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rgbd: restore fetching colors for pointcloud in coloredkinfu #4184

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rgbd: restore fetching colors for pointcloud in coloredkinfu #4184

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5 changes: 3 additions & 2 deletions modules/rgbd/include/opencv2/rgbd/colored_kinfu.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,15 +225,16 @@ class CV_EXPORTS_W ColoredKinFu

CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose) const = 0;

/** @brief Gets points and normals of current 3d mesh
/** @brief Gets points, normals and colors of current 3d mesh

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

@param points vector of points which are 4-float vectors
@param normals vector of normals which are 4-float vectors
@param colors vector of colors which are 4-float vectors
*/
CV_WRAP virtual void getCloud(OutputArray points, OutputArray normals) const = 0;
CV_WRAP virtual void getCloud(OutputArray points, OutputArray normals, OutputArray colors = noArray()) const = 0;

/** @brief Gets points of current 3d mesh

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6 changes: 3 additions & 3 deletions modules/rgbd/src/colored_kinfu.cpp
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Expand Up @@ -141,7 +141,7 @@ class ColoredKinFuImpl : public ColoredKinFu
void render(OutputArray image) const CV_OVERRIDE;
void render(OutputArray image, const Matx44f& cameraPose) const CV_OVERRIDE;

virtual void getCloud(OutputArray points, OutputArray normals) const CV_OVERRIDE;
virtual void getCloud(OutputArray points, OutputArray normals, OutputArray colors) const CV_OVERRIDE;
void getPoints(OutputArray points) const CV_OVERRIDE;
void getNormals(InputArray points, OutputArray normals) const CV_OVERRIDE;

Expand Down Expand Up @@ -364,9 +364,9 @@ void ColoredKinFuImpl<MatType>::render(OutputArray image, const Matx44f& _camera


template< typename MatType >
void ColoredKinFuImpl<MatType>::getCloud(OutputArray p, OutputArray n) const
void ColoredKinFuImpl<MatType>::getCloud(OutputArray p, OutputArray n, OutputArray c) const
{
volume.fetchPointsNormals(p, n);
volume.fetchPointsNormalsColors(p, n, c);
}


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