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Merge pull request #2133 from savuor:kinfu_truncate

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KinectFusion: several updates (#2133)

* truncateThreshold added

* demo updated for RealSense

* first Kinect2, then RealSense

* more distance-based parameters
This commit is contained in:
Rostislav Vasilikhin
2019-06-05 15:32:20 +03:00
committed by Alexander Alekhin
parent b6e2867525
commit a1d873092f
6 changed files with 117 additions and 35 deletions
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7
modules/rgbd/include/opencv2/rgbd/kinfu.hpp
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@@ -102,8 +102,11 @@ struct CV_EXPORTS_W Params
/** number of ICP iterations for each pyramid level */
CV_PROP std::vector<int> icpIterations;
// depth truncation is not used by default
// float icp_truncate_depth_dist; //meters
/** @brief Threshold for depth truncation in meters
All depth values beyond this threshold will be set to zero
*/
CV_PROP_RW float truncateThreshold;
};
/** @brief KinectFusion implementation