new Volume pipeline #3162
new Volume pipeline #3162
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| //! @addtogroup kinect_fusion | ||
| //! @{ | ||
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| struct CV_EXPORTS_W VolumeParams |
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Why this class is in this file? It's not used in kinfu.cpp or anywhere else.
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| Number of voxels in each dimension for volumeUnit | ||
| Applicable only for hashTSDF. | ||
| */ | ||
| CV_PROP_RW int unitResolution = { 0 }; |
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just = 0;
other parameters should be initialized too (by default ctor, see below existing code).
| /** @brief Default set of parameters that provide higher quality reconstruction | ||
| at the cost of slow performance. | ||
| */ | ||
| CV_WRAP static Ptr<VolumeParams> defaultParams(int _volumeType); |
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again, underscore prefix in public header.
| /** @brief Default set of parameters that provide higher quality reconstruction | ||
| at the cost of slow performance. | ||
| */ | ||
| CV_WRAP static Ptr<VolumeParams> defaultParams(int _volumeType); |
| /** @brief Kind of Volume | ||
| Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units) | ||
| */ | ||
| CV_PROP_RW int kind; |
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int
Why int? You have already defined enum type above.
modules/rgbd/src/large_kinfu.cpp
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| vs.setTsdfTruncateDistance(params.volumeParams.tsdfTruncDist); | ||
| vs.setMaxWeight(params.volumeParams.maxWeight); | ||
| vs.setVolumeResolution(Vec3i(params.volumeParams.unitResolution, | ||
| params.volumeParams.unitResolution, params.volumeParams.unitResolution)); |
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Link on the main "opencv" PR must be added in the description. |
| CV_PROP_RW float voxelSize = volumSize / 512.f; | ||
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| /** @brief TSDF truncation distance | ||
| Distances greater than value from surface will be truncated to 1.0 |
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Blank line is necessary after @brief here and below.
| CV_PROP_RW VolumeType kind = VolumeType::TSDF; | ||
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| /** @brief Resolution of voxel space | ||
| Number of voxels in each dimension. |
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Blank line is necessary after @brief line here and below.
| struct CV_EXPORTS_W VolumeParams | ||
| { | ||
| /** @brief Kind of Volume | ||
| Values can be TSDF (single volume) or HASHTSDF (hashtable of volume units) |
modules/rgbd/src/large_kinfu.cpp
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| params.resolutionZ = 512; | ||
| params.voxelSize = volumeSize / 512.f; | ||
| params.depthTruncThreshold = 0.f; // depthTruncThreshold not required for TSDF | ||
| params.tsdfTruncDist = 7 * params.voxelSize; //! About 0.04f in meters |
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//!
There is not doxygen in the source code.
Comment is incorrect due to missing <.
| */ | ||
| CV_PROP_RW int resolutionX = 128; | ||
| CV_PROP_RW int resolutionY = 128; | ||
| CV_PROP_RW int resolutionZ = 128; |
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Each member should be documented.
Why we can't use Vec3i?
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it was in the previous version of the code and this structure will be removed in future
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The true reason to use 3 ints instead of Vec3i is that Vec3i does not work well with bindings generator
| }; | ||
| struct CV_EXPORTS_W Params |
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Empty space between declarations.
3 participants
Main PR: opencv/opencv#21189
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.