cv::large_kinfu::Params Struct Reference

#include <opencv2/rgbd/large_kinfu.hpp>

Collaboration diagram for cv::large_kinfu::Params:

Static Public Member Functions
static Ptr< Params >	coarseParams ()
	Coarse parameters.
static Ptr< Params >	defaultParams ()
	Default parameters.
static Ptr< Params >	hashTSDFParams (bool isCoarse)
	HashTSDF parameters.

Public Attributes
int	bilateral_kernel_size
	Kernel size in pixels for bilateral smooth.
float	bilateral_sigma_depth
	Depth sigma in meters for bilateral smooth.
float	bilateral_sigma_spatial
	Spatial sigma in pixels for bilateral smooth.
float	depthFactor
	pre-scale per 1 meter for input values
Size	frameSize
	frame size in pixels
float	icpAngleThresh
	angle threshold for ICP in radians
float	icpDistThresh
	distance theshold for ICP in meters
std::vector< int >	icpIterations
	number of ICP iterations for each pyramid level
Matx33f	intr
	camera intrinsics
Vec3f	lightPose
	light pose for rendering in meters
int	pyramidLevels
	Number of pyramid levels for ICP.
Matx33f	rgb_intr
	rgb camera intrinsics
float	truncateThreshold
	Threshold for depth truncation in meters.
float	tsdf_min_camera_movement
	Minimal camera movement in meters.
VolumeParams	volumeParams
	Volume parameters.

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

VolumeParams cv::large_kinfu::Params::volumeParams

Volume parameters.

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

• opencv2/rgbd/large_kinfu.hpp