cv::rgbd::FastICPOdometry Class Reference

#include <opencv2/rgbd/depth.hpp>

Collaboration diagram for cv::rgbd::FastICPOdometry:

Public Member Functions
	FastICPOdometry ()
	FastICPOdometry (const Mat &cameraMatrix, float maxDistDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float angleThreshold=(float)(30. *CV_PI/180.), float sigmaDepth=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector< int > &iterCounts=std::vector< int >())
float	getAngleThreshold () const
cv::Mat	getCameraMatrix () const CV_OVERRIDE
cv::Mat	getIterationCounts () const
int	getKernelSize () const
double	getMaxDistDiff () const
float	getSigmaDepth () const
float	getSigmaSpatial () const
int	getTransformType () const CV_OVERRIDE
virtual Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const CV_OVERRIDE
void	setAngleThreshold (float f)
void	setCameraMatrix (const cv::Mat &val) CV_OVERRIDE
void	setIterationCounts (const cv::Mat &val)
void	setKernelSize (int f)
void	setMaxDistDiff (float val)
void	setSigmaDepth (float f)
void	setSigmaSpatial (float f)
void	setTransformType (int val) CV_OVERRIDE
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, OutputArray Rt, const Mat &initRt=Mat()) const
bool	compute (Ptr< OdometryFrame > &srcFrame, Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt=Mat()) const
Public Member Functions inherited from cv::Algorithm
	Algorithm ()
virtual	~Algorithm ()
virtual void	clear ()
	Clears the algorithm state.
virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual String	getDefaultName () const
virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.
virtual void	save (const String &filename) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.
void	write (FileStorage &fs, const String &name) const

Static Public Member Functions
static Ptr< FastICPOdometry >	create (const Mat &cameraMatrix, float maxDistDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float angleThreshold=(float)(30. *CV_PI/180.), float sigmaDepth=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector< int > &iterCounts=std::vector< int >())
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.
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String.
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node.

Protected Member Functions
virtual void	checkParams () const CV_OVERRIDE
virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt) const CV_OVERRIDE
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Protected Attributes
float	angleThreshold
Mat	cameraMatrix
Mat	iterCounts
int	kernelSize
float	maxDistDiff
float	sigmaDepth
float	sigmaSpatial

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

Detailed Description

A faster version of ICPOdometry which is used in KinectFusion implementation Partial list of differences:

• Works in parallel
• Written in universal intrinsics
• Filters points by angle
• Interpolates points and normals
• Doesn't use masks or min/max depth filtering
• Doesn't use random subsets of points
• Supports only Rt transform type
• Supports only 4-float vectors as input type

Constructor & Destructor Documentation

FastICPOdometry() [1/2]

cv::rgbd::FastICPOdometry::FastICPOdometry

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FastICPOdometry() [2/2]

cv::rgbd::FastICPOdometry::FastICPOdometry	(	const Mat &	cameraMatrix,
		float	maxDistDiff = Odometry::DEFAULT_MAX_DEPTH_DIFF(),
		float	angleThreshold = (float)(30. *CV_PI/180.),
		float	sigmaDepth = 0.04f,
		float	sigmaSpatial = 4.5f,
		int	kernelSize = 7,
		const std::vector< int > &	iterCounts = std::vector< int >()
	)

Constructor.

Parameters

cameraMatrix	Camera matrix
maxDistDiff	Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff
angleThreshold	Correspondence will be filtered out if an angle between their normals is bigger than threshold
sigmaDepth	Depth sigma in meters for bilateral smooth
sigmaSpatial	Spatial sigma in pixels for bilateral smooth
kernelSize	Kernel size in pixels for bilateral smooth
iterCounts	Count of iterations on each pyramid level

Member Function Documentation

checkParams()

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

protectedvirtual

Implements cv::rgbd::Odometry.

computeImpl()

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

protectedvirtual

Implements cv::rgbd::Odometry.

