cv::kinfu::Params 構造体

公開メンバ関数
CV_WRAP	Params (Matx33f volumeInitialPoseRot, Vec3f volumeInitialPoseTransl)
	Constructor for Params Sets the initial pose of the TSDF volume. [詳解]
CV_WRAP	Params (Matx44f volumeInitialPose)
	Constructor for Params Sets the initial pose of the TSDF volume. [詳解]
CV_WRAP void	setInitialVolumePose (Matx33f R, Vec3f t)
	Set Initial Volume Pose Sets the initial pose of the TSDF volume. [詳解]
CV_WRAP void	setInitialVolumePose (Matx44f homogen_tf)
	Set Initial Volume Pose Sets the initial pose of the TSDF volume. [詳解]

静的公開メンバ関数
static CV_WRAP Ptr< Params >	defaultParams ()
	Default parameters A set of parameters which provides better model quality, can be very slow.
static CV_WRAP 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 CV_WRAP Ptr< Params >	hashTSDFParams (bool isCoarse)
	HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume
static CV_WRAP Ptr< Params >	coloredTSDFParams (bool isCoarse)
	ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume

公開変数類
CV_PROP_RW Size	frameSize
	frame size in pixels
CV_PROP_RW kinfu::VolumeType	volumeType
	rgb frame size in pixels
CV_PROP_RW Matx33f	intr
	camera intrinsics
CV_PROP_RW Matx33f	rgb_intr
	rgb camera intrinsics
CV_PROP_RW float	depthFactor
	pre-scale per 1 meter for input values [詳解]
CV_PROP_RW float	bilateral_sigma_depth
	Depth sigma in meters for bilateral smooth
CV_PROP_RW float	bilateral_sigma_spatial
	Spatial sigma in pixels for bilateral smooth
CV_PROP_RW int	bilateral_kernel_size
	Kernel size in pixels for bilateral smooth
CV_PROP_RW int	pyramidLevels
	Number of pyramid levels for ICP
CV_PROP_RW Vec3i	volumeDims
	Resolution of voxel space [詳解]
CV_PROP_RW float	voxelSize
	Size of voxel in meters
CV_PROP_RW float	tsdf_min_camera_movement
	Minimal camera movement in meters [詳解]
Affine3f	volumePose
	initial volume pose in meters
CV_PROP_RW float	tsdf_trunc_dist
	distance to truncate in meters [詳解]
CV_PROP_RW int	tsdf_max_weight
	max number of frames per voxel [詳解]
CV_PROP_RW float	raycast_step_factor
	A length of one raycast step [詳解]
CV_PROP_RW Vec3f	lightPose
	light pose for rendering in meters
CV_PROP_RW float	icpDistThresh
	distance theshold for ICP in meters
CV_PROP_RW float	icpAngleThresh
CV_PROP_RW std::vector< int >	icpIterations
CV_PROP_RW float	truncateThreshold
	Threshold for depth truncation in meters [詳解]

構築子と解体子

Params() [1/2]

CV_WRAP cv::kinfu::Params::Params ( Matx33f  volumeInitialPoseRot, Vec3f  volumeInitialPoseTransl  )

inline

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

引数

volumeInitialPoseRot	rotation matrix
volumeInitialPoseTransl	translation vector

Params() [2/2]

CV_WRAP cv::kinfu::Params::Params ( Matx44f  volumeInitialPose )

inline

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

引数

volumeInitialPose

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

関数詳解

setInitialVolumePose() [1/2]

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

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

引数

R	rotation matrix
t	translation vector

setInitialVolumePose() [2/2]

CV_WRAP void cv::kinfu::Params::setInitialVolumePose

(

Matx44f

homogen_tf

)

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

引数

homogen_tf

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

メンバ詳解

depthFactor

CV_PROP_RW 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

icpAngleThresh

CV_PROP_RW float cv::kinfu::Params::icpAngleThresh

angle threshold for ICP in radians

icpIterations

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

number of ICP iterations for each pyramid level

raycast_step_factor

CV_PROP_RW float cv::kinfu::Params::raycast_step_factor

A length of one raycast step

How much voxel sizes we skip each raycast step

truncateThreshold

CV_PROP_RW float cv::kinfu::Params::truncateThreshold

Threshold for depth truncation in meters

All depth values beyond this threshold will be set to zero

tsdf_max_weight

CV_PROP_RW 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.

tsdf_min_camera_movement

CV_PROP_RW float cv::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

CV_PROP_RW 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.

volumeDims

CV_PROP_RW Vec3i cv::kinfu::Params::volumeDims

Resolution of voxel space

Number of voxels in each dimension.

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この構造体詳解は次のファイルから抽出されました:

• kinfu.hpp