Struct Kinfu_Params

pub struct Kinfu_Params { /* private fields */ }

Implementations

impl Kinfu_Params

pub fn default() -> Result<Kinfu_Params>

pub fn new( volume_initial_pose_rot: Matx33f, volume_initial_pose_transl: Vec3f, ) -> Result<Kinfu_Params>

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

Parameters

• volumeInitialPoseRot: rotation matrix
• volumeInitialPoseTransl: translation vector

pub fn new_1(volume_initial_pose: Matx44f) -> Result<Kinfu_Params>

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

Parameters

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

pub fn default_params() -> Result<Ptr<Kinfu_Params>>

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

pub fn coarse_params() -> Result<Ptr<Kinfu_Params>>

Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.

pub fn hash_tsdf_params(is_coarse: bool) -> Result<Ptr<Kinfu_Params>>

HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume

pub fn colored_tsdf_params(is_coarse: bool) -> Result<Ptr<Kinfu_Params>>

ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume

Trait Implementations

impl Boxed for Kinfu_Params

unsafe fn from_raw( ptr: <Kinfu_Params as OpenCVFromExtern>::ExternReceive, ) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> <Kinfu_Params as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> <Kinfu_Params as OpenCVTypeExternContainer>::ExternSend

Return the underlying raw pointer.

fn as_raw_mut( &mut self, ) -> <Kinfu_Params as OpenCVTypeExternContainer>::ExternSendMut

Return the underlying mutable raw pointer

impl Debug for Kinfu_Params

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for Kinfu_Params

fn drop(&mut self)

Executes the destructor for this type.

impl Kinfu_ParamsTrait for Kinfu_Params

fn as_raw_mut_Kinfu_Params(&mut self) -> *mut c_void

fn set_frame_size(&mut self, val: Size)

frame size in pixels

fn set_volume_type(&mut self, val: Kinfu_VolumeType)

rgb frame size in pixels

fn set_intr(&mut self, val: Matx33f)

camera intrinsics

fn set_rgb_intr(&mut self, val: Matx33f)

rgb camera intrinsics

fn set_depth_factor(&mut self, val: f32)

pre-scale per 1 meter for input values

fn set_bilateral_sigma_depth(&mut self, val: f32)

Depth sigma in meters for bilateral smooth

fn set_bilateral_sigma_spatial(&mut self, val: f32)

Spatial sigma in pixels for bilateral smooth

fn set_bilateral_kernel_size(&mut self, val: i32)

Kernel size in pixels for bilateral smooth

fn set_pyramid_levels(&mut self, val: i32)

Number of pyramid levels for ICP

fn set_volume_dims(&mut self, val: Vec3i)

Resolution of voxel space

fn set_voxel_size(&mut self, val: f32)

Size of voxel in meters

fn set_tsdf_min_camera_movement(&mut self, val: f32)

Minimal camera movement in meters

fn set_volume_pose(&mut self, val: Affine3f)

initial volume pose in meters

fn set_tsdf_trunc_dist(&mut self, val: f32)

distance to truncate in meters

fn set_tsdf_max_weight(&mut self, val: i32)

max number of frames per voxel

fn set_raycast_step_factor(&mut self, val: f32)

A length of one raycast step

fn set_light_pose(&mut self, val: Vec3f)

light pose for rendering in meters

fn set_icp_dist_thresh(&mut self, val: f32)

distance theshold for ICP in meters

fn set_icp_angle_thresh(&mut self, val: f32)

angle threshold for ICP in radians

fn set_icp_iterations(&mut self, val: Vector<i32>)

number of ICP iterations for each pyramid level

fn set_truncate_threshold(&mut self, val: f32)

Threshold for depth truncation in meters

fn set_initial_volume_pose(&mut self, r: Matx33f, t: Vec3f) -> Result<()>

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

fn set_initial_volume_pose_1(&mut self, homogen_tf: Matx44f) -> Result<()>

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

impl Kinfu_ParamsTraitConst for Kinfu_Params

fn as_raw_Kinfu_Params(&self) -> *const c_void

fn frame_size(&self) -> Size

frame size in pixels

fn volume_type(&self) -> Kinfu_VolumeType

rgb frame size in pixels

fn intr(&self) -> Matx33f

camera intrinsics

fn rgb_intr(&self) -> Matx33f

rgb camera intrinsics

fn depth_factor(&self) -> f32

pre-scale per 1 meter for input values

fn bilateral_sigma_depth(&self) -> f32

Depth sigma in meters for bilateral smooth

fn bilateral_sigma_spatial(&self) -> f32

Spatial sigma in pixels for bilateral smooth

fn bilateral_kernel_size(&self) -> i32

Kernel size in pixels for bilateral smooth

fn pyramid_levels(&self) -> i32

Number of pyramid levels for ICP

fn volume_dims(&self) -> Vec3i

Resolution of voxel space

fn voxel_size(&self) -> f32

Size of voxel in meters

fn tsdf_min_camera_movement(&self) -> f32

Minimal camera movement in meters

fn volume_pose(&self) -> Affine3f

initial volume pose in meters

fn tsdf_trunc_dist(&self) -> f32

distance to truncate in meters

fn tsdf_max_weight(&self) -> i32

max number of frames per voxel

fn raycast_step_factor(&self) -> f32

A length of one raycast step

fn light_pose(&self) -> Vec3f

light pose for rendering in meters

fn icp_dist_thresh(&self) -> f32

distance theshold for ICP in meters

fn icp_angle_thresh(&self) -> f32

angle threshold for ICP in radians

fn icp_iterations(&self) -> Vector<i32>

number of ICP iterations for each pyramid level

fn truncate_threshold(&self) -> f32

Threshold for depth truncation in meters

impl Send for Kinfu_Params