Struct opencv::rgbd::FastICPOdometry
source · pub struct FastICPOdometry { /* private fields */ }
Expand description
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
Implementations§
source§impl FastICPOdometry
impl FastICPOdometry
pub fn default() -> Result<FastICPOdometry>
sourcepub fn new(
camera_matrix: &impl MatTraitConst,
max_dist_diff: f32,
angle_threshold: f32,
sigma_depth: f32,
sigma_spatial: f32,
kernel_size: i32,
iter_counts: &Vector<i32>
) -> Result<FastICPOdometry>
pub fn new( camera_matrix: &impl MatTraitConst, max_dist_diff: f32, angle_threshold: f32, sigma_depth: f32, sigma_spatial: f32, kernel_size: i32, iter_counts: &Vector<i32> ) -> Result<FastICPOdometry>
Constructor.
§Parameters
- cameraMatrix: Camera matrix
- maxDistDiff: Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff
- angleThreshold: Correspondence will be filtered out if an angle between their normals is bigger than threshold
- sigmaDepth: Depth sigma in meters for bilateral smooth
- sigmaSpatial: Spatial sigma in pixels for bilateral smooth
- kernelSize: Kernel size in pixels for bilateral smooth
- iterCounts: Count of iterations on each pyramid level
§C++ default parameters
- max_dist_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- angle_threshold: (float)(30.*CV_PI/180.)
- sigma_depth: 0.04f
- sigma_spatial: 4.5f
- kernel_size: 7
- iter_counts: std::vector
()
sourcepub fn new_def(camera_matrix: &impl MatTraitConst) -> Result<FastICPOdometry>
pub fn new_def(camera_matrix: &impl MatTraitConst) -> Result<FastICPOdometry>
Constructor.
§Parameters
- cameraMatrix: Camera matrix
- maxDistDiff: Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff
- angleThreshold: Correspondence will be filtered out if an angle between their normals is bigger than threshold
- sigmaDepth: Depth sigma in meters for bilateral smooth
- sigmaSpatial: Spatial sigma in pixels for bilateral smooth
- kernelSize: Kernel size in pixels for bilateral smooth
- iterCounts: Count of iterations on each pyramid level
§Note
This alternative version of [new] function uses the following default values for its arguments:
- max_dist_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- angle_threshold: (float)(30.*CV_PI/180.)
- sigma_depth: 0.04f
- sigma_spatial: 4.5f
- kernel_size: 7
- iter_counts: std::vector
()
sourcepub fn create(
camera_matrix: &impl MatTraitConst,
max_dist_diff: f32,
angle_threshold: f32,
sigma_depth: f32,
sigma_spatial: f32,
kernel_size: i32,
iter_counts: &Vector<i32>
) -> Result<Ptr<FastICPOdometry>>
pub fn create( camera_matrix: &impl MatTraitConst, max_dist_diff: f32, angle_threshold: f32, sigma_depth: f32, sigma_spatial: f32, kernel_size: i32, iter_counts: &Vector<i32> ) -> Result<Ptr<FastICPOdometry>>
§C++ default parameters
- max_dist_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- angle_threshold: (float)(30.*CV_PI/180.)
- sigma_depth: 0.04f
- sigma_spatial: 4.5f
- kernel_size: 7
- iter_counts: std::vector
()
sourcepub fn create_def(
camera_matrix: &impl MatTraitConst
) -> Result<Ptr<FastICPOdometry>>
pub fn create_def( camera_matrix: &impl MatTraitConst ) -> Result<Ptr<FastICPOdometry>>
§Note
This alternative version of FastICPOdometry::create function uses the following default values for its arguments:
- max_dist_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
- angle_threshold: (float)(30.*CV_PI/180.)
- sigma_depth: 0.04f
- sigma_spatial: 4.5f
- kernel_size: 7
- iter_counts: std::vector
()
Trait Implementations§
source§impl AlgorithmTrait for FastICPOdometry
impl AlgorithmTrait for FastICPOdometry
source§impl AlgorithmTraitConst for FastICPOdometry
impl AlgorithmTraitConst for FastICPOdometry
fn as_raw_Algorithm(&self) -> *const c_void
source§fn write(&self, fs: &mut impl FileStorageTrait) -> Result<()>
fn write(&self, fs: &mut impl FileStorageTrait) -> Result<()>
Stores algorithm parameters in a file storage
source§fn write_1(&self, fs: &mut impl FileStorageTrait, name: &str) -> Result<()>
fn write_1(&self, fs: &mut impl FileStorageTrait, name: &str) -> Result<()>
Stores algorithm parameters in a file storage Read more
source§fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>
fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>
@deprecated Read more
source§fn write_with_name_def(&self, fs: &Ptr<FileStorage>) -> Result<()>
fn write_with_name_def(&self, fs: &Ptr<FileStorage>) -> Result<()>
👎Deprecated:
§Note
Deprecated: ## Note
This alternative version of AlgorithmTraitConst::write_with_name function uses the following default values for its arguments: Read more
source§fn empty(&self) -> Result<bool>
fn empty(&self) -> Result<bool>
Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read
source§fn save(&self, filename: &str) -> Result<()>
fn save(&self, filename: &str) -> Result<()>
Saves the algorithm to a file.
