#include <VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionParams.h>

Public Member Functions
	CoFusionParams ()

std::unique_ptr< CoFusion >	makeCoFusion () const

Public Attributes
bool	closeLoops = true

int	countThresh = 35000

float	covThresh = 1e-05

float	cx

float	cy

float	depthCut = 3

float	errThresh = 5e-05

std::string	exportDirectory = ""

bool	exportSegmentationResults = false

bool	fastOdom = false

float	fernThresh = 0.3095

bool	frameToFrameRGB = false

float	fx

float	fy

int	height

bool	iclnuim = false

float	icpThresh = 10

float	initConfidenceGlobal = 4

float	initConfidenceObject = 2

Model::MatchingType	matchingType = Model::MatchingType::Drost

unsigned	modelSpawnOffset = 20

float	photoThresh = 115

bool	reloc = false

bool	so3 = true

int	timeDelta = 200

int	width

Detailed Description

Definition at line 16 of file CoFusionParams.h.

Constructor & Destructor Documentation

◆ CoFusionParams()

CoFusionParams ( )

Definition at line 5 of file CoFusionParams.cpp.

Member Function Documentation

◆ makeCoFusion()

std::unique_ptr< CoFusion > makeCoFusion ( ) const

Definition at line 52 of file CoFusionParams.cpp.

Member Data Documentation

◆ closeLoops

bool closeLoops = true

Definition at line 31 of file CoFusionParams.h.

◆ countThresh

int countThresh = 35000

Definition at line 28 of file CoFusionParams.h.

◆ covThresh

float covThresh = 1e-05

Definition at line 30 of file CoFusionParams.h.

◆ cx

float cx

Definition at line 53 of file CoFusionParams.h.

◆ cy

float cy

Definition at line 54 of file CoFusionParams.h.

◆ depthCut

float depthCut = 3

Definition at line 37 of file CoFusionParams.h.

◆ errThresh

float errThresh = 5e-05

Definition at line 29 of file CoFusionParams.h.

◆ exportDirectory

std::string exportDirectory = ""

Definition at line 46 of file CoFusionParams.h.

◆ exportSegmentationResults

bool exportSegmentationResults = false

Definition at line 47 of file CoFusionParams.h.

◆ fastOdom

bool fastOdom = false

Definition at line 39 of file CoFusionParams.h.

◆ fernThresh

float fernThresh = 0.3095

Definition at line 40 of file CoFusionParams.h.

◆ frameToFrameRGB

bool frameToFrameRGB = false

Definition at line 42 of file CoFusionParams.h.

◆ fx

float fx

Definition at line 51 of file CoFusionParams.h.

◆ fy

float fy

Definition at line 52 of file CoFusionParams.h.

◆ height

int height

Definition at line 50 of file CoFusionParams.h.

◆ iclnuim

bool iclnuim = false

Definition at line 32 of file CoFusionParams.h.

◆ icpThresh

float icpThresh = 10

Definition at line 38 of file CoFusionParams.h.

◆ initConfidenceGlobal

float initConfidenceGlobal = 4

Definition at line 35 of file CoFusionParams.h.

◆ initConfidenceObject

float initConfidenceObject = 2

Definition at line 36 of file CoFusionParams.h.

◆ matchingType

Model::MatchingType matchingType = Model::MatchingType::Drost

Definition at line 44 of file CoFusionParams.h.

◆ modelSpawnOffset

unsigned modelSpawnOffset = 20

Definition at line 43 of file CoFusionParams.h.

◆ photoThresh

float photoThresh = 115

Definition at line 34 of file CoFusionParams.h.

◆ reloc

bool reloc = false

Definition at line 33 of file CoFusionParams.h.

◆ so3

bool so3 = true

Definition at line 41 of file CoFusionParams.h.

◆ timeDelta

int timeDelta = 200

Definition at line 27 of file CoFusionParams.h.

◆ width

int width

Definition at line 49 of file CoFusionParams.h.

The documentation for this class was generated from the following files:

VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionParams.h
VisionX/components/pointcloud_provider/CoFusionProcessor/CoFusionParams.cpp

Public Member Functions

Public Attributes