OpenCV  4.10.0-pre
Open Source Computer Vision
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Static Public Member Functions | Public Attributes | List of all members
cv::kinfu::VolumeParams Struct Reference

#include <opencv2/rgbd/volume.hpp>

Collaboration diagram for cv::kinfu::VolumeParams:

Static Public Member Functions

static Ptr< VolumeParamscoarseParams (VolumeType _volumeType)
 Coarse set of parameters that provides relatively higher performance at the cost of reconstrution quality.
 
static Ptr< VolumeParamsdefaultParams (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.


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