kinfu_Params
import { kinfu_Params } from '@banou/opencv-wasm'Use after await initOpenCV(). See the initialization and named imports guide.
Native object: release it with using or delete(). Factories can return null; check before calling methods.
Length of single raycast step Describes the percentage of voxel length that is skipped per march
Constructors and members
static new
Constructor for Params Sets the initial pose of the TSDF volume.
new(volumeInitialPose: Matx44f): kinfu_Params;3 available overloads
new(): kinfu_Params;new(volumeInitialPoseRot: Matx33f, volumeInitialPoseTransl: Vec3f): kinfu_Params;new(volumeInitialPose: Matx44f): kinfu_Params;volumeInitialPoseRotrotation matrix
volumeInitialPoseTransltranslation vector
volumeInitialPose4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume
The kinfu_Params result.
Upstream declaration ↗Upstream declaration 2 ↗Upstream declaration 3 ↗
static defaultParams
Default parameters A set of parameters which provides better model quality, can be very slow.
defaultParams(): kinfu_Params | null;The kinfu_Params | null result.
static coarseParams
Coarse parameters A set of parameters which provides better speed, can fail to match frames in case of rapid sensor motion.
coarseParams(): kinfu_Params | null;The kinfu_Params | null result.
static hashTSDFParams
HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume
hashTSDFParams(isCoarse: boolean): kinfu_Params | null;isCoarseis coarse argument (boolean).
The kinfu_Params | null result.
static coloredTSDFParams
ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume
coloredTSDFParams(isCoarse: boolean): kinfu_Params | null;isCoarseis coarse argument (boolean).
The kinfu_Params | null result.
clone
Create another handle to the same native object. This retains the object without copying its pixels or algorithm state; dispose both handles separately.
clone(): this;The this result.
frameSize
frame size in pixels
frameSize: Size;intr
camera intrinsics
intr: Matx33f;rgb_intr
rgb camera intrinsics
rgb_intr: Matx33f;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
depthFactor: number;bilateral_sigma_depth
Depth sigma in meters for bilateral smooth
bilateral_sigma_depth: number;bilateral_sigma_spatial
Spatial sigma in pixels for bilateral smooth
bilateral_sigma_spatial: number;bilateral_kernel_size
Kernel size in pixels for bilateral smooth
bilateral_kernel_size: number;pyramidLevels
Number of pyramid levels for ICP
pyramidLevels: number;volumeDims
Resolution of voxel space
Number of voxels in each dimension.
volumeDims: Vec3i;voxelSize
Size of voxel in meters
voxelSize: number;tsdf_min_camera_movement
Minimal camera movement in meters
Integrate new depth frame only if camera movement exceeds this value.
tsdf_min_camera_movement: number;volumePose
initial volume pose in meters
volumePose: Matx44f;tsdf_trunc_dist
distance to truncate in meters
Distances to surface that exceed this value will be truncated to 1.0.
tsdf_trunc_dist: number;tsdf_max_weight
max number of frames per voxel
Each voxel keeps running average of distances no longer than this value.
tsdf_max_weight: number;raycast_step_factor
A length of one raycast step
How much voxel sizes we skip each raycast step
raycast_step_factor: number;lightPose
gradient delta in voxel sizes fixed at 1.0f float gradient_delta_factor; light pose for rendering in meters
lightPose: Vec3f;icpDistThresh
distance theshold for ICP in meters
icpDistThresh: number;icpAngleThresh
angle threshold for ICP in radians
icpAngleThresh: number;icpIterations
number of ICP iterations for each pyramid level
icpIterations: IntVector;truncateThreshold
Threshold for depth truncation in meters
All depth values beyond this threshold will be set to zero
truncateThreshold: number;setInitialVolumePose
Set Initial Volume Pose Sets the initial pose of the TSDF volume.
setInitialVolumePose(R: Matx33f, t: Vec3f): void;Rrotation matrix
ttranslation vector
setInitialVolumePose1
Set Initial Volume Pose Sets the initial pose of the TSDF volume.
setInitialVolumePose1(homogen_tf: Matx44f): void;homogen_tf4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume
These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.