[−][src]Struct opencv::rgbd::ICPOdometry
Odometry based on the paper "KinectFusion: Real-Time Dense Surface Mapping and Tracking", Richard A. Newcombe, Andrew Fitzgibbon, at al, SIGGRAPH, 2011.
Implementations
impl ICPOdometry
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pub fn as_raw_ICPOdometry(&self) -> *const c_void
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pub fn as_raw_mut_ICPOdometry(&mut self) -> *mut c_void
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impl ICPOdometry
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pub fn default() -> Result<ICPOdometry>
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pub fn new(
camera_matrix: &Mat,
min_depth: f32,
max_depth: f32,
max_depth_diff: f32,
max_points_part: f32,
iter_counts: &Vector<i32>,
transform_type: i32
) -> Result<ICPOdometry>
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camera_matrix: &Mat,
min_depth: f32,
max_depth: f32,
max_depth_diff: f32,
max_points_part: f32,
iter_counts: &Vector<i32>,
transform_type: i32
) -> Result<ICPOdometry>
Constructor.
Parameters
- cameraMatrix: Camera matrix
- minDepth: Pixels with depth less than minDepth will not be used
- maxDepth: Pixels with depth larger than maxDepth will not be used
- maxDepthDiff: Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff
- maxPointsPart: The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
- iterCounts: Count of iterations on each pyramid level.
- transformType: Class of trasformation
C++ default parameters
- min_depth: Odometry::DEFAULT_MIN_DEPTH()
- max_depth: Odometry::DEFAULT_MAX_DEPTH()
- max_depth_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- max_points_part: Odometry::DEFAULT_MAX_POINTS_PART()
- iter_counts: std::vector
() - transform_type: Odometry::RIGID_BODY_MOTION
pub fn create(
camera_matrix: &Mat,
min_depth: f32,
max_depth: f32,
max_depth_diff: f32,
max_points_part: f32,
iter_counts: &Vector<i32>,
transform_type: i32
) -> Result<Ptr<ICPOdometry>>
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camera_matrix: &Mat,
min_depth: f32,
max_depth: f32,
max_depth_diff: f32,
max_points_part: f32,
iter_counts: &Vector<i32>,
transform_type: i32
) -> Result<Ptr<ICPOdometry>>
C++ default parameters
- camera_matrix: Mat()
- min_depth: Odometry::DEFAULT_MIN_DEPTH()
- max_depth: Odometry::DEFAULT_MAX_DEPTH()
- max_depth_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- max_points_part: Odometry::DEFAULT_MAX_POINTS_PART()
- iter_counts: std::vector
() - transform_type: Odometry::RIGID_BODY_MOTION
Trait Implementations
impl AlgorithmTrait for ICPOdometry
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pub fn as_raw_Algorithm(&self) -> *const c_void
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pub fn as_raw_mut_Algorithm(&mut self) -> *mut c_void
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pub fn clear(&mut self) -> Result<()>
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pub fn write(&self, fs: &mut FileStorage) -> Result<()>
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pub fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>
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pub fn read(&mut self, fn_: &FileNode) -> Result<()>
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pub fn empty(&self) -> Result<bool>
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pub fn save(&self, filename: &str) -> Result<()>
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pub fn get_default_name(&self) -> Result<String>
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impl Boxed for ICPOdometry
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pub unsafe fn from_raw(ptr: *mut c_void) -> Self
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pub fn into_raw(self) -> *mut c_void
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pub fn as_raw(&self) -> *const c_void
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pub fn as_raw_mut(&mut self) -> *mut c_void
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impl Drop for ICPOdometry
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impl ICPOdometryTrait for ICPOdometry
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pub fn as_raw_ICPOdometry(&self) -> *const c_void
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pub fn as_raw_mut_ICPOdometry(&mut self) -> *mut c_void
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pub fn prepare_frame_cache(
&self,
frame: &mut Ptr<OdometryFrame>,
cache_type: i32
) -> Result<Size>
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&self,
frame: &mut Ptr<OdometryFrame>,
cache_type: i32
) -> Result<Size>
pub fn get_camera_matrix(&self) -> Result<Mat>
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pub fn set_camera_matrix(&mut self, val: &Mat) -> Result<()>
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pub fn get_min_depth(&self) -> Result<f64>
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pub fn set_min_depth(&mut self, val: f64) -> Result<()>
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pub fn get_max_depth(&self) -> Result<f64>
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pub fn set_max_depth(&mut self, val: f64) -> Result<()>
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pub fn get_max_depth_diff(&self) -> Result<f64>
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pub fn set_max_depth_diff(&mut self, val: f64) -> Result<()>
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pub fn get_iteration_counts(&self) -> Result<Mat>
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pub fn set_iteration_counts(&mut self, val: &Mat) -> Result<()>
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pub fn get_max_points_part(&self) -> Result<f64>
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pub fn set_max_points_part(&mut self, val: f64) -> Result<()>
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pub fn get_transform_type(&self) -> Result<i32>
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pub fn set_transform_type(&mut self, val: i32) -> Result<()>
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pub fn get_max_translation(&self) -> Result<f64>
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pub fn set_max_translation(&mut self, val: f64) -> Result<()>
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pub fn get_max_rotation(&self) -> Result<f64>
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pub fn set_max_rotation(&mut self, val: f64) -> Result<()>
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pub fn get_normals_computer(&self) -> Result<Ptr<RgbdNormals>>
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impl Odometry for ICPOdometry
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pub fn as_raw_Odometry(&self) -> *const c_void
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pub fn as_raw_mut_Odometry(&mut self) -> *mut c_void
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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>
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&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>
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&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>
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&self,
frame: &mut Ptr<OdometryFrame>,
cache_type: i32
) -> Result<Size>
pub fn get_camera_matrix(&self) -> Result<Mat>
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pub fn set_camera_matrix(&mut self, val: &Mat) -> Result<()>
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pub fn get_transform_type(&self) -> Result<i32>
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pub fn set_transform_type(&mut self, val: i32) -> Result<()>
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impl Send for ICPOdometry
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Auto Trait Implementations
impl RefUnwindSafe for ICPOdometry
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impl !Sync for ICPOdometry
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impl Unpin for ICPOdometry
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impl UnwindSafe for ICPOdometry
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,