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OpenCV
4.9.0-dev
Open Source Computer Vision
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#include <opencv2/rgbd/colored_kinfu.hpp>
Public Member Functions | |
Params () | |
Params (Matx33f volumeInitialPoseRot, Vec3f volumeInitialPoseTransl) | |
Constructor for Params Sets the initial pose of the TSDF volume. | |
Params (Matx44f volumeInitialPose) | |
Constructor for Params Sets the initial pose of the TSDF volume. | |
void | setInitialVolumePose (Matx33f R, Vec3f t) |
Set Initial Volume Pose Sets the initial pose of the TSDF volume. | |
void | setInitialVolumePose (Matx44f homogen_tf) |
Set Initial Volume Pose Sets the initial pose of the TSDF volume. | |
Static Public Member Functions | |
static Ptr< Params > | coarseParams () |
Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion. | |
static Ptr< Params > | coloredTSDFParams (bool isCoarse) |
ColoredTSDF parameters A set of parameters suitable for use with HashTSDFVolume. | |
static Ptr< Params > | defaultParams () |
Default parameters A set of parameters which provides better model quality, can be very slow. | |
static Ptr< Params > | hashTSDFParams (bool isCoarse) |
HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume. | |
Public Attributes | |
int | bilateral_kernel_size |
Kernel size in pixels for bilateral smooth. | |
float | bilateral_sigma_depth |
Depth sigma in meters for bilateral smooth. | |
float | bilateral_sigma_spatial |
Spatial sigma in pixels for bilateral smooth. | |
float | depthFactor |
pre-scale per 1 meter for input values | |
Size | frameSize |
frame size in pixels | |
float | icpAngleThresh |
float | icpDistThresh |
distance theshold for ICP in meters | |
std::vector< int > | icpIterations |
Matx33f | intr |
camera intrinsics | |
Vec3f | lightPose |
light pose for rendering in meters | |
int | pyramidLevels |
Number of pyramid levels for ICP. | |
float | raycast_step_factor |
A length of one raycast step. | |
Size | rgb_frameSize |
rgb frame size in pixels | |
Matx33f | rgb_intr |
rgb camera intrinsics | |
float | truncateThreshold |
Threshold for depth truncation in meters. | |
int | tsdf_max_weight |
max number of frames per voxel | |
float | tsdf_min_camera_movement |
Minimal camera movement in meters. | |
float | tsdf_trunc_dist |
distance to truncate in meters | |
Vec3i | volumeDims |
Resolution of voxel space. | |
Affine3f | volumePose |
initial volume pose in meters | |
kinfu::VolumeType | volumeType |
float | voxelSize |
Size of voxel in meters. | |
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Constructor for Params Sets the initial pose of the TSDF volume.
volumeInitialPoseRot | rotation matrix |
volumeInitialPoseTransl | translation vector |
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inline |
Constructor for Params Sets the initial pose of the TSDF volume.
volumeInitialPose | 4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume |
Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.
ColoredTSDF parameters A set of parameters suitable for use with HashTSDFVolume.
Default parameters A set of parameters which provides better model quality, can be very slow.
HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume.
Set Initial Volume Pose Sets the initial pose of the TSDF volume.
R | rotation matrix |
t | translation vector |
void cv::colored_kinfu::Params::setInitialVolumePose | ( | Matx44f | homogen_tf | ) |
Set Initial Volume Pose Sets the initial pose of the TSDF volume.
homogen_tf | 4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume |
int cv::colored_kinfu::Params::bilateral_kernel_size |
Kernel size in pixels for bilateral smooth.
float cv::colored_kinfu::Params::bilateral_sigma_depth |
Depth sigma in meters for bilateral smooth.
float cv::colored_kinfu::Params::bilateral_sigma_spatial |
Spatial sigma in pixels for bilateral smooth.
float cv::colored_kinfu::Params::depthFactor |
pre-scale per 1 meter for input values
Typical values are: 5000 per 1 meter for the 16-bit PNG files of TUM database 1000 per 1 meter for Kinect 2 device 1 per 1 meter for the 32-bit float images in the ROS bag files
Size cv::colored_kinfu::Params::frameSize |
frame size in pixels
float cv::colored_kinfu::Params::icpAngleThresh |
angle threshold for ICP in radians
float cv::colored_kinfu::Params::icpDistThresh |
distance theshold for ICP in meters
std::vector<int> cv::colored_kinfu::Params::icpIterations |
number of ICP iterations for each pyramid level
Matx33f cv::colored_kinfu::Params::intr |
camera intrinsics
Vec3f cv::colored_kinfu::Params::lightPose |
light pose for rendering in meters
int cv::colored_kinfu::Params::pyramidLevels |
Number of pyramid levels for ICP.
float cv::colored_kinfu::Params::raycast_step_factor |
A length of one raycast step.
How much voxel sizes we skip each raycast step
Size cv::colored_kinfu::Params::rgb_frameSize |
rgb frame size in pixels
Matx33f cv::colored_kinfu::Params::rgb_intr |
rgb camera intrinsics
float cv::colored_kinfu::Params::truncateThreshold |
Threshold for depth truncation in meters.
All depth values beyond this threshold will be set to zero
int cv::colored_kinfu::Params::tsdf_max_weight |
max number of frames per voxel
Each voxel keeps running average of distances no longer than this value.
float cv::colored_kinfu::Params::tsdf_min_camera_movement |
Minimal camera movement in meters.
Integrate new depth frame only if camera movement exceeds this value.
float cv::colored_kinfu::Params::tsdf_trunc_dist |
distance to truncate in meters
Distances to surface that exceed this value will be truncated to 1.0.
Vec3i cv::colored_kinfu::Params::volumeDims |
Resolution of voxel space.
Number of voxels in each dimension.
Affine3f cv::colored_kinfu::Params::volumePose |
initial volume pose in meters
kinfu::VolumeType cv::colored_kinfu::Params::volumeType |
float cv::colored_kinfu::Params::voxelSize |
Size of voxel in meters.