OpenCV
5.0.0-pre
Open Source Computer Vision
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#include <opencv2/rgbd/large_kinfu.hpp>
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. | |
Coarse parameters.
A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.
Default parameters.
A set of parameters which provides better model quality, can be very slow.
HashTSDF parameters.
A set of parameters suitable for use with HashTSDFVolume
int cv::large_kinfu::Params::bilateral_kernel_size |
Kernel size in pixels for bilateral smooth.
float cv::large_kinfu::Params::bilateral_sigma_depth |
Depth sigma in meters for bilateral smooth.
float cv::large_kinfu::Params::bilateral_sigma_spatial |
Spatial sigma in pixels for bilateral smooth.
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
Size cv::large_kinfu::Params::frameSize |
frame size in pixels
float cv::large_kinfu::Params::icpAngleThresh |
angle threshold for ICP in radians
float cv::large_kinfu::Params::icpDistThresh |
distance theshold for ICP in meters
std::vector<int> cv::large_kinfu::Params::icpIterations |
number of ICP iterations for each pyramid level
Matx33f cv::large_kinfu::Params::intr |
camera intrinsics
Vec3f cv::large_kinfu::Params::lightPose |
light pose for rendering in meters
int cv::large_kinfu::Params::pyramidLevels |
Number of pyramid levels for ICP.
Matx33f cv::large_kinfu::Params::rgb_intr |
rgb camera intrinsics
float cv::large_kinfu::Params::truncateThreshold |
Threshold for depth truncation in meters.
All depth values beyond this threshold will be set to zero
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 cv::large_kinfu::Params::volumeParams |
Volume parameters.