cv::OdometryFrame Class Reference

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...

#include <opencv2/3d/odometry_frame.hpp>

Collaboration diagram for cv::OdometryFrame:

Public Member Functions
	OdometryFrame (InputArray depth=noArray(), InputArray image=noArray(), InputArray mask=noArray(), InputArray normals=noArray())
	Construct a new OdometryFrame object. All non-empty images should have the same size.
	~OdometryFrame ()
void	getDepth (OutputArray depth) const
	Get the original user-provided depth image.
void	getGrayImage (OutputArray image) const
	Get the gray image generated from the user-provided BGR/Gray image.
void	getImage (OutputArray image) const
	Get the original user-provided BGR/Gray image.
void	getMask (OutputArray mask) const
	Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask.
void	getNormals (OutputArray normals) const
	Get the normals image either generated for the ICP calculations or user-provided.
void	getProcessedDepth (OutputArray depth) const
	Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs.
void	getPyramidAt (OutputArray img, OdometryFramePyramidType pyrType, size_t level) const
	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.
int	getPyramidLevels () const
	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.

Public Attributes
Ptr< Impl >	impl

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()  )

explicit

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 ( )

inline

Member Function Documentation

getDepth()

void cv::OdometryFrame::getDepth

(

OutputArray

depth

)

const

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

Get the original user-provided depth image.

Parameters

depth

Output image

getGrayImage()

void cv::OdometryFrame::getGrayImage

(

OutputArray

image

)

const

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

)

const

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

)

const

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

)

const

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

)

const

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
	)		const

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

(

)

const

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

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

• opencv2/3d/odometry_frame.hpp