cv::Odometry Class Reference

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

Collaboration diagram for cv::Odometry:

Public Member Functions
	Odometry ()
	Odometry (OdometryType otype)
	Odometry (OdometryType otype, const OdometrySettings &settings, OdometryAlgoType algtype)
	~Odometry ()
bool	compute (const OdometryFrame &srcFrame, const OdometryFrame &dstFrame, OutputArray Rt) const
bool	compute (InputArray srcDepth, InputArray dstDepth, OutputArray Rt) const
	Compute Rigid Transformation between two frames so that Rt * src = dst.
bool	compute (InputArray srcDepth, InputArray srcRGB, InputArray dstDepth, InputArray dstRGB, OutputArray Rt) const
	Compute Rigid Transformation between two frames so that Rt * src = dst.
Ptr< RgbdNormals >	getNormalsComputer () const
	Get the normals computer object used for normals calculation (if presented). The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.
void	prepareFrame (OdometryFrame &frame) const
void	prepareFrames (OdometryFrame &srcFrame, OdometryFrame &dstFrame) const

Constructor & Destructor Documentation

Odometry() [1/3]

cv::Odometry::Odometry

(

)

Python:
	cv.Odometry(		) ->	<Odometry object>
	cv.Odometry(	otype	) ->	<Odometry object>
	cv.Odometry(	otype, settings, algtype	) ->	<Odometry object>

Odometry() [2/3]

cv::Odometry::Odometry ( OdometryType  otype )

explicit

Python:
	cv.Odometry(		) ->	<Odometry object>
	cv.Odometry(	otype	) ->	<Odometry object>
	cv.Odometry(	otype, settings, algtype	) ->	<Odometry object>

Odometry() [3/3]

cv::Odometry::Odometry	(	OdometryType	otype,
		const OdometrySettings &	settings,
		OdometryAlgoType	algtype
	)

Python:
	cv.Odometry(		) ->	<Odometry object>
	cv.Odometry(	otype	) ->	<Odometry object>
	cv.Odometry(	otype, settings, algtype	) ->	<Odometry object>

~Odometry()

cv::Odometry::~Odometry

(

)

Member Function Documentation

compute() [1/3]

bool cv::Odometry::compute	(	const OdometryFrame &	srcFrame,
		const OdometryFrame &	dstFrame,
		OutputArray	Rt
	)		const

Python:
	cv.Odometry.compute(	srcFrame, dstFrame[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, dstDepth[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, srcRGB, dstDepth, dstRGB[, Rt]	) ->	retval, Rt

Compute Rigid Transformation between two frames so that Rt * src = dst Both frames, source and destination, should have been prepared by calling prepareFrame() first

Parameters

srcFrame	src frame ("original" image)
dstFrame	dst frame ("rotated" image)
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

compute() [2/3]

bool cv::Odometry::compute	(	InputArray	srcDepth,
		InputArray	dstDepth,
		OutputArray	Rt
	)		const

Python:
	cv.Odometry.compute(	srcFrame, dstFrame[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, dstDepth[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, srcRGB, dstDepth, dstRGB[, Rt]	) ->	retval, Rt

Compute Rigid Transformation between two frames so that Rt * src = dst.

Parameters

srcDepth	source depth ("original" image)
dstDepth	destination depth ("rotated" image)
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

compute() [3/3]

bool cv::Odometry::compute	(	InputArray	srcDepth,
		InputArray	srcRGB,
		InputArray	dstDepth,
		InputArray	dstRGB,
		OutputArray	Rt
	)		const

Python:
	cv.Odometry.compute(	srcFrame, dstFrame[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, dstDepth[, Rt]	) ->	retval, Rt
	cv.Odometry.compute(	srcDepth, srcRGB, dstDepth, dstRGB[, Rt]	) ->	retval, Rt

Compute Rigid Transformation between two frames so that Rt * src = dst.

Parameters

srcDepth	source depth ("original" image)
srcRGB	source RGB
dstDepth	destination depth ("rotated" image)
dstRGB	destination RGB
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

getNormalsComputer()

Ptr< RgbdNormals > cv::Odometry::getNormalsComputer

(

)

const

Python:
	cv.Odometry.getNormalsComputer(		) ->	retval

Get the normals computer object used for normals calculation (if presented). The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.

prepareFrame()

void cv::Odometry::prepareFrame

(

OdometryFrame &

frame

)

const

Python:
	cv.Odometry.prepareFrame(	frame	) ->	None

Prepare frame for odometry calculation

Parameters

frame

odometry prepare this frame as src frame and dst frame simultaneously

prepareFrames()

void cv::Odometry::prepareFrames	(	OdometryFrame &	srcFrame,
		OdometryFrame &	dstFrame
	)		const

Python:
	cv.Odometry.prepareFrames(	srcFrame, dstFrame	) ->	None

Prepare frame for odometry calculation

Parameters

srcFrame	frame will be prepared as src frame ("original" image)
dstFrame	frame will be prepared as dsr frame ("rotated" image)

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

• opencv2/3d/odometry.hpp