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

pub trait Odometry: AlgorithmTrait {
    pub fn as_raw_Odometry(&self) -> *const c_void;
    pub fn as_raw_mut_Odometry(&mut self) -> *mut c_void;

    pub fn compute(
        &self, 
        src_image: &Mat, 
        src_depth: &Mat, 
        src_mask: &Mat, 
        dst_image: &Mat, 
        dst_depth: &Mat, 
        dst_mask: &Mat, 
        rt: &mut dyn ToOutputArray, 
        init_rt: &Mat
    ) -> Result<bool> { ... }
    pub fn compute2(
        &self, 
        src_frame: &mut Ptr<OdometryFrame>, 
        dst_frame: &mut Ptr<OdometryFrame>, 
        rt: &mut dyn ToOutputArray, 
        init_rt: &Mat
    ) -> Result<bool> { ... }
    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_transform_type(&self) -> Result<i32> { ... }
    pub fn set_transform_type(&mut self, val: i32) -> Result<()> { ... }
}

Base class for computation of odometry.

Required methods

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

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

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Provided methods

`pub fn compute( &self, src_image: &Mat, src_depth: &Mat, src_mask: &Mat, dst_image: &Mat, dst_depth: &Mat, dst_mask: &Mat, rt: &mut dyn ToOutputArray, init_rt: &Mat ) -> Result<bool>`[src]

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).

Parameters

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)

C++ default parameters

init_rt: Mat()

`pub fn compute2( &self, src_frame: &mut Ptr<OdometryFrame>, dst_frame: &mut Ptr<OdometryFrame>, rt: &mut dyn ToOutputArray, init_rt: &Mat ) -> Result<bool>`[src]

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.).

C++ default parameters

init_rt: Mat()

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

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.