Struct cv::colored_kinfu::Params#

#include <opencv2/rgbd/colored_kinfu.hpp>

Collaboration diagram for cv::colored_kinfu::Params:

cv::colored_kinfu::Params Node1 cv::colored_kinfu:: Params   + Params() + Params() + Params() + setInitialVolumePose() + setInitialVolumePose() + coarseParams() + coloredTSDFParams() + defaultParams() + hashTSDFParams() Node2 cv::Size_< _Tp >   + Size_() + Size_() + Size_() + Size_() + Size_() + area() + aspectRatio() + empty() + operator Size_< _Tp2 >() + operator=() + operator=() Node2->Node1 +frameSize +rgb_frameSize Node3 _Tp     Node3->Node2 +height +width Node7 cv::Matx< _Tp, m, n >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node3->Node7 +val Node12 cv::Matx< _Tp, cn, 1 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node3->Node12 +val Node4 VolumeType     Node4->Node1 +volumeKind Node5 cv::Matx< float, 3, 3 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node5->Node1 +intr +rgb_intr Node6 float     Node6->Node1 +bilateral_sigma_depth +bilateral_sigma_spatial +depthFactor +icpAngleThresh +icpDistThresh +raycast_step_factor +truncateThreshold +tsdf_min_camera_movement +tsdf_trunc_dist +voxelSize ... Node6->Node5 +val Node13 cv::Matx< float, 4, 4 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node6->Node13 +val Node15 cv::Matx< float, cn, 1 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node6->Node15 +val Node7->Node5 < float, 3, 3 > Node10 cv::Matx< int, cn, 1 >     Node7->Node10 < int, cn, 1 > Node7->Node12 < _Tp, cn, 1 > Node7->Node13 < float, 4, 4 > Node7->Node15 < float, cn, 1 > Node8 int     Node8->Node1 +bilateral_kernel_size +pyramidLevels +tsdf_max_weight Node8->Node10 +val Node16 std::vector< int >     Node8->Node16 +elements Node9 cv::Vec< int, 3 >     Node9->Node1 +volumeDims Node10->Node9 Node11 cv::Vec< _Tp, cn >   + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() and 17 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node11->Node9 < int, 3 > Node14 cv::Vec< float, 3 >   + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() and 17 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node11->Node14 < float, 3 > Node12->Node11 Node13->Node1 +volumePose Node14->Node1 +lightPose Node15->Node14 Node16->Node1 +icpIterations Node17 std::vector< T >     Node17->Node16 < int > Node18 T     Node18->Node17 +elements

cv::colored_kinfu::Params Node1 cv::colored_kinfu:: Params   + Params() + Params() + Params() + setInitialVolumePose() + setInitialVolumePose() + coarseParams() + coloredTSDFParams() + defaultParams() + hashTSDFParams() Node2 cv::Size_< _Tp >   + Size_() + Size_() + Size_() + Size_() + Size_() + area() + aspectRatio() + empty() + operator Size_< _Tp2 >() + operator=() + operator=() Node2->Node1 +frameSize +rgb_frameSize Node3 _Tp     Node3->Node2 +height +width Node7 cv::Matx< _Tp, m, n >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node3->Node7 +val Node12 cv::Matx< _Tp, cn, 1 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node3->Node12 +val Node4 VolumeType     Node4->Node1 +volumeKind Node5 cv::Matx< float, 3, 3 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node5->Node1 +intr +rgb_intr Node6 float     Node6->Node1 +bilateral_sigma_depth +bilateral_sigma_spatial +depthFactor +icpAngleThresh +icpDistThresh +raycast_step_factor +truncateThreshold +tsdf_min_camera_movement +tsdf_trunc_dist +voxelSize ... Node6->Node5 +val Node13 cv::Matx< float, 4, 4 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node6->Node13 +val Node15 cv::Matx< float, cn, 1 >   + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() + Matx() and 33 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node6->Node15 +val Node7->Node5 < float, 3, 3 > Node10 cv::Matx< int, cn, 1 >     Node7->Node10 < int, cn, 1 > Node7->Node12 < _Tp, cn, 1 > Node7->Node13 < float, 4, 4 > Node7->Node15 < float, cn, 1 > Node8 int     Node8->Node1 +bilateral_kernel_size +pyramidLevels +tsdf_max_weight Node8->Node10 +val Node16 std::vector< int >     Node8->Node16 +elements Node9 cv::Vec< int, 3 >     Node9->Node1 +volumeDims Node10->Node9 Node11 cv::Vec< _Tp, cn >   + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() and 17 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node11->Node9 < int, 3 > Node14 cv::Vec< float, 3 >   + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() + Vec() and 17 more... + all() + diag() + eye() + ones() + randn() + randu() + zeros() Node11->Node14 < float, 3 > Node12->Node11 Node13->Node1 +volumePose Node14->Node1 +lightPose Node15->Node14 Node16->Node1 +icpIterations Node17 std::vector< T >     Node17->Node16 < int > Node18 T     Node18->Node17 +elements

Constructor & Destructor Documentation#

Params()#

cv::colored_kinfu::Params::Params()

Params()#

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

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

Parameters

  • volumeInitialPoseRot — rotation matrix

  • volumeInitialPoseTransl — translation vector

Params()#

cv::colored_kinfu::Params::Params(Matx44f volumeInitialPose)

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#

setInitialVolumePose()#

void cv::colored_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()#

void cv::colored_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

coarseParams()#

static Ptr< Params > cv::colored_kinfu::Params::coarseParams()

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::colored_kinfu::Params::coloredTSDFParams(bool isCoarse)

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

defaultParams()#

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

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

hashTSDFParams()#

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

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

Member Data Documentation#

bilateral_kernel_size#

int cv::colored_kinfu::Params::bilateral_kernel_size

Kernel size in pixels for bilateral smooth.

bilateral_sigma_depth#

float cv::colored_kinfu::Params::bilateral_sigma_depth

Depth sigma in meters for bilateral smooth.

bilateral_sigma_spatial#

float cv::colored_kinfu::Params::bilateral_sigma_spatial

Spatial sigma in pixels for bilateral smooth.

depthFactor#

float cv::colored_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::colored_kinfu::Params::frameSize

frame size in pixels

icpAngleThresh#

float cv::colored_kinfu::Params::icpAngleThresh

angle threshold for ICP in radians

icpDistThresh#

float cv::colored_kinfu::Params::icpDistThresh

distance theshold for ICP in meters

icpIterations#

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

number of ICP iterations for each pyramid level

intr#

Matx33f cv::colored_kinfu::Params::intr

camera intrinsics

lightPose#

Vec3f cv::colored_kinfu::Params::lightPose

light pose for rendering in meters

pyramidLevels#

int cv::colored_kinfu::Params::pyramidLevels

Number of pyramid levels for ICP.

raycast_step_factor#

float cv::colored_kinfu::Params::raycast_step_factor

A length of one raycast step.

How much voxel sizes we skip each raycast step

rgb_frameSize#

Size cv::colored_kinfu::Params::rgb_frameSize

rgb frame size in pixels

rgb_intr#

Matx33f cv::colored_kinfu::Params::rgb_intr

rgb camera intrinsics

truncateThreshold#

float cv::colored_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::colored_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::colored_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::colored_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::colored_kinfu::Params::volumeDims

Resolution of voxel space.

Number of voxels in each dimension.

volumeKind#

VolumeType cv::colored_kinfu::Params::volumeKind

volumePose#

Matx44f cv::colored_kinfu::Params::volumePose

initial volume pose in meters

voxelSize#

float cv::colored_kinfu::Params::voxelSize

Size of voxel in meters.

Source file#

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