Class KinFuParams

Namespace: OpenCvSharp.Rgbd

Assembly: OpenCvSharp.dll

Parameters for KinFu (and DynaFu, which shares the same kinfu::Params type in native OpenCV).

public sealed class KinFuParams

Inheritance: object

KinFuParams

Inherited Members: object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

Instances can only be obtained via DefaultParams(), CoarseParams(), HashTsdfParams(bool), ColoredTsdfParams(bool), or GetParams(), ensuring the values are always initialized from the native C++ defaults.

Properties

BilateralKernelSize: Kernel size in pixels for bilateral smoothing.

BilateralSigmaDepth: Depth sigma in meters for bilateral smoothing.

BilateralSigmaSpatial: Spatial sigma in pixels for bilateral smoothing.

DepthFactor: Pre-scale per 1 meter for input depth values.

FrameSize: Frame size in pixels.

IcpAngleThresh: Angle threshold for ICP, in radians.

IcpDistThresh: Distance threshold for ICP, in meters.

IcpIterations: Number of ICP iterations for each pyramid level.

Intr: Camera intrinsics (3x3).

LightPose: Light pose for rendering, in meters.

PyramidLevels: Number of pyramid levels for ICP.

RaycastStepFactor: Fraction of a voxel size skipped per raycast step.

RgbIntr: RGB camera intrinsics (3x3).

TruncateThreshold: Threshold for depth truncation in meters; depth values beyond this threshold are set to zero.

TsdfMaxWeight: Max number of frames per voxel; each voxel keeps a running average of distances no longer than this value.

TsdfMinCameraMovement: Minimal camera movement in meters; a new depth frame is integrated only if camera movement exceeds this value.

TsdfTruncDist: Distance to truncate in meters; distances beyond this value are truncated to 1.0.

VolumeDims: Resolution of voxel space (number of voxels in each dimension).

VolumeKind: Volume kind.

VolumePose: Initial volume pose in meters (4x4 homogeneous transform).

VoxelSize: Size of voxel in meters.

Methods

CoarseParams(): Coarse parameters providing better speed, can fail to match frames in case of rapid sensor motion.

ColoredTsdfParams(bool): Parameters suitable for use with a colored TSDF volume.

DefaultParams(): Default parameters providing better model quality, can be very slow.

HashTsdfParams(bool): Parameters suitable for use with a hash-based TSDF volume.

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