#include <depth.hpp>

cv::Algorithmを継承しています。

cv::rgbd::FastICPOdometry, cv::rgbd::ICPOdometry, cv::rgbd::RgbdICPOdometry, cv::rgbd::RgbdOdometryに継承されています。

公開型
enum	{ ROTATION = 1 , TRANSLATION = 2 , RIGID_BODY_MOTION = 4 }

公開メンバ関数
CV_WRAP bool	compute (const Mat &srcImage, const Mat &srcDepth, const Mat &srcMask, const Mat &dstImage, const Mat &dstDepth, const Mat &dstMask, OutputArray Rt, const Mat &initRt=Mat()) const

	CV_WRAP_AS (compute2) bool compute(Ptr< OdometryFrame > &srcFrame

virtual CV_WRAP Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const

virtual CV_WRAP cv::Mat	getCameraMatrix () const =0

virtual CV_WRAP void	setCameraMatrix (const cv::Mat &val)=0

virtual CV_WRAP int	getTransformType () const =0

virtual CV_WRAP void	setTransformType (int val)=0

基底クラス cv::Algorithm に属する継承公開メンバ関数
virtual CV_WRAP void	clear ()
	Clears the algorithm state [詳解]

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage [詳解]

CV_WRAP void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
	simplified API for language bindings これはオーバーロードされたメンバ関数です。利便性のために用意されています。元の関数との違いは引き数のみです。

virtual CV_WRAP void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage [詳解]

virtual CV_WRAP bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read [詳解]

virtual CV_WRAP void	save (const String &filename) const

virtual CV_WRAP String	getDefaultName () const

静的公開メンバ関数
static CV_WRAP float	DEFAULT_MIN_DEPTH ()

static CV_WRAP float	DEFAULT_MAX_DEPTH ()

static CV_WRAP float	DEFAULT_MAX_DEPTH_DIFF ()

static CV_WRAP float	DEFAULT_MAX_POINTS_PART ()

static CV_WRAP float	DEFAULT_MAX_TRANSLATION ()

static CV_WRAP float	DEFAULT_MAX_ROTATION ()

static CV_WRAP Ptr< Odometry >	create (const String &odometryType)

基底クラス cv::Algorithm に属する継承静的公開メンバ関数
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node [詳解]

template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file [詳解]

template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String [詳解]

公開変数類
Ptr< OdometryFrame > &	dstFrame

Ptr< OdometryFrame > OutputArray	Rt

Ptr< OdometryFrame > OutputArray const Mat &	initRt = Mat()) const

限定公開メンバ関数
virtual void	checkParams () const =0

virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt) const =0

基底クラス cv::Algorithm に属する継承限定公開メンバ関数
void	writeFormat (FileStorage &fs) const

詳解

Base class for computation of odometry.

列挙型メンバ詳解

◆ anonymous enum

anonymous enum

A class of transformation

関数詳解

◆ compute()

CV_WRAP bool cv::rgbd::Odometry::compute	(	const Mat &	srcImage,
		const Mat &	srcDepth,
		const Mat &	srcMask,
		const Mat &	dstImage,
		const Mat &	dstDepth,
		const Mat &	dstMask,
		OutputArray	Rt,
		const Mat &	initRt = `Mat()`
	)		const

Method to compute a transformation from the source frame to the destination one. Some odometry algorithms do not used some data of frames (eg. ICP does not use images). In such case corresponding arguments can be set as empty Mat. The method returns true if all internal computations were possible (e.g. there were enough correspondences, system of equations has a solution, etc) and resulting transformation satisfies some test if it's provided by the Odometry inheritor implementation (e.g. thresholds for maximum translation and rotation).

引数

srcImage	Image data of the source frame (CV_8UC1)
srcDepth	Depth data of the source frame (CV_32FC1, in meters)
srcMask	Mask that sets which pixels have to be used from the source frame (CV_8UC1)
dstImage	Image data of the destination frame (CV_8UC1)
dstDepth	Depth data of the destination frame (CV_32FC1, in meters)
dstMask	Mask that sets which pixels have to be used from the destination frame (CV_8UC1)
Rt	Resulting transformation from the source frame to the destination one (rigid body motion): dst_p = Rt * src_p, where dst_p is a homogeneous point in the destination frame and src_p is homogeneous point in the source frame, Rt is 4x4 matrix of CV_64FC1 type.
initRt	Initial transformation from the source frame to the destination one (optional)

◆ CV_WRAP_AS()

cv::rgbd::Odometry::CV_WRAP_AS ( compute2 ) &

One more method to compute a transformation from the source frame to the destination one. It is designed to save on computing the frame data (image pyramids, normals, etc.).

◆ getCameraMatrix()

virtual CV_WRAP cv::Mat cv::rgbd::Odometry::getCameraMatrix ( ) const

pure virtual

参照: setCameraMatrix

cv::rgbd::RgbdOdometry, cv::rgbd::ICPOdometry, cv::rgbd::RgbdICPOdometry, cv::rgbd::FastICPOdometryで実装されています。

◆ getTransformType()

virtual CV_WRAP int cv::rgbd::Odometry::getTransformType ( ) const

pure virtual

参照: setTransformType

cv::rgbd::RgbdOdometry, cv::rgbd::ICPOdometry, cv::rgbd::RgbdICPOdometry, cv::rgbd::FastICPOdometryで実装されています。

◆ prepareFrameCache()

virtual CV_WRAP Size cv::rgbd::Odometry::prepareFrameCache	(	Ptr< OdometryFrame > &	frame,
		int	cacheType
	)		const

virtual

Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution of the prepared frame.

引数