#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::RgbdOdometry:

Public Member Functions
	RgbdOdometry ()

	RgbdOdometry (const Mat &cameraMatrix, float minDepth=DEFAULT_MIN_DEPTH(), float maxDepth=DEFAULT_MAX_DEPTH(), float maxDepthDiff=DEFAULT_MAX_DEPTH_DIFF(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), float maxPointsPart=DEFAULT_MAX_POINTS_PART(), int transformType=RIGID_BODY_MOTION)

cv::Mat	getCameraMatrix () const

cv::Mat	getIterationCounts () const

double	getMaxDepth () const

double	getMaxDepthDiff () const

double	getMaxPointsPart () const

double	getMaxRotation () const

double	getMaxTranslation () const

double	getMinDepth () const

cv::Mat	getMinGradientMagnitudes () const

int	getTransformType () const

virtual Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const

void	setCameraMatrix (const cv::Mat &val)

void	setIterationCounts (const cv::Mat &val)

void	setMaxDepth (double val)

void	setMaxDepthDiff (double val)

void	setMaxPointsPart (double val)

void	setMaxRotation (double val)

void	setMaxTranslation (double val)

void	setMinDepth (double val)

void	setMinGradientMagnitudes (const cv::Mat &val)

void	setTransformType (int val)

Public Member Functions inherited from cv::rgbd::Odometry
bool	compute (const Mat &srcImage, const Mat &srcDepth, const Mat &srcMask, const Mat &dstImage, const Mat &dstDepth, const Mat &dstMask, Mat &Rt, const Mat &initRt=Mat()) const

bool	compute (Ptr< OdometryFrame > &srcFrame, Ptr< OdometryFrame > &dstFrame, Mat &Rt, const Mat &initRt=Mat()) const

Public Member Functions inherited from cv::Algorithm
	Algorithm ()

virtual	~Algorithm ()

virtual void	clear ()
	Clears the algorithm state. More...

virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...

virtual String	getDefaultName () const

virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage. More...

virtual void	save (const String &filename) const

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage. More...

Protected Member Functions
virtual void	checkParams () const

virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, Mat &Rt, const Mat &initRt) const

Protected Attributes
Mat	cameraMatrix

Mat	iterCounts

double	maxDepth

double	maxDepthDiff

double	maxPointsPart

double	maxRotation

double	maxTranslation

double	minDepth

Mat	minGradientMagnitudes

int	transformType

Additional Inherited Members
Public Types inherited from cv::rgbd::Odometry
enum	{ ROTATION = 1, TRANSLATION = 2, RIGID_BODY_MOTION = 4 }

Static Public Member Functions inherited from cv::rgbd::Odometry
static Ptr< Odometry >	create (const String &odometryType)

static float	DEFAULT_MAX_DEPTH ()

static float	DEFAULT_MAX_DEPTH_DIFF ()

static float	DEFAULT_MAX_POINTS_PART ()

static float	DEFAULT_MAX_ROTATION ()

static float	DEFAULT_MAX_TRANSLATION ()

static float	DEFAULT_MIN_DEPTH ()

Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file. More...

template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String. More...

template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node. More...

Detailed Description

Odometry based on the paper "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.

Constructor & Destructor Documentation

cv::rgbd::RgbdOdometry::RgbdOdometry ( )

cv::rgbd::RgbdOdometry::RgbdOdometry	(	const Mat &	cameraMatrix,
		float	minDepth = `DEFAULT_MIN_DEPTH()`,
		float	maxDepth = `DEFAULT_MAX_DEPTH()`,
		float	maxDepthDiff = `DEFAULT_MAX_DEPTH_DIFF()`,
		const std::vector< int > &	iterCounts = `std::vector< int >()`,
		const std::vector< float > &	minGradientMagnitudes = `std::vector< float >()`,
		float	maxPointsPart = `DEFAULT_MAX_POINTS_PART()`,
		int	transformType = `RIGID_BODY_MOTION`
	)

Constructor.

