View Source Evision.KinFu.Params (Evision v0.2.9)

Summary

Types

t()

Type that represents an KinFu.Params struct.

Functions

coarseParams()

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

coarseParams(named_args)
coloredTSDFParams(named_args)

ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume

defaultParams()

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

defaultParams(named_args)
get_bilateral_kernel_size(self)
get_bilateral_sigma_depth(self)
get_bilateral_sigma_spatial(self)
get_depthFactor(self)
get_frameSize(self)
get_icpAngleThresh(self)
get_icpDistThresh(self)
get_icpIterations(self)
get_intr(self)
get_lightPose(self)
get_pyramidLevels(self)
get_raycast_step_factor(self)
get_rgb_intr(self)
get_truncateThreshold(self)
get_tsdf_max_weight(self)
get_tsdf_min_camera_movement(self)
get_tsdf_trunc_dist(self)
get_volumeDims(self)
get_volumeType(self)
get_voxelSize(self)
hashTSDFParams(named_args)

HashTSDF parameters A set of parameters suitable for use with HashTSDFVolume

params()

Params

params(named_args)

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

params(volumeInitialPoseRot, volumeInitialPoseTransl)

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

set_bilateral_kernel_size(self, prop)
set_bilateral_sigma_depth(self, prop)
set_bilateral_sigma_spatial(self, prop)
set_depthFactor(self, prop)
set_frameSize(self, prop)
set_icpAngleThresh(self, prop)
set_icpDistThresh(self, prop)
set_icpIterations(self, prop)
set_intr(self, prop)
set_lightPose(self, prop)
set_pyramidLevels(self, prop)
set_raycast_step_factor(self, prop)
set_rgb_intr(self, prop)
set_truncateThreshold(self, prop)
set_tsdf_max_weight(self, prop)
set_tsdf_min_camera_movement(self, prop)
set_tsdf_trunc_dist(self, prop)
set_volumeDims(self, prop)
set_volumeType(self, prop)
set_voxelSize(self, prop)
setInitialVolumePose(named_args)
setInitialVolumePose(self, homogen_tf)

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

setInitialVolumePose(self, r, t)

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

Types

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t()

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

Type that represents an KinFu.Params struct.

  • ref. reference()

    The underlying erlang resource variable.

Functions

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coarseParams()

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@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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coarseParams(named_args)

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@spec coarseParams(Keyword.t()) :: any() | {:error, String.t()}
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coloredTSDFParams(named_args)

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

ColoredTSDF parameters A set of parameters suitable for use with ColoredTSDFVolume

Positional Arguments
  • isCoarse: bool
Return
  • retval: Params

Python prototype (for reference only):

coloredTSDFParams(isCoarse) -> retval
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defaultParams()

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@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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defaultParams(named_args)

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@spec defaultParams(Keyword.t()) :: any() | {:error, String.t()}
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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()
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get_depthFactor(self)

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@spec get_depthFactor(t()) :: number()
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get_frameSize(self)

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

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@spec get_icpAngleThresh(t()) :: number()
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get_icpDistThresh(self)

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@spec get_icpDistThresh(t()) :: number()
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get_icpIterations(self)

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@spec get_icpIterations(t()) :: [integer()]
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get_intr(self)

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@spec get_intr(t()) :: Evision.Mat.t()
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get_lightPose(self)

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@spec get_lightPose(t()) :: {number(), number(), number()}
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get_pyramidLevels(self)

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@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()
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get_rgb_intr(self)

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@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()
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get_volumeDims(self)

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@spec get_volumeDims(t()) :: {integer(), integer(), integer()}
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get_volumeType(self)

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@spec get_volumeType(t()) :: Evision.KinFu.VolumeType.enum()
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get_voxelSize(self)

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@spec get_voxelSize(t()) :: number()
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hashTSDFParams(named_args)

View Source 
@spec hashTSDFParams(Keyword.t()) :: any() | {:error, String.t()}
@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
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params()

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

Params

Return
  • self: Params

Python prototype (for reference only):

Params() -> <kinfu_Params object>
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params(named_args)

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@spec params(Keyword.t()) :: any() | {:error, String.t()}
@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.

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

Return
  • self: Params

Python prototype (for reference only):

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

View Source 
@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.

    rotation matrix

  • volumeInitialPoseTransl: Vec3f.

    translation vector

Return
  • self: Params

Python prototype (for reference only):

Params(volumeInitialPoseRot, volumeInitialPoseTransl) -> <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()
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set_intr(self, prop)

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@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_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(), Evision.KinFu.VolumeType.enum()) :: t()
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set_voxelSize(self, prop)

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@spec set_voxelSize(t(), number()) :: t()
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setInitialVolumePose(named_args)

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@spec setInitialVolumePose(Keyword.t()) :: any() | {:error, String.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.KinFu.Params.t()

  • homogen_tf: Evision.Mat.

    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)

View Source 
@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.KinFu.Params.t()

  • r: Evision.Mat.

    rotation matrix

  • t: Vec3f.

    translation vector

Python prototype (for reference only):

setInitialVolumePose(R, t) -> None