#include <opencv2/rgbd/kinfu.hpp>
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float | depthTruncThreshold = 0.f |
| Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.
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VolumeType | kind = VolumeType::TSDF |
| Kind of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)
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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.
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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.
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float | raycastStepFactor = 0.25f |
| Length of single raycast step Describes the percentage of voxel length that is skipped per march.
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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.
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int | resolutionY = 128 |
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int | resolutionZ = 128 |
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float | tsdfTruncDist = 7.f * voxelSize |
| TSDF truncation distance Distances greater than value from surface will be truncated to 1.0.
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int | unitResolution = 0 |
| Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.
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float | volumSize = 3.f |
| Size of volume in meters.
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float | voxelSize = volumSize / 512.f |
| Length of voxels in meters.
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◆ depthTruncThreshold
float cv::kinfu::VolumeParams::depthTruncThreshold = 0.f |
Threshold for depth truncation in meters Truncates the depth greater than threshold to 0.
◆ kind
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
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: