OpenCV
3.0.0
Open Source Computer Vision
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#include "rgbd.hpp"
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... | |
Odometry based on the paper "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
cv::rgbd::RgbdOdometry::RgbdOdometry | ( | ) |
cv::rgbd::RgbdOdometry::RgbdOdometry | ( | const Mat & | cameraMatrix, |
float | minDepth = DEFAULT_MIN_DEPTH() , |
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float | maxDepth = DEFAULT_MAX_DEPTH() , |
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float | maxDepthDiff = DEFAULT_MAX_DEPTH_DIFF() , |
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const std::vector< int > & | iterCounts = std::vector< int >() , |
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const std::vector< float > & | minGradientMagnitudes = std::vector< float >() , |
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float | maxPointsPart = DEFAULT_MAX_POINTS_PART() , |
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int | transformType = RIGID_BODY_MOTION |
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) |
Constructor.
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 |
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Implements cv::rgbd::Odometry.
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Implements cv::rgbd::Odometry.
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Implements cv::rgbd::Odometry.
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Implements cv::rgbd::Odometry.
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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.
frame | The odometry which will process the frame. |
cacheType | The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL. |
Reimplemented from cv::rgbd::Odometry.
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Implements cv::rgbd::Odometry.
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Implements cv::rgbd::Odometry.
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