OpenCV
4.0.0
Open Source Computer Vision
|
#include "kinfu.hpp"
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... | |
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... | |
Vec3i | volumeDims |
Resolution of voxel space. More... | |
Affine3f | volumePose |
initial volume pose in meters More... | |
float | voxelSize |
Size of voxel in meters. More... | |
Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.
Default parameters A set of parameters which provides better model quality, can be very slow.
int cv::kinfu::Params::bilateral_kernel_size |
Kernel size in pixels for bilateral smooth.
float cv::kinfu::Params::bilateral_sigma_depth |
Depth sigma in meters for bilateral smooth.
float cv::kinfu::Params::bilateral_sigma_spatial |
Spatial sigma in pixels for bilateral smooth.
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 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::kinfu::Params::frameSize |
frame size in pixels
float cv::kinfu::Params::icpAngleThresh |
angle threshold for ICP in radians
float cv::kinfu::Params::icpDistThresh |
distance theshold for ICP in meters
std::vector<int> cv::kinfu::Params::icpIterations |
number of ICP iterations for each pyramid level
Matx33f cv::kinfu::Params::intr |
camera intrinsics
Vec3f cv::kinfu::Params::lightPose |
light pose for rendering in meters
int cv::kinfu::Params::pyramidLevels |
Number of pyramid levels for ICP.
float cv::kinfu::Params::raycast_step_factor |
A length of one raycast step.
How much voxel sizes we skip each raycast step
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.
float cv::kinfu::Params::tsdf_min_camera_movement |
Minimal camera movement in meters.
Integrate new depth frame only if camera movement exceeds this value.
float cv::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::kinfu::Params::volumeDims |
Resolution of voxel space.
Number of voxels in each dimension.
Affine3f cv::kinfu::Params::volumePose |
initial volume pose in meters
float cv::kinfu::Params::voxelSize |
Size of voxel in meters.