#include "kinfu.hpp"

Public Types
enum	PlatformType { PLATFORM_CPU, PLATFORM_GPU }

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. More...

static Ptr< Params >	defaultParams ()
	Default parameters A set of parameters which provides better model quality, can be very slow. More...

Public Attributes
int	bilateral_kernel_size
	Kernel size in pixels for bilateral smooth. More...

float	bilateral_sigma_depth
	Depth sigma in meters for bilateral smooth. More...

float	bilateral_sigma_spatial
	Spatial sigma in pixels for bilateral smooth. More...

float	depthFactor
	pre-scale per 1 meter for input values More...

Size	frameSize
	frame size in pixels More...

float	icpAngleThresh

float	icpDistThresh
	distance theshold for ICP in meters More...

std::vector< int >	icpIterations

Matx33f	intr
	camera intrinsics More...

Vec3f	lightPose
	light pose for rendering in meters More...

PlatformType	platform
	A platform on which to run the algorithm. More...

int	pyramidLevels
	Number of pyramid levels for ICP. More...

float	raycast_step_factor
	A length of one raycast step. More...

int	tsdf_max_weight
	max number of frames per voxel More...

float	tsdf_min_camera_movement
	Minimal camera movement in meters. More...

float	tsdf_trunc_dist
	distance to truncate in meters More...

int	volumeDims
	Resolution of voxel cube. More...

Affine3f	volumePose
	initial volume pose in meters More...

float	volumeSize
	Size of voxel cube side in meters. More...

Member Enumeration Documentation

§ PlatformType

enum cv::kinfu::Params::PlatformType

Enumerator
PLATFORM_CPU
PLATFORM_GPU

Member Function Documentation

§ coarseParams()

static Ptr<Params> cv::kinfu::Params::coarseParams ( )

static

Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.

§ defaultParams()

static Ptr<Params> cv::kinfu::Params::defaultParams ( )

static

Default parameters A set of parameters which provides better model quality, can be very slow.

Member Data Documentation

§ bilateral_kernel_size

int cv::kinfu::Params::bilateral_kernel_size

Kernel size in pixels for bilateral smooth.

§ bilateral_sigma_depth

float cv::kinfu::Params::bilateral_sigma_depth

Depth sigma in meters for bilateral smooth.

§ bilateral_sigma_spatial

float cv::kinfu::Params::bilateral_sigma_spatial

Spatial sigma in pixels for bilateral smooth.

§ depthFactor

float cv::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 1 per 1 meter for the 32-bit float images in the ROS bag files

§ frameSize

Size cv::kinfu::Params::frameSize

frame size in pixels

§ icpAngleThresh

float cv::kinfu::Params::icpAngleThresh

angle threshold for ICP in radians

§ icpDistThresh

float cv::kinfu::Params::icpDistThresh

distance theshold for ICP in meters

§ icpIterations

std::vector<int> cv::kinfu::Params::icpIterations

number of ICP iterations for each pyramid level

§ intr

Matx33f cv::kinfu::Params::intr

camera intrinsics

§ lightPose

Vec3f cv::kinfu::Params::lightPose

light pose for rendering in meters

§ platform

PlatformType cv::kinfu::Params::platform

A platform on which to run the algorithm.

Currently KinFu supports only one platform which is a CPU. GPU platform is to be implemented in the future.

§ pyramidLevels

int cv::kinfu::Params::pyramidLevels

Number of pyramid levels for ICP.

§ raycast_step_factor

float cv::kinfu::Params::raycast_step_factor

A length of one raycast step.

How much voxel sizes we skip each raycast step

§ tsdf_max_weight

int cv::kinfu::Params::tsdf_max_weight

max number of frames per voxel

Each voxel keeps running average of distances no longer than this value.

§ tsdf_min_camera_movement

float cv::kinfu::Params::tsdf_min_camera_movement

Minimal camera movement in meters.

Integrate new depth frame only if camera movement exceeds this value.

§ tsdf_trunc_dist

float cv::kinfu::Params::tsdf_trunc_dist

distance to truncate in meters

Distances that exceed this value will be truncated in voxel cube values.

§ volumeDims

int cv::kinfu::Params::volumeDims

Resolution of voxel cube.

Number of voxels in each cube edge.

§ volumePose

Affine3f cv::kinfu::Params::volumePose

initial volume pose in meters

§ volumeSize

float cv::kinfu::Params::volumeSize

Size of voxel cube side in meters.

The documentation for this struct was generated from the following file:

/build/master-contrib_docs-lin64/opencv_contrib/modules/rgbd/include/opencv2/rgbd/kinfu.hpp

Public Types

Static Public Member Functions

Public Attributes