OpenCV  5.0.0-pre
Open Source Computer Vision
Public Member Functions | List of all members
cv::Odometry Class Reference

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

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 srcDepthFrame, InputArray dstDepthFrame, OutputArray Rt) const
 
bool compute (InputArray srcDepthFrame, InputArray srcRGBFrame, InputArray dstDepthFrame, InputArray dstRGBFrame, OutputArray Rt) const
 
Ptr< RgbdNormalsgetNormalsComputer () 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. More...
 
void prepareFrame (OdometryFrame &frame) const
 
void prepareFrames (OdometryFrame &srcFrame, OdometryFrame &dstFrame) const
 

Constructor & Destructor Documentation

◆ Odometry() [1/3]

cv::Odometry::Odometry ( )

◆ Odometry() [2/3]

cv::Odometry::Odometry ( OdometryType  otype)

◆ Odometry() [3/3]

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

◆ ~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(srcDepthFrame, dstDepthFrame[, Rt=None]) -> retval, Rt
cv.Odometry.compute(srcDepthFrame, srcRGBFrame, dstDepthFrame, dstRGBFrame[, Rt=None]) -> retval, Rt

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

Parameters
srcFramesrc frame ("original" image)
dstFramedst frame ("rotated" image)
RtRigid 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 }

◆ compute() [2/3]

bool cv::Odometry::compute ( InputArray  srcDepthFrame,
InputArray  dstDepthFrame,
OutputArray  Rt 
) const
Python:
cv.Odometry.compute(srcDepthFrame, dstDepthFrame[, Rt=None]) -> retval, Rt
cv.Odometry.compute(srcDepthFrame, srcRGBFrame, dstDepthFrame, dstRGBFrame[, Rt=None]) -> retval, Rt

◆ compute() [3/3]

bool cv::Odometry::compute ( InputArray  srcDepthFrame,
InputArray  srcRGBFrame,
InputArray  dstDepthFrame,
InputArray  dstRGBFrame,
OutputArray  Rt 
) const
Python:
cv.Odometry.compute(srcDepthFrame, dstDepthFrame[, Rt=None]) -> retval, Rt
cv.Odometry.compute(srcDepthFrame, srcRGBFrame, dstDepthFrame, dstRGBFrame[, Rt=None]) -> retval, Rt

◆ getNormalsComputer()

Ptr<RgbdNormals> cv::Odometry::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.

◆ prepareFrame()

void cv::Odometry::prepareFrame ( OdometryFrame frame) const

Prepare frame for odometry calculation

Parameters
frameodometry prepare this frame as src frame and dst frame simultaneously

◆ prepareFrames()

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

Prepare frame for odometry calculation

Parameters
srcFrameframe will be prepared as src frame ("original" image)
dstFrameframe will be prepared as dsr frame ("rotated" image)

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