odometry_frame.hpp#

#include <opencv2/core.hpp>

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Classes#

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. More…

Namespaces#

namespace cv

Enumerations#

enum cv::OdometryFramePyramidType {
PYR_IMAGE = 0,
PYR_DEPTH = 1,
PYR_MASK = 2,
PYR_CLOUD = 3,
PYR_DIX = 4,
PYR_DIY = 5,
PYR_TEXMASK = 6,
PYR_NORM = 7,
PYR_NORMMASK = 8,
N_PYRAMIDS
}