cv::kinfu::Params Struct Reference

#include <opencv2/rgbd/kinfu.hpp>

Static Public Member Functions
static Ptr< Params >	coarseParams ()
	Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.
static Ptr< Params >	defaultParams ()
	Default parameters A set of parameters which provides better model quality, can be very slow.

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
float	icpDistThresh
	distance theshold for ICP in meters
std::vector< int >	icpIterations
Matx33f	intr
	camera intrinsics
Vec3f	lightPose
	light pose for rendering in meters
int	pyramidLevels
	Number of pyramid levels for ICP.
float	raycast_step_factor
	A length of one raycast step.
int	tsdf_max_weight
	max number of frames per voxel
float	tsdf_min_camera_movement
	Minimal camera movement in meters.
float	tsdf_trunc_dist
	distance to truncate in meters
Vec3i	volumeDims
	Resolution of voxel space.
Affine3f	volumePose
	initial volume pose in meters
float	voxelSize
	Size of voxel in meters.

Member Function Documentation

static Ptr<Params> cv::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.

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

static

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

Member Data Documentation

int cv::kinfu::Params::bilateral_kernel_size

Kernel size in pixels for bilateral smooth.

float cv::kinfu::Params::bilateral_sigma_depth

Depth sigma in meters for bilateral smooth.

float cv::kinfu::Params::bilateral_sigma_spatial

Spatial sigma in pixels for bilateral smooth.

float cv::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::kinfu::Params::frameSize

frame size in pixels

float cv::kinfu::Params::icpAngleThresh

angle threshold for ICP in radians

float cv::kinfu::Params::icpDistThresh

distance theshold for ICP in meters

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

number of ICP iterations for each pyramid level

Matx33f cv::kinfu::Params::intr

camera intrinsics

Vec3f cv::kinfu::Params::lightPose

light pose for rendering in meters

int cv::kinfu::Params::pyramidLevels

Number of pyramid levels for ICP.

float cv::kinfu::Params::raycast_step_factor

A length of one raycast step.

How much voxel sizes we skip each raycast step

int cv::kinfu::Params::tsdf_max_weight

max number of frames per voxel

Each voxel keeps running average of distances no longer than this value.

float cv::kinfu::Params::tsdf_min_camera_movement

Minimal camera movement in meters.

Integrate new depth frame only if camera movement exceeds this value.

float cv::kinfu::Params::tsdf_trunc_dist

distance to truncate in meters

Distances to surface that exceed this value will be truncated to 1.0.

Vec3i cv::kinfu::Params::volumeDims

Resolution of voxel space.

Number of voxels in each dimension.

Affine3f cv::kinfu::Params::volumePose

initial volume pose in meters

float cv::kinfu::Params::voxelSize

Size of voxel in meters.

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

• kinfu.hpp