Parameters

cameraMatrix	Camera matrix
minDepth	Pixels with depth less than minDepth will not be used (in meters)
maxDepth	Pixels with depth larger than maxDepth will not be used (in meters)
maxDepthDiff	Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff (in meters)
iterCounts	Count of iterations on each pyramid level.
minGradientMagnitudes	For each pyramid level the pixels will be filtered out if they have gradient magnitude less than minGradientMagnitudes[level].
maxPointsPart	The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
transformType	Class of transformation

Member Function Documentation

virtual void cv::rgbd::RgbdOdometry::checkParams ( ) const

protectedvirtual

Implements cv::rgbd::Odometry.

virtual bool cv::rgbd::RgbdOdometry::computeImpl	(	const Ptr< OdometryFrame > &	srcFrame,
		const Ptr< OdometryFrame > &	dstFrame,
		Mat &	Rt,
		const Mat &	initRt
	)		const

protectedvirtual

Implements cv::rgbd::Odometry.

cv::Mat cv::rgbd::RgbdOdometry::getCameraMatrix ( ) const

inlinevirtual

See also: setCameraMatrix

Implements cv::rgbd::Odometry.

cv::Mat cv::rgbd::RgbdOdometry::getIterationCounts ( ) const

inline

double cv::rgbd::RgbdOdometry::getMaxDepth ( ) const

inline

double cv::rgbd::RgbdOdometry::getMaxDepthDiff ( ) const

inline

double cv::rgbd::RgbdOdometry::getMaxPointsPart ( ) const

inline

double cv::rgbd::RgbdOdometry::getMaxRotation ( ) const

inline

double cv::rgbd::RgbdOdometry::getMaxTranslation ( ) const

inline

double cv::rgbd::RgbdOdometry::getMinDepth ( ) const

inline

cv::Mat cv::rgbd::RgbdOdometry::getMinGradientMagnitudes ( ) const

inline

int cv::rgbd::RgbdOdometry::getTransformType ( ) const

inlinevirtual

See also: setTransformType

Implements cv::rgbd::Odometry.

virtual Size cv::rgbd::RgbdOdometry::prepareFrameCache	(	Ptr< OdometryFrame > &	frame,
		int	cacheType
	)		const

virtual

Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution of the prepared frame.

Parameters

frame	The odometry which will process the frame.
cacheType	The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL.

Reimplemented from cv::rgbd::Odometry.

void cv::rgbd::RgbdOdometry::setCameraMatrix ( const cv::Mat & val )

inlinevirtual

See also: getCameraMatrix

Implements cv::rgbd::Odometry.

void cv::rgbd::RgbdOdometry::setIterationCounts ( const cv::Mat & val )

inline

void cv::rgbd::RgbdOdometry::setMaxDepth ( double val )

inline

void cv::rgbd::RgbdOdometry::setMaxDepthDiff ( double val )

inline

void cv::rgbd::RgbdOdometry::setMaxPointsPart ( double val )

inline

void cv::rgbd::RgbdOdometry::setMaxRotation ( double val )

inline

void cv::rgbd::RgbdOdometry::setMaxTranslation ( double val )

inline

void cv::rgbd::RgbdOdometry::setMinDepth ( double val )

inline

void cv::rgbd::RgbdOdometry::setMinGradientMagnitudes ( const cv::Mat & val )

inline

void cv::rgbd::RgbdOdometry::setTransformType ( int val )

inlinevirtual

See also: getTransformType

Implements cv::rgbd::Odometry.

Member Data Documentation

Mat cv::rgbd::RgbdOdometry::cameraMatrix

protected

Mat cv::rgbd::RgbdOdometry::iterCounts

protected

double cv::rgbd::RgbdOdometry::maxDepth

protected

double cv::rgbd::RgbdOdometry::maxDepthDiff

protected

double cv::rgbd::RgbdOdometry::maxPointsPart

protected

double cv::rgbd::RgbdOdometry::maxRotation

protected

double cv::rgbd::RgbdOdometry::maxTranslation

protected

double cv::rgbd::RgbdOdometry::minDepth

protected

Mat cv::rgbd::RgbdOdometry::minGradientMagnitudes

protected

int cv::rgbd::RgbdOdometry::transformType

protected

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

/Users/build/test/opencv_contrib/modules/rgbd/include/opencv2/rgbd.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation