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Feature #27286: Add ColoredHashTSDFVolume support in rgbd module(CPU) #3949

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Feature #27286: Add ColoredHashTSDFVolume support in rgbd module(CPU) #3949

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7 changes: 6 additions & 1 deletion modules/rgbd/include/opencv2/rgbd/colored_kinfu.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,10 +75,15 @@ struct CV_EXPORTS_W Params
CV_WRAP static Ptr<Params> hashTSDFParams(bool isCoarse);

/** @brief ColoredTSDF parameters
A set of parameters suitable for use with HashTSDFVolume
A set of parameters suitable for use with ColoredTSDFVolume
*/
CV_WRAP static Ptr<Params> coloredTSDFParams(bool isCoarse);

/** @brief ColoredHashTSDF parameters
A set of parameters suitable for use with ColoredHashTSDFVolume
*/
CV_WRAP static Ptr<Params> coloredHashTSDFParams(bool isCoarse);

/** @brief frame size in pixels */
CV_PROP_RW Size frameSize;

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5 changes: 5 additions & 0 deletions modules/rgbd/include/opencv2/rgbd/kinfu.hpp
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Expand Up @@ -79,6 +79,11 @@ struct CV_EXPORTS_W Params
*/
CV_WRAP static Ptr<Params> coloredTSDFParams(bool isCoarse);

/** @brief ColoredHashTSDF parameters
A set of parameters suitable for use with ColoredHashTSDFVolume
*/
CV_WRAP static Ptr<Params> coloredHashTSDFParams(bool isCoarse);

/** @brief frame size in pixels */
CV_PROP_RW Size frameSize;

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3 changes: 2 additions & 1 deletion modules/rgbd/include/opencv2/rgbd/volume.hpp
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Expand Up @@ -56,7 +56,8 @@ enum class VolumeType
{
TSDF = 0,
HASHTSDF = 1,
COLOREDTSDF = 2
COLOREDTSDF = 2,
COLOREDHASHTSDF = 3
};

struct CV_EXPORTS_W VolumeParams
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