Classes
class	roboticslab::SceneReconstruction
	Exposes Kinect Fusion as a YARP service via RPC. More...

Detailed Description

Configuration parameters

PROPERTY	DESCRIPTION	DEFAULT
from	file.ini	sceneReconstruction.ini
context	context name	sceneReconstruction
period	update period (ms)	20
prefix	prefix for local port names	/sceneReconstruction
remote	remote port to connect to (optional)
carrier	carrier name for remote depth stream

PORT	CONTENT
/<prefix>/rpc:s	RPC server for handling remote commands
/<prefix>/render:o	PixelMono Phong-rendered representation of the reconstructed surface

PROPERTY	DESCRIPTION	DEFAULT
algorithm	Kinect Fusion algorithm ("kinfu", "dynafu", "kinfu_ls")	kinfu
bilateralKernelSize	kernel size in pixels for bilateral smooth	7
bilateralSigmaDepth	depth sigma in meters for bilateral smooth	0.04
bilateralSigmaSpatial	spatial sigma in pixels for bilateral smooth	4.5
depthFactor	pre-scale per 1 meter for input values	5000
depthTruncThreshold	distance to truncate in meters (kinfu_ls/hashtsdf)	0.0410156
icpAngleThresh	angle threshold in radians for ICP	0.523599
icpDistThresh	distance threshold in meters for ICP	0.1
icpIterations	iterations per each ICP level	(10 5 4)
lightPose	light pose for rendering in meters	(0.0 0.0 0.0)
pyramidLevels	number of pyramid levels for ICP	3
raycastStepFactor	a lenght in voxel sizes for one raycast step	0.25
truncateThreshold	threshold for depth truncation in meters	0.0
tsdfMaxWeight	max number of frames per voxel	64
tsdfMinCameraMovement	minimal camera movement in meters	0.0
tsdfTruncDist	distance to truncate in meters	0.0410156
unitResolution	resolution of volumeUnit in voxel space (kinfu_ls/hashtsdf)	0
volumeDims	resolution of voxel space	(512 512 512)
volumePoseRot	volume pose (rotation matrix) in radians	(1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0)
volumePoseTransl	volume pose (translation vector) in meters	(-1.5 -1.5 0.5)
volumeType	type of voxel volume ("tsdf", "hashtsdf")	tsdf
voxelSize	size of voxel in meters	0.00585938