#include <Reconstruction.h>
Reconstruction parameters.
More...
Reconstruction parameters.
Currently only sensors with equal depth and color image sizes and intrinsics are supported
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| | ReconstructionParams (int sensors=1) |
| | Construct object. More...
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| ~ReconstructionParams () |
| | Destructor.
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int | sensors () const |
| | Get number of sensors.
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| bool | setImageSize (int colorWidth, int colorHeight, int depthWidth, int depthHeight, int sensor=0) |
| | Set image size for sensor. More...
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| bool | imageSize (int &colorWidth, int &colorHeight, int &depthWidth, int &depthHeight, int sensor=0) const |
| | Get image size for sensor. More...
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| bool | setIntrinsics (const Mat3 &K, int sensor=0) |
| | Set depth image intrinsics for sensor. More...
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| bool | intrinsics (Mat3 &K, int sensor=0) const |
| | Get depth image intrinsics for sensor. More...
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| bool | setColorIntrinsics (const Mat3 &K, int sensor=0) |
| | Set color image intrinsics for sensor. More...
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| bool | colorIntrinsics (Mat3 &K, int sensor=0) const |
| | Get color image intrinsics for sensor. More...
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| bool | setDepthToColorTransformation (const Mat4 &T, int sensor=0) |
| | Set depth-to-color transformation for sensor. More...
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| bool | depthToColorTransformation (Mat4 &T, int sensor=0) const |
| | Get depth-to-color transformation for sensor. More...
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| void | setVolumeSize (const Vec3 &size) |
| | Set volume size. More...
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Vec3 | volumeSize () const |
| | Get volume size in mm.
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| void | setVolumeResolution (const Vec3i &res) |
| | Set volume resolution. More...
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Vec3i | volumeResolution () const |
| | Get volume resolution in voxels.
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| void | setVolumePosition (const Vec3 &pos) |
| | Set volume position. More...
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Vec3 | volumePosition () const |
| | Get volume position in mm.
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| void | setVolumeRotation (const Mat3 &R) |
| | Set volume rotation. More...
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Mat3 | volumeRotation () const |
| | Get volume rotation matrix.
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| void | setTrackingParams (double rotationThreshold, double translationThreshold) |
| | Set tracking parameters to control the maximum amount of displacement and rotation allowed between two subsequent frames. More...
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void | trackingParams (double &rotationThreshold, double &translationThreshold) const |
| | Get tracking parameters.
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◆ ReconstructionParams()
Construct object.
- Parameters
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| sensors | Number of sensors used in reconstruction |
By default a cubic volume of side length 1 m with a resolution of 256, 1 m in front of the sensor is defined. The image size and intrinsics for each sensor must be set prior to running the reconstruction.
◆ setImageSize()
| bool setImageSize |
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int |
colorWidth, |
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int |
colorHeight, |
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int |
depthWidth, |
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int |
depthHeight, |
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int |
sensor = 0 |
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Set image size for sensor.
- Parameters
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| colorWidth | Color image width |
| colorHeight | Color image height |
| depthWidth | Depth image width |
| depthHeight | Depth image height |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ imageSize()
| bool imageSize |
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int & |
colorWidth, |
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int & |
colorHeight, |
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int & |
depthWidth, |
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int & |
depthHeight, |
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int |
sensor = 0 |
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| const |
Get image size for sensor.
- Parameters
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| colorWidth | Color image width |
| colorHeight | Color image height |
| depthWidth | Depth image width |
| depthHeight | Depth image height |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ setIntrinsics()
| bool setIntrinsics |
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const Mat3 & |
K, |
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int |
sensor = 0 |
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Set depth image intrinsics for sensor.
- Parameters
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| K | Depth image intrinsics |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ intrinsics()
| bool intrinsics |
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Mat3 & |
K, |
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int |
sensor = 0 |
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| const |
Get depth image intrinsics for sensor.
- Parameters
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| K | Depth image intrinsics |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ setColorIntrinsics()
| bool setColorIntrinsics |
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const Mat3 & |
K, |
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int |
sensor = 0 |
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Set color image intrinsics for sensor.
- Parameters
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| K | Color image intrinsics |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ colorIntrinsics()
| bool colorIntrinsics |
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Mat3 & |
K, |
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int |
sensor = 0 |
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| const |
Get color image intrinsics for sensor.
- Parameters
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| K | Color image intrinsics |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ setDepthToColorTransformation()
| bool setDepthToColorTransformation |
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const Mat4 & |
T, |
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int |
sensor = 0 |
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Set depth-to-color transformation for sensor.
- Parameters
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| T | Depth-to-color transformation |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ depthToColorTransformation()
| bool depthToColorTransformation |
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Mat4 & |
T, |
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int |
sensor = 0 |
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| const |
Get depth-to-color transformation for sensor.
- Parameters
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| T | Depth-to-color transformation |
| sensor | Sensor index |
- Returns
- True if sensor index is valid, false otherwise
◆ setVolumeSize()
| void setVolumeSize |
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const Vec3 & |
size | ) |
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Set volume size.
- Parameters
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| size | Volume size in mm along each axis |
◆ setVolumeResolution()
| void setVolumeResolution |
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const Vec3i & |
res | ) |
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Set volume resolution.
- Parameters
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| res | Volume resolution in voxels |
◆ setVolumePosition()
| void setVolumePosition |
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const Vec3 & |
pos | ) |
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Set volume position.
- Parameters
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| pos | Volume position in mm relative to camera center of first sensor in mm |
The position specified here is the translation from the camera center of the first sensor to the center of the reconstruction volume. The depth direction point away from the sensor is given by the z-component. The x-axis specifies the movement to the right as seen from the sensor, while the y-axis is the movement downward.
◆ setVolumeRotation()
| void setVolumeRotation |
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const Mat3 & |
R | ) |
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Set volume rotation.
- Parameters
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| pos | Volume rotation given as 3x3 rotation matrix |
The rotation specified here is the rotation around the center of the reconstruction volume.
◆ setTrackingParams()
| void setTrackingParams |
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double |
rotationThreshold, |
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double |
translationThreshold |
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Set tracking parameters to control the maximum amount of displacement and rotation allowed between two subsequent frames.
Choosing too large values makes the tracking less stable.
- Parameters
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| rotationThreshold | Maximum rotation between two frames in degrees |
| translationThreshold | Maximum translation between two frames in mm. |
The documentation for this class was generated from the following file:
- E:/BuildAgent/work/97cc5eac790048b1/RecFusionSDK/include/Reconstruction.h
