OpenCV  5.0.0-pre
Open Source Computer Vision
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
cv::colored_kinfu::Params Struct Reference

#include <opencv2/rgbd/colored_kinfu.hpp>

Public Member Functions

 Params ()
 
 Params (Matx33f volumeInitialPoseRot, Vec3f volumeInitialPoseTransl)
 Constructor for Params Sets the initial pose of the TSDF volume. More...
 
 Params (Matx44f volumeInitialPose)
 Constructor for Params Sets the initial pose of the TSDF volume. More...
 
void setInitialVolumePose (Matx33f R, Vec3f t)
 Set Initial Volume Pose Sets the initial pose of the TSDF volume. More...
 
void setInitialVolumePose (Matx44f homogen_tf)
 Set Initial Volume Pose Sets the initial pose of the TSDF volume. More...
 

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< ParamscoloredTSDFParams (bool isCoarse)
 ColoredTSDF parameters A set of parameters suitable for use with HashTSDFVolume. 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 More...
 
Size frameSize
 frame size in pixels More...
 
float icpAngleThresh
 
float icpDistThresh
 distance theshold for ICP in meters More...
 
std::vector< int > icpIterations
 
Matx33f intr
 camera intrinsics More...
 
Vec3f lightPose
 light pose for rendering in meters More...
 
int pyramidLevels
 Number of pyramid levels for ICP. More...
 
float raycast_step_factor
 A length of one raycast step. More...
 
Size rgb_frameSize
 rgb frame size in pixels More...
 
Matx33f rgb_intr
 rgb camera intrinsics More...
 
float truncateThreshold
 Threshold for depth truncation in meters. More...
 
int tsdf_max_weight
 max number of frames per voxel More...
 
float tsdf_min_camera_movement
 Minimal camera movement in meters. More...
 
float tsdf_trunc_dist
 distance to truncate in meters More...
 
Vec3i volumeDims
 Resolution of voxel space. More...
 
VolumeType volumeKind
 
Matx44f volumePose
 initial volume pose in meters More...
 
float voxelSize
 Size of voxel in meters. More...
 

Constructor & Destructor Documentation

◆ Params() [1/3]

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

◆ Params() [2/3]

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

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

Parameters
volumeInitialPoseRotrotation matrix
volumeInitialPoseTransltranslation vector

◆ Params() [3/3]

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

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

Parameters
volumeInitialPose4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

Member Function Documentation

◆ coarseParams()

static Ptr<Params> cv::colored_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.

◆ coloredTSDFParams()

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

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

◆ defaultParams()

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

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)
static

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

◆ setInitialVolumePose() [1/2]

void cv::colored_kinfu::Params::setInitialVolumePose ( Matx33f  R,
Vec3f  t 
)

Set Initial Volume Pose Sets the initial pose of the TSDF volume.

Parameters
Rrotation matrix
ttranslation vector

◆ setInitialVolumePose() [2/2]

void cv::colored_kinfu::Params::setInitialVolumePose ( Matx44f  homogen_tf)

Set Initial Volume Pose Sets the initial pose of the TSDF volume.

Parameters
homogen_tf4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

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.


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