#include "rgbd.hpp"

Inheritance diagram for cv::rgbd::Odometry:

Public Types
enum	{ ROTATION = 1, TRANSLATION = 2, RIGID_BODY_MOTION = 4 }

Public Member Functions
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

virtual cv::Mat	getCameraMatrix () const =0

virtual int	getTransformType () const =0

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

virtual void	setCameraMatrix (const cv::Mat &val)=0

virtual void	setTransformType (int val)=0

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...

Static Public Member Functions
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...

Protected Member Functions
virtual void	checkParams () const =0

virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, Mat &Rt, const Mat &initRt) const =0

Detailed Description

Base class for computation of odometry.

Member Function Documentation

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

protectedpure virtual

Implemented in cv::rgbd::RgbdICPOdometry, cv::rgbd::ICPOdometry, and cv::rgbd::RgbdOdometry.

bool cv::rgbd::Odometry::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

Method to compute a transformation from the source frame to the destination one. Some odometry algorithms do not used some data of frames (eg. ICP does not use images). In such case corresponding arguments can be set as empty Mat. The method returns true if all internal computions were possible (e.g. there were enough correspondences, system of equations has a solution, etc) and resulting transformation satisfies some test if it's provided by the Odometry inheritor implementation (e.g. thresholds for maximum translation and rotation).

Parameters

srcImage	Image data of the source frame (CV_8UC1)
srcDepth	Depth data of the source frame (CV_32FC1, in meters)
srcMask	Mask that sets which pixels have to be used from the source frame (CV_8UC1)
dstImage	Image data of the destination frame (CV_8UC1)
dstDepth	Depth data of the destination frame (CV_32FC1, in meters)
dstMask	Mask that sets which pixels have to be used from the destination frame (CV_8UC1)
Rt	Resulting transformation from the source frame to the destination one (rigid body motion): dst_p = Rt * src_p, where dst_p is a homogeneous point in the destination frame and src_p is homogeneous point in the source frame, Rt is 4x4 matrix of CV_64FC1 type.
initRt	Initial transformation from the source frame to the destination one (optional)

bool cv::rgbd::Odometry::compute	(	Ptr< OdometryFrame > &	srcFrame,
		Ptr< OdometryFrame > &	dstFrame,
		Mat &	Rt,
		const Mat &	initRt = `Mat()`
	)		const

One more method to compute a transformation from the source frame to the destination one. It is designed to save on computing the frame data (image pyramids, normals, etc.).

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

protectedpure virtual

Implemented in cv::rgbd::RgbdICPOdometry, cv::rgbd::ICPOdometry, and cv::rgbd::RgbdOdometry.

static Ptr<Odometry> cv::rgbd::Odometry::create ( const String & odometryType )

static

static float cv::rgbd::Odometry::DEFAULT_MAX_DEPTH ( )

inlinestatic

static float cv::rgbd::Odometry::DEFAULT_MAX_DEPTH_DIFF ( )

inlinestatic

static float cv::rgbd::Odometry::DEFAULT_MAX_POINTS_PART ( )

inlinestatic

static float cv::rgbd::Odometry::DEFAULT_MAX_ROTATION ( )

inlinestatic

static float cv::rgbd::Odometry::DEFAULT_MAX_TRANSLATION ( )

inlinestatic

static float cv::rgbd::Odometry::DEFAULT_MIN_DEPTH ( )

inlinestatic

virtual cv::Mat cv::rgbd::Odometry::getCameraMatrix ( ) const

pure virtual

See also: setCameraMatrix

Implemented in cv::rgbd::RgbdICPOdometry, cv::rgbd::ICPOdometry, and cv::rgbd::RgbdOdometry.

virtual int cv::rgbd::Odometry::getTransformType ( ) const

pure virtual

See also: setTransformType

Implemented in cv::rgbd::RgbdICPOdometry, cv::rgbd::ICPOdometry, and cv::rgbd::RgbdOdometry.

virtual Size cv::rgbd::Odometry::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