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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

• points: Evision.Mat.

  the input exist point.

Return

• normals: Evision.Mat.t().

  the storage of normals (corresponding to input points) in the image.

Python prototype (for reference only):

fetchNormals(points[, normals]) -> normals

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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

• points: Evision.Mat.

  the input exist point.

Return

• normals: Evision.Mat.t().

  the storage of normals (corresponding to input points) in the image.

Python prototype (for reference only):

fetchNormals(points[, normals]) -> normals

@spec fetchPointsNormals(Keyword.t()) :: any() | {:error, String.t()}

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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• points: Evision.Mat.t().

  the storage of all points.

• normals: Evision.Mat.t().

  the storage of all normals, corresponding to points.

Python prototype (for reference only):

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

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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• points: Evision.Mat.t().

  the storage of all points.

• normals: Evision.Mat.t().

  the storage of all normals, corresponding to points.

Python prototype (for reference only):

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

@spec fetchPointsNormalsColors(Keyword.t()) :: any() | {:error, String.t()}

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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• points: Evision.Mat.t().

  the storage of all points.

• normals: Evision.Mat.t().

  the storage of all normals, corresponding to points.

• colors: Evision.Mat.t().

  the storage of all colors, corresponding to points (only for ColorTSDF).

Python prototype (for reference only):

fetchPointsNormalsColors([, points[, normals[, colors]]]) -> points, normals, colors

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

Extract the all data from volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• points: Evision.Mat.t().

  the storage of all points.

• normals: Evision.Mat.t().

  the storage of all normals, corresponding to points.

• colors: Evision.Mat.t().

  the storage of all colors, corresponding to points (only for ColorTSDF).

Python prototype (for reference only):

fetchPointsNormalsColors([, points[, normals[, colors]]]) -> points, normals, colors

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

Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)

Positional Arguments

• self: Evision.Volume.t()

• precision: integer().

  bounding box calculation precision

Return

• bb: Evision.Mat.t().

  6-float 1d array containing (min_x, min_y, min_z, max_x, max_y, max_z) in volume coordinates

Python prototype (for reference only):

getBoundingBox(precision[, bb]) -> bb

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

Gets bounding box in volume coordinates with given precision: VOLUME_UNIT - up to volume unit VOXEL - up to voxel (currently not supported)

Positional Arguments

• self: Evision.Volume.t()

• precision: integer().

  bounding box calculation precision

Return

• bb: Evision.Mat.t().

  6-float 1d array containing (min_x, min_y, min_z, max_x, max_y, max_z) in volume coordinates

Python prototype (for reference only):

getBoundingBox(precision[, bb]) -> bb

@spec getEnableGrowth(Keyword.t()) :: any() | {:error, String.t()}

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

Returns if new volume units are allocated during integration or not. Makes sense for HashTSDF only.

Positional Arguments

• self: Evision.Volume.t()

Return

• retval: bool

Python prototype (for reference only):

getEnableGrowth() -> retval

@spec getTotalVolumeUnits(Keyword.t()) :: any() | {:error, String.t()}

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

return number of volume units in volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• retval: size_t

Python prototype (for reference only):

getTotalVolumeUnits() -> retval

@spec getVisibleBlocks(Keyword.t()) :: any() | {:error, String.t()}

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

return visible blocks in volume.

Positional Arguments

• self: Evision.Volume.t()

Return

• retval: integer()

Python prototype (for reference only):

getVisibleBlocks() -> retval

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

Integrates the input data to the volume.

Positional Arguments

• self: Evision.Volume.t()

• depth: Evision.Mat.

  the depth image.

• pose: Evision.Mat.

  the pose of camera in global coordinates.

Camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

integrate(depth, pose) -> None

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

Integrates the input data to the volume.

Positional Arguments

• self: Evision.Volume.t()

• depth: Evision.Mat.

  the depth image.

• image: Evision.Mat.

  the color image (only for ColorTSDF). For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.

• pose: Evision.Mat.

  the pose of camera in global coordinates.

Camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

integrateColor(depth, image, pose) -> None

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

Integrates the input data to the volume.

Positional Arguments

• self: Evision.Volume.t()

• frame: Evision.OdometryFrame.

  the object from which to take depth and image data. For color TSDF a depth data should be registered with color data, i.e. have the same intrinsics & camera pose. This can be done using function registerDepth() from 3d module.

• pose: Evision.Mat.

  the pose of camera in global coordinates.

Camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

integrateFrame(frame, pose) -> None

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycast(cameraPose[, points[, normals]]) -> points, normals

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycast(cameraPose[, points[, normals]]) -> points, normals

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

• colors: Evision.Mat.t().

  image to store rendered colors corresponding to points (only for ColorTSDF).

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

• colors: Evision.Mat.t().

  image to store rendered colors corresponding to points (only for ColorTSDF).

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastColor(cameraPose[, points[, normals[, colors]]]) -> points, normals, colors

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

• height: integer().

  the height of result image

• width: integer().

  the width of result image

• k: Evision.Mat.

  camera raycast intrinsics

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

• height: integer().

  the height of result image

• width: integer().

  the width of result image

• k: Evision.Mat.

  camera raycast intrinsics

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastEx(cameraPose, height, width, K[, points[, normals]]) -> points, normals

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

• height: integer().

  the height of result image

• width: integer().

  the width of result image

• k: Evision.Mat.

  camera raycast intrinsics

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

• colors: Evision.Mat.t().

  image to store rendered colors corresponding to points (only for ColorTSDF).

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

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

Renders the volume contents into an image. The resulting points and normals are in camera's coordinate system.

Positional Arguments

• self: Evision.Volume.t()

• cameraPose: Evision.Mat.

  the pose of camera in global coordinates.

• height: integer().

  the height of result image

• width: integer().

  the width of result image

• k: Evision.Mat.

  camera raycast intrinsics

Return

• points: Evision.Mat.t().

  image to store rendered points.

• normals: Evision.Mat.t().

  image to store rendered normals corresponding to points.

• colors: Evision.Mat.t().

  image to store rendered colors corresponding to points (only for ColorTSDF).

Rendered image size and camera intrinsics are taken from volume settings structure.

Python prototype (for reference only):

raycastExColor(cameraPose, height, width, K[, points[, normals[, colors]]]) -> points, normals, colors

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

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

clear all data in volume.

Positional Arguments

• self: Evision.Volume.t()

Python prototype (for reference only):

reset() -> None

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

Enables or disables new volume unit allocation during integration. Makes sense for HashTSDF only.

Positional Arguments

• self: Evision.Volume.t()
• v: bool

Python prototype (for reference only):

setEnableGrowth(v) -> None

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

Constructor of custom volume.

Keyword Arguments

• vtype: VolumeType.

  the volume type [TSDF, HashTSDF, ColorTSDF].

• settings: Evision.VolumeSettings.

  the custom settings for volume.

Return

• self: Evision.Volume.t()

Python prototype (for reference only):

Volume([, vtype[, settings]]) -> <Volume object>

@spec volume(Keyword.t()) :: any() | {:error, String.t()}

@spec volume([settings: term(), vtype: term()] | nil) :: t() | {:error, String.t()}

Constructor of custom volume.

Keyword Arguments

• vtype: VolumeType.

  the volume type [TSDF, HashTSDF, ColorTSDF].

• settings: Evision.VolumeSettings.

  the custom settings for volume.

Return

• self: Evision.Volume.t()

Python prototype (for reference only):

Volume([, vtype[, settings]]) -> <Volume object>