cv::kinfu::VolumeParams Struct Reference

#include <opencv2/rgbd/volume.hpp>

Collaboration diagram for cv::kinfu::VolumeParams:

Static Public Member Functions
static Ptr< VolumeParams >	coarseParams (VolumeType _volumeType)
	Coarse set of parameters that provides relatively higher performance at the cost of reconstrution quality.
static Ptr< VolumeParams >	defaultParams (VolumeType _volumeType)
	Default set of parameters that provide higher quality reconstruction at the cost of slow performance.

Public Attributes
float	depthTruncThreshold
	Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.
int	maxWeight
	Max number of frames to integrate per voxel Represents the max number of frames over which a running average of the TSDF is calculated for a voxel.
Affine3f	pose
	Initial pose of the volume in meters.
float	raycastStepFactor
	Length of single raycast step Describes the percentage of voxel length that is skipped per march.
Vec3i	resolution
	Resolution of voxel space Number of voxels in each dimension. Applicable only for TSDF Volume. HashTSDF volume only supports equal resolution in all three dimensions.
float	tsdfTruncDist
	TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.
VolumeType	type
	Type of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)
int	unitResolution = {0}
	Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.
float	voxelSize
	Length of voxels in meters.

Member Function Documentation

coarseParams()

static Ptr< VolumeParams > cv::kinfu::VolumeParams::coarseParams ( VolumeType  _volumeType )

static

Coarse set of parameters that provides relatively higher performance at the cost of reconstrution quality.

defaultParams()

static Ptr< VolumeParams > cv::kinfu::VolumeParams::defaultParams ( VolumeType  _volumeType )

static

Default set of parameters that provide higher quality reconstruction at the cost of slow performance.

Member Data Documentation

depthTruncThreshold

float cv::kinfu::VolumeParams::depthTruncThreshold

Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.

maxWeight

int cv::kinfu::VolumeParams::maxWeight

Max number of frames to integrate per voxel Represents the max number of frames over which a running average of the TSDF is calculated for a voxel.

pose

Affine3f cv::kinfu::VolumeParams::pose

Initial pose of the volume in meters.

raycastStepFactor

float cv::kinfu::VolumeParams::raycastStepFactor

Length of single raycast step Describes the percentage of voxel length that is skipped per march.

resolution

Vec3i cv::kinfu::VolumeParams::resolution

Resolution of voxel space Number of voxels in each dimension. Applicable only for TSDF Volume. HashTSDF volume only supports equal resolution in all three dimensions.

tsdfTruncDist

float cv::kinfu::VolumeParams::tsdfTruncDist

TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.

type

VolumeType cv::kinfu::VolumeParams::type

Type of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)

unitResolution

int cv::kinfu::VolumeParams::unitResolution = {0}

Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.

voxelSize

float cv::kinfu::VolumeParams::voxelSize

Length of voxels in meters.

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

• opencv2/rgbd/volume.hpp