OpenCV
4.8.0
Open Source Computer Vision
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#include <opencv2/rgbd/large_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... | |
static Ptr< Params > | hashTSDFParams (bool isCoarse) |
HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume. 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 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 More... | |
Size | frameSize |
frame size in pixels More... | |
float | icpAngleThresh |
angle threshold for ICP in radians More... | |
float | icpDistThresh |
distance theshold for ICP in meters More... | |
std::vector< int > | icpIterations |
number of ICP iterations for each pyramid level More... | |
Matx33f | intr |
camera intrinsics More... | |
Vec3f | lightPose |
light pose for rendering in meters More... | |
int | pyramidLevels |
Number of pyramid levels for ICP. More... | |
Matx33f | rgb_intr |
rgb camera intrinsics More... | |
float | truncateThreshold |
Threshold for depth truncation in meters All depth values beyond this threshold will be set to zero. More... | |
float | tsdf_min_camera_movement |
Minimal camera movement in meters Integrate new depth frame only if camera movement exceeds this value. More... | |
kinfu::VolumeParams | volumeParams |
Volume parameters. 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.
HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume.
int cv::large_kinfu::Params::bilateral_kernel_size |
Kernel size in pixels for bilateral smooth.
float cv::large_kinfu::Params::bilateral_sigma_depth |
Depth sigma in meters for bilateral smooth.
float cv::large_kinfu::Params::bilateral_sigma_spatial |
Spatial sigma in pixels for bilateral smooth.
float cv::large_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::large_kinfu::Params::frameSize |
frame size in pixels
float cv::large_kinfu::Params::icpAngleThresh |
angle threshold for ICP in radians
float cv::large_kinfu::Params::icpDistThresh |
distance theshold for ICP in meters
std::vector<int> cv::large_kinfu::Params::icpIterations |
number of ICP iterations for each pyramid level
Matx33f cv::large_kinfu::Params::intr |
camera intrinsics
Vec3f cv::large_kinfu::Params::lightPose |
light pose for rendering in meters
int cv::large_kinfu::Params::pyramidLevels |
Number of pyramid levels for ICP.
Matx33f cv::large_kinfu::Params::rgb_intr |
rgb camera intrinsics
float cv::large_kinfu::Params::truncateThreshold |
Threshold for depth truncation in meters All depth values beyond this threshold will be set to zero.
float cv::large_kinfu::Params::tsdf_min_camera_movement |
Minimal camera movement in meters Integrate new depth frame only if camera movement exceeds this value.
kinfu::VolumeParams cv::large_kinfu::Params::volumeParams |
Volume parameters.