[−][src]Trait opencv::hub_prelude::FastICPOdometryTrait

pub trait FastICPOdometryTrait: Odometry {
    pub fn as_raw_FastICPOdometry(&self) -> *const c_void;

    pub fn as_raw_mut_FastICPOdometry(&mut self) -> *mut c_void;

    pub fn prepare_frame_cache(
        &self, 
        frame: &mut Ptr<OdometryFrame>, 
        cache_type: i32
    ) -> Result<Size> { ... }

    pub fn get_camera_matrix(&self) -> Result<Mat> { ... }

    pub fn set_camera_matrix(&mut self, val: &Mat) -> Result<()> { ... }

    pub fn get_max_dist_diff(&self) -> Result<f64> { ... }

    pub fn set_max_dist_diff(&mut self, val: f32) -> Result<()> { ... }

    pub fn get_angle_threshold(&self) -> Result<f32> { ... }

    pub fn set_angle_threshold(&mut self, f: f32) -> Result<()> { ... }

    pub fn get_sigma_depth(&self) -> Result<f32> { ... }

    pub fn set_sigma_depth(&mut self, f: f32) -> Result<()> { ... }

    pub fn get_sigma_spatial(&self) -> Result<f32> { ... }

    pub fn set_sigma_spatial(&mut self, f: f32) -> Result<()> { ... }

    pub fn get_kernel_size(&self) -> Result<i32> { ... }

    pub fn set_kernel_size(&mut self, f: i32) -> Result<()> { ... }

    pub fn get_iteration_counts(&self) -> Result<Mat> { ... }

    pub fn set_iteration_counts(&mut self, val: &Mat) -> Result<()> { ... }

    pub fn get_transform_type(&self) -> Result<i32> { ... }

    pub fn set_transform_type(&mut self, val: i32) -> Result<()> { ... }
}

A faster version of ICPOdometry which is used in KinectFusion implementation Partial list of differences:

  • Works in parallel
  • Written in universal intrinsics
  • Filters points by angle
  • Interpolates points and normals
  • Doesn't use masks or min/max depth filtering
  • Doesn't use random subsets of points
  • Supports only Rt transform type
  • Supports only 4-float vectors as input type

Required methods

pub fn as_raw_FastICPOdometry(&self) -> *const c_void[src]

pub fn as_raw_mut_FastICPOdometry(&mut self) -> *mut c_void[src]

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Provided methods

pub fn prepare_frame_cache(
    &self,
    frame: &mut Ptr<OdometryFrame>,
    cache_type: i32
) -> Result<Size>[src]

pub fn get_camera_matrix(&self) -> Result<Mat>[src]

pub fn set_camera_matrix(&mut self, val: &Mat) -> Result<()>[src]

pub fn get_max_dist_diff(&self) -> Result<f64>[src]

pub fn set_max_dist_diff(&mut self, val: f32) -> Result<()>[src]

pub fn get_angle_threshold(&self) -> Result<f32>[src]

pub fn set_angle_threshold(&mut self, f: f32) -> Result<()>[src]

pub fn get_sigma_depth(&self) -> Result<f32>[src]

pub fn set_sigma_depth(&mut self, f: f32) -> Result<()>[src]

pub fn get_sigma_spatial(&self) -> Result<f32>[src]

pub fn set_sigma_spatial(&mut self, f: f32) -> Result<()>[src]

pub fn get_kernel_size(&self) -> Result<i32>[src]

pub fn set_kernel_size(&mut self, f: i32) -> Result<()>[src]

pub fn get_iteration_counts(&self) -> Result<Mat>[src]

pub fn set_iteration_counts(&mut self, val: &Mat) -> Result<()>[src]

pub fn get_transform_type(&self) -> Result<i32>[src]

pub fn set_transform_type(&mut self, val: i32) -> Result<()>[src]

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Implementors

impl FastICPOdometryTrait for FastICPOdometry[src]

impl FastICPOdometryTrait for PtrOfFastICPOdometry[src]

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