Class cv::OdometryFrame#

An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data. When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data. A BGR/Gray image and normals are optional. OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations. A correct way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.

#include <opencv2/ptcloud/odometry_frame.hpp>

Collaboration diagram for cv::OdometryFrame:

Detailed Description#

An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data. When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data. A BGR/Gray image and normals are optional. OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations. A correct way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.

Constructor & Destructor Documentation#

OdometryFrame()#

cv::OdometryFrame::OdometryFrame(
InputArray depth = noArray(),
InputArray image = noArray(),
InputArray mask = noArray(),
InputArray normals = noArray() )

Python:

cv.OdometryFrame([, depth[, image[, mask[, normals]]]]) -> <OdometryFrame object>

Construct a new OdometryFrame object. All non-empty images should have the same size.

Parameters

depth — A depth image, should be CV_8UC1
image — An BGR or grayscale image (or noArray() if it’s not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it’s BGR image or CV_8UC1 if it’s grayscale. If it’s BGR then it’s converted to grayscale image automatically.
mask — A user-provided mask of valid pixels, should be CV_8UC1
normals — A user-provided normals to the depth surface, should be CV_32FC4

Here is the call graph for this function:

~OdometryFrame()#

cv::OdometryFrame::~OdometryFrame()

Member Function Documentation#

getDepth()#

void cv::OdometryFrame::getDepth(OutputArray depth)

Python:

cv.OdometryFrame.getDepth([, depth]) -> depth

Get the original user-provided depth image.

Parameters

depth — Output image

getGrayImage()#

void cv::OdometryFrame::getGrayImage(OutputArray image)

Python:

cv.OdometryFrame.getGrayImage([, image]) -> image

Get the gray image generated from the user-provided BGR/Gray image.

Parameters

image — Output image

getImage()#

void cv::OdometryFrame::getImage(OutputArray image)

Python:

cv.OdometryFrame.getImage([, image]) -> image

Get the original user-provided BGR/Gray image.

Parameters

image — Output image

getMask()#

void cv::OdometryFrame::getMask(OutputArray mask)

Python:

cv.OdometryFrame.getMask([, mask]) -> mask

Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask.

Parameters

mask — Output image

getNormals()#

void cv::OdometryFrame::getNormals(OutputArray normals)

Python:

cv.OdometryFrame.getNormals([, normals]) -> normals

Get the normals image either generated for the ICP calculations or user-provided.

Parameters

normals — Output image

getProcessedDepth()#

void cv::OdometryFrame::getProcessedDepth(OutputArray depth)

Python:

cv.OdometryFrame.getProcessedDepth([, depth]) -> depth

Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs.

Parameters

depth — Output image

getPyramidAt()#

void cv::OdometryFrame::getPyramidAt(
OutputArray img,
OdometryFramePyramidType pyrType,
size_t level )

Python:

cv.OdometryFrame.getPyramidAt(pyrType, level[, img]) -> img

Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if the pyramid is empty or there’s no such pyramid level.

Parameters

img — Output image
pyrType — Type of pyramid
level — Level in the pyramid

getPyramidLevels()#

int cv::OdometryFrame::getPyramidLevels()

Python:

cv.OdometryFrame.getPyramidLevels() -> retval

Get the amount of levels in pyramids (all of them if not empty should have the same number of levels) or 0 if no pyramids were prepared yet.

Member Data Documentation#

impl#

Ptr< Impl > cv::OdometryFrame::impl

Source file#

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

opencv2/ptcloud/odometry_frame.hpp