cv::kinfu::Params Struct Reference

#include <opencv2/rgbd/kinfu.hpp>

Public Member Functions
	Params ()
	Params (Matx33f volumeInitialPoseRot, Vec3f volumeInitialPoseTransl)
	Constructor for Params Sets the initial pose of the TSDF volume. More...
	Params (Matx44f volumeInitialPose)
	Constructor for Params Sets the initial pose of the TSDF volume. More...
void	setInitialVolumePose (Matx33f R, Vec3f t)
	Set Initial Volume Pose Sets the initial pose of the TSDF volume. More...
void	setInitialVolumePose (Matx44f homogen_tf)
	Set Initial Volume Pose Sets the initial pose of the TSDF volume. More...

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 >	coloredTSDFParams (bool isCoarse)
	ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume. 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 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...
Matx33f	rgb_intr
	rgb camera intrinsics More...
float	truncateThreshold
	Threshold for depth truncation in meters. 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...
kinfu::VolumeType	volumeType
	rgb frame size in pixels More...
float	voxelSize
	Size of voxel in meters. More...

Constructor & Destructor Documentation

Params() [1/3]

cv::kinfu::Params::Params ( )

inline

Params() [2/3]

cv::kinfu::Params::Params ( Matx33f  volumeInitialPoseRot, Vec3f  volumeInitialPoseTransl  )

inline

Constructor for Params Sets the initial pose of the TSDF volume.

Parameters

volumeInitialPoseRot	rotation matrix
volumeInitialPoseTransl	translation vector

Params() [3/3]

cv::kinfu::Params::Params ( Matx44f  volumeInitialPose )

inline

Constructor for Params Sets the initial pose of the TSDF volume.

Parameters

volumeInitialPose

4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

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.

coloredTSDFParams()

static Ptr<Params> cv::kinfu::Params::coloredTSDFParams ( bool  isCoarse )

static

ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume.

defaultParams()

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

static

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

hashTSDFParams()

static Ptr<Params> cv::kinfu::Params::hashTSDFParams ( bool  isCoarse )

static

HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume.

setInitialVolumePose() [1/2]

void cv::kinfu::Params::setInitialVolumePose	(	Matx33f	R,
		Vec3f	t
	)

Set Initial Volume Pose Sets the initial pose of the TSDF volume.

Parameters

R	rotation matrix
t	translation vector

setInitialVolumePose() [2/2]

void cv::kinfu::Params::setInitialVolumePose

(

Matx44f

homogen_tf

)

Set Initial Volume Pose Sets the initial pose of the TSDF volume.

Parameters

homogen_tf

4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

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 1000 per 1 meter for Kinect 2 device 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

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

rgb_intr

Matx33f cv::kinfu::Params::rgb_intr

rgb camera intrinsics

truncateThreshold

float cv::kinfu::Params::truncateThreshold

Threshold for depth truncation in meters.

All depth values beyond this threshold will be set to zero

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 to surface that exceed this value will be truncated to 1.0.

volumeDims

Vec3i cv::kinfu::Params::volumeDims

Resolution of voxel space.

Number of voxels in each dimension.

volumePose

Affine3f cv::kinfu::Params::volumePose

initial volume pose in meters

volumeType

kinfu::VolumeType cv::kinfu::Params::volumeType

rgb frame size in pixels

voxelSize

float cv::kinfu::Params::voxelSize

Size of voxel in meters.

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

• opencv2/rgbd/kinfu.hpp