OpenCV  4.6.0-dev
Open Source Computer Vision
Static Public Member Functions | Public Attributes | List of all members
cv::large_kinfu::Params Struct Reference

#include <opencv2/rgbd/large_kinfu.hpp>

Static Public Member Functions

static Ptr< ParamscoarseParams ()
 Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion. More...
 
static Ptr< ParamsdefaultParams ()
 Default parameters A set of parameters which provides better model quality, can be very slow. More...
 
static Ptr< ParamshashTSDFParams (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...
 

Member Function Documentation

◆ coarseParams()

static Ptr<Params> cv::large_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::large_kinfu::Params::defaultParams ( )
static

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

◆ hashTSDFParams()

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

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

Member Data Documentation

◆ bilateral_kernel_size

int cv::large_kinfu::Params::bilateral_kernel_size

Kernel size in pixels for bilateral smooth.

◆ bilateral_sigma_depth

float cv::large_kinfu::Params::bilateral_sigma_depth

Depth sigma in meters for bilateral smooth.

◆ bilateral_sigma_spatial

float cv::large_kinfu::Params::bilateral_sigma_spatial

Spatial sigma in pixels for bilateral smooth.

◆ depthFactor

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

◆ frameSize

Size cv::large_kinfu::Params::frameSize

frame size in pixels

◆ icpAngleThresh

float cv::large_kinfu::Params::icpAngleThresh

angle threshold for ICP in radians

◆ icpDistThresh

float cv::large_kinfu::Params::icpDistThresh

distance theshold for ICP in meters

◆ icpIterations

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

number of ICP iterations for each pyramid level

◆ intr

Matx33f cv::large_kinfu::Params::intr

camera intrinsics

◆ lightPose

Vec3f cv::large_kinfu::Params::lightPose

light pose for rendering in meters

◆ pyramidLevels

int cv::large_kinfu::Params::pyramidLevels

Number of pyramid levels for ICP.

◆ rgb_intr

Matx33f cv::large_kinfu::Params::rgb_intr

rgb camera intrinsics

◆ truncateThreshold

float cv::large_kinfu::Params::truncateThreshold

Threshold for depth truncation in meters All depth values beyond this threshold will be set to zero.

◆ tsdf_min_camera_movement

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.

◆ volumeParams

kinfu::VolumeParams cv::large_kinfu::Params::volumeParams

Volume parameters.


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