#include <opencv2/rgbd/depth.hpp>
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| RgbdICPOdometry () |
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| RgbdICPOdometry (const Mat &cameraMatrix, float minDepth=Odometry::DEFAULT_MIN_DEPTH(), float maxDepth=Odometry::DEFAULT_MAX_DEPTH(), float maxDepthDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float maxPointsPart=Odometry::DEFAULT_MAX_POINTS_PART(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), int transformType=Odometry::RIGID_BODY_MOTION) |
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cv::Mat | getCameraMatrix () const CV_OVERRIDE |
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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 CV_OVERRIDE |
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virtual Size | prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const CV_OVERRIDE |
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void | setCameraMatrix (const cv::Mat &val) CV_OVERRIDE |
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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) CV_OVERRIDE |
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bool | compute (const Mat &srcImage, const Mat &srcDepth, const Mat &srcMask, const Mat &dstImage, const Mat &dstDepth, const Mat &dstMask, OutputArray Rt, const Mat &initRt=Mat()) const |
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bool | compute (Ptr< OdometryFrame > &srcFrame, Ptr< OdometryFrame > &dstFrame, OutputArray 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.
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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.
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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.
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virtual void | save (const String &filename) const |
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void | write (const Ptr< FileStorage > &fs, const String &name=String()) const |
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virtual void | write (FileStorage &fs) const |
| Stores algorithm parameters in a file storage.
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void | write (FileStorage &fs, const String &name) const |
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Odometry that merges RgbdOdometry and ICPOdometry by minimize sum of their energy functions.
◆ RgbdICPOdometry() [1/2]
cv::rgbd::RgbdICPOdometry::RgbdICPOdometry |
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◆ RgbdICPOdometry() [2/2]
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 |
◆ checkParams()
virtual void cv::rgbd::RgbdICPOdometry::checkParams |
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const |
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protectedvirtual |
◆ computeImpl()
◆ create()
Python: |
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| cv.rgbd.RgbdICPOdometry.create( | [, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]] | ) -> | retval |
| cv.rgbd.RgbdICPOdometry_create( | [, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]] | ) -> | retval |
◆ getCameraMatrix()
cv::Mat cv::rgbd::RgbdICPOdometry::getCameraMatrix |
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const |
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inlinevirtual |
Python: |
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| cv.rgbd.RgbdICPOdometry.getCameraMatrix( | | ) -> | retval |
◆ getIterationCounts()
cv::Mat cv::rgbd::RgbdICPOdometry::getIterationCounts |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getIterationCounts( | | ) -> | retval |
◆ getMaxDepth()
double cv::rgbd::RgbdICPOdometry::getMaxDepth |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMaxDepth( | | ) -> | retval |
◆ getMaxDepthDiff()
double cv::rgbd::RgbdICPOdometry::getMaxDepthDiff |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMaxDepthDiff( | | ) -> | retval |
◆ getMaxPointsPart()
double cv::rgbd::RgbdICPOdometry::getMaxPointsPart |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMaxPointsPart( | | ) -> | retval |
◆ getMaxRotation()
double cv::rgbd::RgbdICPOdometry::getMaxRotation |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMaxRotation( | | ) -> | retval |
◆ getMaxTranslation()
double cv::rgbd::RgbdICPOdometry::getMaxTranslation |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMaxTranslation( | | ) -> | retval |
◆ getMinDepth()
double cv::rgbd::RgbdICPOdometry::getMinDepth |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMinDepth( | | ) -> | retval |
◆ getMinGradientMagnitudes()
cv::Mat cv::rgbd::RgbdICPOdometry::getMinGradientMagnitudes |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getMinGradientMagnitudes( | | ) -> | retval |
◆ getNormalsComputer()
Ptr< RgbdNormals > cv::rgbd::RgbdICPOdometry::getNormalsComputer |
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const |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.getNormalsComputer( | | ) -> | retval |
◆ getTransformType()
int cv::rgbd::RgbdICPOdometry::getTransformType |
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const |
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inlinevirtual |
Python: |
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| cv.rgbd.RgbdICPOdometry.getTransformType( | | ) -> | retval |
◆ prepareFrameCache()
virtual Size cv::rgbd::RgbdICPOdometry::prepareFrameCache |
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Ptr< OdometryFrame > & |
frame, |
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int |
cacheType |
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virtual |
Python: |
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| cv.rgbd.RgbdICPOdometry.prepareFrameCache( | frame, cacheType | ) -> | retval |
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.
◆ setCameraMatrix()
void cv::rgbd::RgbdICPOdometry::setCameraMatrix |
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const cv::Mat & |
val | ) |
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inlinevirtual |
Python: |
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| cv.rgbd.RgbdICPOdometry.setCameraMatrix( | val | ) -> | None |
◆ setIterationCounts()
void cv::rgbd::RgbdICPOdometry::setIterationCounts |
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const cv::Mat & |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setIterationCounts( | val | ) -> | None |
◆ setMaxDepth()
void cv::rgbd::RgbdICPOdometry::setMaxDepth |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMaxDepth( | val | ) -> | None |
◆ setMaxDepthDiff()
void cv::rgbd::RgbdICPOdometry::setMaxDepthDiff |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMaxDepthDiff( | val | ) -> | None |
◆ setMaxPointsPart()
void cv::rgbd::RgbdICPOdometry::setMaxPointsPart |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMaxPointsPart( | val | ) -> | None |
◆ setMaxRotation()
void cv::rgbd::RgbdICPOdometry::setMaxRotation |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMaxRotation( | val | ) -> | None |
◆ setMaxTranslation()
void cv::rgbd::RgbdICPOdometry::setMaxTranslation |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMaxTranslation( | val | ) -> | None |
◆ setMinDepth()
void cv::rgbd::RgbdICPOdometry::setMinDepth |
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double |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMinDepth( | val | ) -> | None |
◆ setMinGradientMagnitudes()
void cv::rgbd::RgbdICPOdometry::setMinGradientMagnitudes |
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const cv::Mat & |
val | ) |
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inline |
Python: |
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| cv.rgbd.RgbdICPOdometry.setMinGradientMagnitudes( | val | ) -> | None |
◆ setTransformType()
void cv::rgbd::RgbdICPOdometry::setTransformType |
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int |
val | ) |
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inlinevirtual |
Python: |
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| cv.rgbd.RgbdICPOdometry.setTransformType( | val | ) -> | None |
◆ cameraMatrix
Mat cv::rgbd::RgbdICPOdometry::cameraMatrix |
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protected |
◆ iterCounts
Mat cv::rgbd::RgbdICPOdometry::iterCounts |
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◆ maxDepth
double cv::rgbd::RgbdICPOdometry::maxDepth |
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protected |
◆ maxDepthDiff
double cv::rgbd::RgbdICPOdometry::maxDepthDiff |
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◆ maxPointsPart
double cv::rgbd::RgbdICPOdometry::maxPointsPart |
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◆ maxRotation
double cv::rgbd::RgbdICPOdometry::maxRotation |
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◆ maxTranslation
double cv::rgbd::RgbdICPOdometry::maxTranslation |
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protected |
◆ minDepth
double cv::rgbd::RgbdICPOdometry::minDepth |
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protected |
◆ minGradientMagnitudes
Mat cv::rgbd::RgbdICPOdometry::minGradientMagnitudes |
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protected |
◆ normalsComputer
◆ transformType
int cv::rgbd::RgbdICPOdometry::transformType |
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protected |
The documentation for this class was generated from the following file: