View Source Evision.ColoredKinFu.Params (Evision v0.1.28)

Link to this section Summary

Types

t()

Type that represents an ColoredKinFu.Params struct.

Functions

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

ColoredTSDF parameters A set of parameters suitable for use with HashTSDFVolume

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

HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume

Params

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

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

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

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

Link to this section Types

@type t() :: %Evision.ColoredKinFu.Params{ref: reference()}

Type that represents an ColoredKinFu.Params struct.

  • ref. reference()

    The underlying erlang resource variable.

Link to this section Functions

@spec coarseParams() :: t() | {:error, String.t()}

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

Return
  • retval: Params

Python prototype (for reference only):

coarseParams() -> retval
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coloredTSDFParams(isCoarse)

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@spec coloredTSDFParams(boolean()) :: t() | {:error, String.t()}

ColoredTSDF parameters A set of parameters suitable for use with HashTSDFVolume

Positional Arguments
  • isCoarse: bool
Return
  • retval: Params

Python prototype (for reference only):

coloredTSDFParams(isCoarse) -> retval
@spec defaultParams() :: t() | {:error, String.t()}

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

Return
  • retval: Params

Python prototype (for reference only):

defaultParams() -> retval
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get_bilateral_kernel_size(self)

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@spec get_bilateral_kernel_size(t()) :: integer()
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get_bilateral_sigma_depth(self)

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@spec get_bilateral_sigma_depth(t()) :: number()
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get_bilateral_sigma_spatial(self)

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@spec get_bilateral_sigma_spatial(t()) :: number()
@spec get_depthFactor(t()) :: number()
@spec get_frameSize(t()) :: {number(), number()}
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get_icpAngleThresh(self)

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@spec get_icpAngleThresh(t()) :: number()
@spec get_icpDistThresh(t()) :: number()
@spec get_icpIterations(t()) :: [integer()]
@spec get_intr(t()) :: Evision.Mat.t()
@spec get_lightPose(t()) :: {number(), number(), number()}
@spec get_pyramidLevels(t()) :: integer()
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get_raycast_step_factor(self)

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@spec get_raycast_step_factor(t()) :: number()
@spec get_rgb_frameSize(t()) :: {number(), number()}
@spec get_rgb_intr(t()) :: Evision.Mat.t()
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get_truncateThreshold(self)

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@spec get_truncateThreshold(t()) :: number()
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get_tsdf_max_weight(self)

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@spec get_tsdf_max_weight(t()) :: integer()
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get_tsdf_min_camera_movement(self)

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@spec get_tsdf_min_camera_movement(t()) :: number()
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get_tsdf_trunc_dist(self)

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@spec get_tsdf_trunc_dist(t()) :: number()
@spec get_volumeDims(t()) :: {integer(), integer(), integer()}
@spec get_volumeType(t()) :: integer()
@spec get_voxelSize(t()) :: number()
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hashTSDFParams(isCoarse)

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@spec hashTSDFParams(boolean()) :: t() | {:error, String.t()}

HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume

Positional Arguments
  • isCoarse: bool
Return
  • retval: Params

Python prototype (for reference only):

hashTSDFParams(isCoarse) -> retval
@spec params() :: t() | {:error, String.t()}

Params

Return
  • self: Params

Python prototype (for reference only):

Params() -> <colored_kinfu_Params object>
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params(volumeInitialPose)

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@spec params(Evision.Mat.t()) :: t() | {:error, String.t()}

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

Positional Arguments
  • volumeInitialPose: Evision.Mat.t().

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

Return
  • self: Params

Python prototype (for reference only):

Params(volumeInitialPose) -> <colored_kinfu_Params object>
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params(volumeInitialPoseRot, volumeInitialPoseTransl)

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@spec params(Evision.Mat.t(), {number(), number(), number()}) ::
  t() | {:error, String.t()}

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

Positional Arguments
  • volumeInitialPoseRot: Evision.Mat.t().

    rotation matrix

  • volumeInitialPoseTransl: Vec3f.

    translation vector

Return
  • self: Params

Python prototype (for reference only):

Params(volumeInitialPoseRot, volumeInitialPoseTransl) -> <colored_kinfu_Params object>
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set_bilateral_kernel_size(self, prop)

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@spec set_bilateral_kernel_size(t(), integer()) :: t()
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set_bilateral_sigma_depth(self, prop)

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@spec set_bilateral_sigma_depth(t(), number()) :: t()
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set_bilateral_sigma_spatial(self, prop)

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@spec set_bilateral_sigma_spatial(t(), number()) :: t()
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set_depthFactor(self, prop)

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@spec set_depthFactor(t(), number()) :: t()
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set_frameSize(self, prop)

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@spec set_frameSize(
  t(),
  {number(), number()}
) :: t()
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set_icpAngleThresh(self, prop)

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@spec set_icpAngleThresh(t(), number()) :: t()
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set_icpDistThresh(self, prop)

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@spec set_icpDistThresh(t(), number()) :: t()
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set_icpIterations(self, prop)

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@spec set_icpIterations(t(), [integer()]) :: t()
@spec set_intr(t(), Evision.Mat.t()) :: t()
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set_lightPose(self, prop)

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@spec set_lightPose(t(), {number(), number(), number()}) :: t()
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set_pyramidLevels(self, prop)

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@spec set_pyramidLevels(t(), integer()) :: t()
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set_raycast_step_factor(self, prop)

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@spec set_raycast_step_factor(t(), number()) :: t()
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set_rgb_frameSize(self, prop)

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@spec set_rgb_frameSize(
  t(),
  {number(), number()}
) :: t()
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set_rgb_intr(self, prop)

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@spec set_rgb_intr(t(), Evision.Mat.t()) :: t()
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set_truncateThreshold(self, prop)

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@spec set_truncateThreshold(t(), number()) :: t()
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set_tsdf_max_weight(self, prop)

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@spec set_tsdf_max_weight(t(), integer()) :: t()
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set_tsdf_min_camera_movement(self, prop)

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@spec set_tsdf_min_camera_movement(t(), number()) :: t()
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set_tsdf_trunc_dist(self, prop)

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@spec set_tsdf_trunc_dist(t(), number()) :: t()
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set_volumeDims(self, prop)

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@spec set_volumeDims(t(), {integer(), integer(), integer()}) :: t()
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set_volumeType(self, prop)

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@spec set_volumeType(t(), integer()) :: t()
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set_voxelSize(self, prop)

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@spec set_voxelSize(t(), number()) :: t()
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setInitialVolumePose(self, homogen_tf)

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@spec setInitialVolumePose(t(), Evision.Mat.t()) :: t() | {:error, String.t()}

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

Positional Arguments
  • self: Evision.ColoredKinFu.Params.t()

  • homogen_tf: Evision.Mat.t().

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

Python prototype (for reference only):

setInitialVolumePose(homogen_tf) -> None
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setInitialVolumePose(self, r, t)

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@spec setInitialVolumePose(t(), Evision.Mat.t(), {number(), number(), number()}) ::
  t() | {:error, String.t()}

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

Positional Arguments
  • self: Evision.ColoredKinFu.Params.t()

  • r: Evision.Mat.t().

    rotation matrix

  • t: Vec3f.

    translation vector

Python prototype (for reference only):

setInitialVolumePose(R, t) -> None