pub trait Kinfu_VolumeParamsTrait: Kinfu_VolumeParamsTraitConst {
// Required method
fn as_raw_mut_Kinfu_VolumeParams(&mut self) -> *mut c_void;
// Provided methods
fn set_type(&mut self, val: Kinfu_VolumeType) { ... }
fn set_resolution(&mut self, val: Vec3i) { ... }
fn set_unit_resolution(&mut self, val: i32) { ... }
fn set_pose(&mut self, val: Affine3f) { ... }
fn set_voxel_size(&mut self, val: f32) { ... }
fn set_tsdf_trunc_dist(&mut self, val: f32) { ... }
fn set_max_weight(&mut self, val: i32) { ... }
fn set_depth_trunc_threshold(&mut self, val: f32) { ... }
fn set_raycast_step_factor(&mut self, val: f32) { ... }
}Expand description
Mutable methods for crate::rgbd::Kinfu_VolumeParams
Required Methods§
fn as_raw_mut_Kinfu_VolumeParams(&mut self) -> *mut c_void
Provided Methods§
Sourcefn set_type(&mut self, val: Kinfu_VolumeType)
fn set_type(&mut self, val: Kinfu_VolumeType)
Type of Volume Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units)
Sourcefn set_resolution(&mut self, val: Vec3i)
fn set_resolution(&mut self, val: Vec3i)
Resolution of voxel space Number of voxels in each dimension. Applicable only for TSDF Volume. HashTSDF volume only supports equal resolution in all three dimensions
Sourcefn set_unit_resolution(&mut self, val: i32)
fn set_unit_resolution(&mut self, val: i32)
Resolution of volumeUnit in voxel space Number of voxels in each dimension for volumeUnit Applicable only for hashTSDF.
§C++ default parameters
- val: {0}
Sourcefn set_voxel_size(&mut self, val: f32)
fn set_voxel_size(&mut self, val: f32)
Length of voxels in meters
Sourcefn set_tsdf_trunc_dist(&mut self, val: f32)
fn set_tsdf_trunc_dist(&mut self, val: f32)
TSDF truncation distance Distances greater than value from surface will be truncated to 1.0
Sourcefn set_max_weight(&mut self, val: i32)
fn set_max_weight(&mut self, val: i32)
Max number of frames to integrate per voxel Represents the max number of frames over which a running average of the TSDF is calculated for a voxel
Sourcefn set_depth_trunc_threshold(&mut self, val: f32)
fn set_depth_trunc_threshold(&mut self, val: f32)
Threshold for depth truncation in meters Truncates the depth greater than threshold to 0
Sourcefn set_raycast_step_factor(&mut self, val: f32)
fn set_raycast_step_factor(&mut self, val: f32)
Length of single raycast step Describes the percentage of voxel length that is skipped per march