#include "rgbd.hpp"
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| RgbdICPOdometry () |
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| RgbdICPOdometry (const Mat &cameraMatrix, float minDepth=DEFAULT_MIN_DEPTH(), float maxDepth=DEFAULT_MAX_DEPTH(), float maxDepthDiff=DEFAULT_MAX_DEPTH_DIFF(), float maxPointsPart=DEFAULT_MAX_POINTS_PART(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), int transformType=RIGID_BODY_MOTION) |
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cv::Mat | getCameraMatrix () const |
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cv::Mat | getIterationCounts () const |
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double | getMaxDepth () const |
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double | getMaxDepthDiff () const |
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double | getMaxPointsPart () const |
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double | getMaxRotation () const |
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double | getMaxTranslation () const |
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double | getMinDepth () const |
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cv::Mat | getMinGradientMagnitudes () const |
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Ptr< RgbdNormals > | getNormalsComputer () const |
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int | getTransformType () const |
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virtual Size | prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const |
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void | setCameraMatrix (const cv::Mat &val) |
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void | setIterationCounts (const cv::Mat &val) |
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void | setMaxDepth (double val) |
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void | setMaxDepthDiff (double val) |
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void | setMaxPointsPart (double val) |
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void | setMaxRotation (double val) |
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void | setMaxTranslation (double val) |
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void | setMinDepth (double val) |
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void | setMinGradientMagnitudes (const cv::Mat &val) |
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void | setTransformType (int val) |
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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 |
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bool | compute (Ptr< OdometryFrame > &srcFrame, Ptr< OdometryFrame > &dstFrame, Mat &Rt, const Mat &initRt=Mat()) const |
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| Algorithm () |
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virtual | ~Algorithm () |
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virtual void | clear () |
| Clears the algorithm state. More...
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virtual bool | empty () const |
| Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read. More...
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virtual String | getDefaultName () const |
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virtual void | read (const FileNode &fn) |
| Reads algorithm parameters from a file storage. More...
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virtual void | save (const String &filename) const |
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virtual void | write (FileStorage &fs) const |
| Stores algorithm parameters in a file storage. More...
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Odometry that merges RgbdOdometry and ICPOdometry by minimize sum of their energy functions.
cv::rgbd::RgbdICPOdometry::RgbdICPOdometry |
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Constructor.
- Parameters
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cameraMatrix | Camera matrix |
minDepth | Pixels with depth less than minDepth will not be used |
maxDepth | Pixels with depth larger than maxDepth will not be used |
maxDepthDiff | Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff |
maxPointsPart | The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart |
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]. |
transformType | Class of trasformation |
virtual void cv::rgbd::RgbdICPOdometry::checkParams |
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const |
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protectedvirtual |
cv::Mat cv::rgbd::RgbdICPOdometry::getCameraMatrix |
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const |
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inlinevirtual |
cv::Mat cv::rgbd::RgbdICPOdometry::getIterationCounts |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMaxDepth |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMaxDepthDiff |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMaxPointsPart |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMaxRotation |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMaxTranslation |
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const |
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inline |
double cv::rgbd::RgbdICPOdometry::getMinDepth |
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const |
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inline |
cv::Mat cv::rgbd::RgbdICPOdometry::getMinGradientMagnitudes |
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const |
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inline |
Ptr<RgbdNormals> cv::rgbd::RgbdICPOdometry::getNormalsComputer |
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const |
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inline |
int cv::rgbd::RgbdICPOdometry::getTransformType |
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const |
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inlinevirtual |
virtual Size cv::rgbd::RgbdICPOdometry::prepareFrameCache |
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Ptr< OdometryFrame > & |
frame, |
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int |
cacheType |
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) |
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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
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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::RgbdICPOdometry::setCameraMatrix |
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const cv::Mat & |
val | ) |
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inlinevirtual |
void cv::rgbd::RgbdICPOdometry::setIterationCounts |
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const cv::Mat & |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMaxDepth |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMaxDepthDiff |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMaxPointsPart |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMaxRotation |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMaxTranslation |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMinDepth |
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double |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setMinGradientMagnitudes |
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const cv::Mat & |
val | ) |
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inline |
void cv::rgbd::RgbdICPOdometry::setTransformType |
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int |
val | ) |
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inlinevirtual |
Mat cv::rgbd::RgbdICPOdometry::cameraMatrix |
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protected |
Mat cv::rgbd::RgbdICPOdometry::iterCounts |
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protected |
double cv::rgbd::RgbdICPOdometry::maxDepth |
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double cv::rgbd::RgbdICPOdometry::maxDepthDiff |
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double cv::rgbd::RgbdICPOdometry::maxPointsPart |
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protected |
double cv::rgbd::RgbdICPOdometry::maxRotation |
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protected |
double cv::rgbd::RgbdICPOdometry::maxTranslation |
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protected |
double cv::rgbd::RgbdICPOdometry::minDepth |
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protected |
Mat cv::rgbd::RgbdICPOdometry::minGradientMagnitudes |
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protected |
int cv::rgbd::RgbdICPOdometry::transformType |
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protected |
The documentation for this class was generated from the following file:
- /builds/master-contrib_docs-mac/opencv_contrib/modules/rgbd/include/opencv2/rgbd.hpp