#include <opencv2/rgbd/kinfu.hpp>

Collaboration diagram for cv::kinfu::VolumeParams:

Public Attributes
float	depthTruncThreshold = 0.f
	Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.

VolumeType	kind = VolumeType::TSDF
	Kind of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)

int	maxWeight = 64
	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.

Matx44f	pose = Affine3f().translate(Vec3f(-volumSize / 2.f, -volumSize / 2.f, 0.5f)).matrix
	Initial pose of the volume in meters, should be 4x4 float or double matrix.

float	raycastStepFactor = 0.25f
	Length of single raycast step Describes the percentage of voxel length that is skipped per march.

int	resolutionX = 128
	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.

int	resolutionY = 128

int	resolutionZ = 128

float	tsdfTruncDist = 7.f * voxelSize
	TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.

int	unitResolution = 0
	Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.

float	volumSize = 3.f
	Size of volume in meters.

float	voxelSize = volumSize / 512.f
	Length of voxels in meters.

Member Data Documentation

◆ depthTruncThreshold

float cv::kinfu::VolumeParams::depthTruncThreshold = 0.f

Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.

◆ kind

VolumeType cv::kinfu::VolumeParams::kind = VolumeType::TSDF

Kind of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)

◆ maxWeight

int cv::kinfu::VolumeParams::maxWeight = 64

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

Matx44f cv::kinfu::VolumeParams::pose = Affine3f().translate(Vec3f(-volumSize / 2.f, -volumSize / 2.f, 0.5f)).matrix

Initial pose of the volume in meters, should be 4x4 float or double matrix.

◆ raycastStepFactor

float cv::kinfu::VolumeParams::raycastStepFactor = 0.25f

Length of single raycast step Describes the percentage of voxel length that is skipped per march.

◆ resolutionX

int cv::kinfu::VolumeParams::resolutionX = 128

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.

◆ resolutionY

int cv::kinfu::VolumeParams::resolutionY = 128

◆ resolutionZ

int cv::kinfu::VolumeParams::resolutionZ = 128

◆ tsdfTruncDist

float cv::kinfu::VolumeParams::tsdfTruncDist = 7.f * voxelSize

TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.

◆ 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.

◆ volumSize

float cv::kinfu::VolumeParams::volumSize = 3.f

Size of volume in meters.

◆ voxelSize

float cv::kinfu::VolumeParams::voxelSize = volumSize / 512.f

Length of voxels in meters.

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

opencv2/rgbd/kinfu.hpp

Public Attributes