments

• self: Evision.DynaFu.DynaFu.t()

• depth: Evision.Mat.t().

  one-channel image which size and depth scale is described in algorithm's parameters

Return

• retval: bool

Integrates depth into voxel space with respect to its ICP-calculated pose. Input image is converted to CV_32F internally if has another type. @return true if succeeded to align new frame with current scene, false if opposite

Python prototype (for reference only):

update(depth) -> retval