Package org.opencv.cv3d

Class Odometry

java.lang.Object

org.opencv.cv3d.Odometry

public class Odometry
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field	Description
protected long	nativeObj

Constructor Summary

Constructors

Modifier	Constructor	Description
	Odometry()
	Odometry(int otype)
	Odometry(int otype, OdometrySettings settings, int algtype)
protected	Odometry(long addr)

Method Summary

Modifier and Type	Method	Description
static Odometry	__fromPtr__(long addr)
boolean	compute(Mat srcDepth, Mat dstDepth, Mat Rt)	Compute Rigid Transformation between two frames so that Rt * src = dst
boolean	compute(Mat srcDepth, Mat srcRGB, Mat dstDepth, Mat dstRGB, Mat Rt)	Compute Rigid Transformation between two frames so that Rt * src = dst
boolean	compute(OdometryFrame srcFrame, OdometryFrame dstFrame, Mat 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
protected void	finalize()
long	getNativeObjAddr()
RgbdNormals	getNormalsComputer()	Get the normals computer object used for normals calculation (if presented).
void	prepareFrame(OdometryFrame frame)	Prepare frame for odometry calculation
void	prepareFrames(OdometryFrame srcFrame, OdometryFrame dstFrame)	Prepare frame for odometry calculation

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nativeObj

protected final long nativeObj

Constructor Detail

Odometry

protected Odometry(long addr)

Odometry

public Odometry()

Odometry

public Odometry(int otype)

Odometry

public Odometry(int otype,
                OdometrySettings settings,
                int algtype)

Method Detail

getNativeObjAddr

public long getNativeObjAddr()

__fromPtr__

public static Odometry __fromPtr__(long addr)

prepareFrame

public void prepareFrame(OdometryFrame frame)

Prepare frame for odometry calculation

Parameters:

frame - odometry prepare this frame as src frame and dst frame simultaneously

prepareFrames

public void prepareFrames(OdometryFrame srcFrame,
                          OdometryFrame dstFrame)

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)

compute

public boolean compute(OdometryFrame srcFrame,
                       OdometryFrame dstFrame,
                       Mat 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

public boolean compute(Mat srcDepth,
                       Mat dstDepth,
                       Mat 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

public boolean compute(Mat srcDepth,
                       Mat srcRGB,
                       Mat dstDepth,
                       Mat dstRGB,
                       Mat 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

public RgbdNormals getNormalsComputer()

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.

Returns:

automatically generated

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable