Class LargeKinfuParams
- Namespace
- OpenCvSharp.Rgbd
- Assembly
- OpenCvSharp.dll
Parameters for LargeKinfu.
public sealed class LargeKinfuParams- Inheritance
-
LargeKinfuParams
- Inherited Members
Remarks
Instances can only be obtained via DefaultParams(), CoarseParams(), HashTsdfParams(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.
- RgbIntr
RGB camera intrinsics (3x3).
- TruncateThreshold
Threshold for depth truncation in meters; depth values beyond this threshold are set to zero.
- TsdfMinCameraMovement
Minimal camera movement in meters; a new depth frame is integrated only if camera movement exceeds this value.
- VolumeParams
Volume parameters.
Methods
- CoarseParams()
Coarse parameters providing better speed, can fail to match frames in case of rapid sensor motion.
- DefaultParams()
Default parameters providing better model quality, can be very slow.
- HashTsdfParams(bool)
Parameters suitable for use with a hash-based TSDF volume.