OpenCV
4.5.5
Open Source Computer Vision
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#include <opencv2/rgbd/depth.hpp>
Public Types | |
enum | { CACHE_SRC = 1, CACHE_DST = 2, CACHE_ALL = CACHE_SRC + CACHE_DST } |
Public Member Functions | |
OdometryFrame () | |
OdometryFrame (const Mat &image, const Mat &depth, const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1) | |
virtual void | release () CV_OVERRIDE |
void | releasePyramids () |
Public Member Functions inherited from cv::rgbd::RgbdFrame | |
RgbdFrame () | |
RgbdFrame (const Mat &image, const Mat &depth, const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1) | |
virtual | ~RgbdFrame () |
Static Public Member Functions | |
static Ptr< OdometryFrame > | create (const Mat &image=Mat(), const Mat &depth=Mat(), const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1) |
Static Public Member Functions inherited from cv::rgbd::RgbdFrame | |
static Ptr< RgbdFrame > | create (const Mat &image=Mat(), const Mat &depth=Mat(), const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1) |
Public Attributes | |
std::vector< Mat > | pyramid_dI_dx |
std::vector< Mat > | pyramid_dI_dy |
std::vector< Mat > | pyramidCloud |
std::vector< Mat > | pyramidDepth |
std::vector< Mat > | pyramidImage |
std::vector< Mat > | pyramidMask |
std::vector< Mat > | pyramidNormals |
std::vector< Mat > | pyramidNormalsMask |
std::vector< Mat > | pyramidTexturedMask |
Public Attributes inherited from cv::rgbd::RgbdFrame | |
Mat | depth |
int | ID |
Mat | image |
Mat | mask |
Mat | normals |
Object that contains a frame data that is possibly needed for the Odometry. It's used for the efficiency (to pass precomputed/cached data of the frame that participates in the Odometry processing several times).
anonymous enum |
These constants are used to set a type of cache which has to be prepared depending on the frame role: srcFrame or dstFrame (see compute method of the Odometry class). For the srcFrame and dstFrame different cache data may be required, some part of a cache may be common for both frame roles.
CACHE_SRC | The cache data for the srcFrame will be prepared. |
CACHE_DST | The cache data for the dstFrame will be prepared. |
CACHE_ALL | The cache data for both srcFrame and dstFrame roles will be computed. |
Enumerator | |
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CACHE_SRC | |
CACHE_DST | |
CACHE_ALL |
cv::rgbd::OdometryFrame::OdometryFrame | ( | ) |
cv::rgbd::OdometryFrame::OdometryFrame | ( | const Mat & | image, |
const Mat & | depth, | ||
const Mat & | mask = Mat() , |
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const Mat & | normals = Mat() , |
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int | ID = -1 |
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static |
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virtual |
Reimplemented from cv::rgbd::RgbdFrame.
void cv::rgbd::OdometryFrame::releasePyramids | ( | ) |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramid_dI_dx |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramid_dI_dy |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidCloud |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidDepth |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidImage |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidMask |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidNormals |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidNormalsMask |
std::vector<Mat> cv::rgbd::OdometryFrame::pyramidTexturedMask |