create()

static Ptr< FastICPOdometry > cv::rgbd::FastICPOdometry::create ( const Mat &  cameraMatrix, float  maxDistDiff = Odometry::DEFAULT_MAX_DEPTH_DIFF(), float  angleThreshold = (float)(30. *CV_PI/180.), float  sigmaDepth = 0.04f, float  sigmaSpatial = 4.5f, int  kernelSize = 7, const std::vector< int > &  iterCounts = std::vector< int >()  )

static

Python:
	cv.rgbd.FastICPOdometry.create(	cameraMatrix[, maxDistDiff[, angleThreshold[, sigmaDepth[, sigmaSpatial[, kernelSize[, iterCounts]]]]]]	) ->	retval
	cv.rgbd.FastICPOdometry_create(	cameraMatrix[, maxDistDiff[, angleThreshold[, sigmaDepth[, sigmaSpatial[, kernelSize[, iterCounts]]]]]]	) ->	retval

getAngleThreshold()

float cv::rgbd::FastICPOdometry::getAngleThreshold ( ) const

inline

Python:
	cv.rgbd.FastICPOdometry.getAngleThreshold(		) ->	retval

getCameraMatrix()

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

inlinevirtual

Python:
	cv.rgbd.FastICPOdometry.getCameraMatrix(		) ->	retval

See also

setCameraMatrix

Implements cv::rgbd::Odometry.

getIterationCounts()

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

inline

Python:
	cv.rgbd.FastICPOdometry.getIterationCounts(		) ->	retval

getKernelSize()

int cv::rgbd::FastICPOdometry::getKernelSize ( ) const

inline

Python:
	cv.rgbd.FastICPOdometry.getKernelSize(		) ->	retval

getMaxDistDiff()

double cv::rgbd::FastICPOdometry::getMaxDistDiff ( ) const

inline

Python:
	cv.rgbd.FastICPOdometry.getMaxDistDiff(		) ->	retval

getSigmaDepth()

float cv::rgbd::FastICPOdometry::getSigmaDepth ( ) const

inline

Python:
	cv.rgbd.FastICPOdometry.getSigmaDepth(		) ->	retval

getSigmaSpatial()

float cv::rgbd::FastICPOdometry::getSigmaSpatial ( ) const

inline

Python:
	cv.rgbd.FastICPOdometry.getSigmaSpatial(		) ->	retval

getTransformType()

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

inlinevirtual

Python:
	cv.rgbd.FastICPOdometry.getTransformType(		) ->	retval

See also

setTransformType

Implements cv::rgbd::Odometry.

prepareFrameCache()

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

virtual

Python:
	cv.rgbd.FastICPOdometry.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

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

Reimplemented from cv::rgbd::Odometry.

setAngleThreshold()

void cv::rgbd::FastICPOdometry::setAngleThreshold ( float  f )

inline

Python:
	cv.rgbd.FastICPOdometry.setAngleThreshold(	f	) ->	None

setCameraMatrix()

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

inlinevirtual

Python:
	cv.rgbd.FastICPOdometry.setCameraMatrix(	val	) ->	None

See also

getCameraMatrix

Implements cv::rgbd::Odometry.

setIterationCounts()

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

inline

Python:
	cv.rgbd.FastICPOdometry.setIterationCounts(	val	) ->	None

setKernelSize()

void cv::rgbd::FastICPOdometry::setKernelSize ( int  f )

inline

Python:
	cv.rgbd.FastICPOdometry.setKernelSize(	f	) ->	None

setMaxDistDiff()

void cv::rgbd::FastICPOdometry::setMaxDistDiff ( float  val )

inline

Python:
	cv.rgbd.FastICPOdometry.setMaxDistDiff(	val	) ->	None

setSigmaDepth()

void cv::rgbd::FastICPOdometry::setSigmaDepth ( float  f )

inline

Python:
	cv.rgbd.FastICPOdometry.setSigmaDepth(	f	) ->	None

setSigmaSpatial()

void cv::rgbd::FastICPOdometry::setSigmaSpatial ( float  f )

inline

Python:
	cv.rgbd.FastICPOdometry.setSigmaSpatial(	f	) ->	None

setTransformType()

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

inlinevirtual

Python:
	cv.rgbd.FastICPOdometry.setTransformType(	val	) ->	None

See also

getTransformType

Implements cv::rgbd::Odometry.

Member Data Documentation

angleThreshold

float cv::rgbd::FastICPOdometry::angleThreshold

protected

cameraMatrix

Mat cv::rgbd::FastICPOdometry::cameraMatrix

protected

iterCounts

Mat cv::rgbd::FastICPOdometry::iterCounts

protected

kernelSize

int cv::rgbd::FastICPOdometry::kernelSize

protected

maxDistDiff

float cv::rgbd::FastICPOdometry::maxDistDiff

protected

sigmaDepth

float cv::rgbd::FastICPOdometry::sigmaDepth

protected

sigmaSpatial

float cv::rgbd::FastICPOdometry::sigmaSpatial

protected

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

• opencv2/rgbd/depth.hpp