In order to make this method work, the derived class must implement Algorithm::write(FileStorage& fs).
source§fn get_default_name(&self) -> Result<String>
fn get_default_name(&self) -> Result<String>
Returns the algorithm string identifier.
This string is used as top level xml/yml node tag when the object is saved to a file or string.
source§impl Boxed for FastICPOdometry
impl Boxed for FastICPOdometry
source§unsafe fn from_raw(
ptr: <FastICPOdometry as OpenCVFromExtern>::ExternReceive
) -> Self
unsafe fn from_raw( ptr: <FastICPOdometry as OpenCVFromExtern>::ExternReceive ) -> Self
Wrap the specified raw pointer Read more
source§fn into_raw(
self
) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSendMut
fn into_raw( self ) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSendMut
Return the underlying raw pointer while consuming this wrapper. Read more
source§fn as_raw(&self) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSend
fn as_raw(&self) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSend
Return the underlying raw pointer. Read more
source§fn as_raw_mut(
&mut self
) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSendMut
fn as_raw_mut( &mut self ) -> <FastICPOdometry as OpenCVTypeExternContainer>::ExternSendMut
Return the underlying mutable raw pointer Read more
source§impl Debug for FastICPOdometry
impl Debug for FastICPOdometry
source§impl Drop for FastICPOdometry
impl Drop for FastICPOdometry
source§impl FastICPOdometryTrait for FastICPOdometry
impl FastICPOdometryTrait for FastICPOdometry
fn as_raw_mut_FastICPOdometry(&mut self) -> *mut c_void
fn set_camera_matrix(&mut self, val: &impl MatTraitConst) -> Result<()>
fn set_max_dist_diff(&mut self, val: f32) -> Result<()>
fn set_angle_threshold(&mut self, f: f32) -> Result<()>
fn set_sigma_depth(&mut self, f: f32) -> Result<()>
fn set_sigma_spatial(&mut self, f: f32) -> Result<()>
fn set_kernel_size(&mut self, f: i32) -> Result<()>
fn set_iteration_counts(&mut self, val: &impl MatTraitConst) -> Result<()>
fn set_transform_type(&mut self, val: i32) -> Result<()>
source§impl FastICPOdometryTraitConst for FastICPOdometry
impl FastICPOdometryTraitConst for FastICPOdometry
fn as_raw_FastICPOdometry(&self) -> *const c_void
fn prepare_frame_cache( &self, frame: &mut Ptr<OdometryFrame>, cache_type: i32 ) -> Result<Size>
fn get_camera_matrix(&self) -> Result<Mat>
fn get_max_dist_diff(&self) -> Result<f64>
fn get_angle_threshold(&self) -> Result<f32>
fn get_sigma_depth(&self) -> Result<f32>
fn get_sigma_spatial(&self) -> Result<f32>
fn get_kernel_size(&self) -> Result<i32>
fn get_iteration_counts(&self) -> Result<Mat>
fn get_transform_type(&self) -> Result<i32>
source§impl From<FastICPOdometry> for Algorithm
impl From<FastICPOdometry> for Algorithm
source§fn from(s: FastICPOdometry) -> Self
fn from(s: FastICPOdometry) -> Self
Converts to this type from the input type.
source§impl From<FastICPOdometry> for Odometry
impl From<FastICPOdometry> for Odometry
source§fn from(s: FastICPOdometry) -> Self
fn from(s: FastICPOdometry) -> Self
Converts to this type from the input type.
source§impl OdometryTrait for FastICPOdometry
impl OdometryTrait for FastICPOdometry
fn as_raw_mut_Odometry(&mut self) -> *mut c_void
source§fn set_camera_matrix(&mut self, val: &impl MatTraitConst) -> Result<()>
fn set_camera_matrix(&mut self, val: &impl MatTraitConst) -> Result<()>
See also Read more
source§impl OdometryTraitConst for FastICPOdometry
impl OdometryTraitConst for FastICPOdometry
fn as_raw_Odometry(&self) -> *const c_void
source§fn compute(
&self,
src_image: &impl MatTraitConst,
src_depth: &impl MatTraitConst,
src_mask: &impl MatTraitConst,
dst_image: &impl MatTraitConst,
dst_depth: &impl MatTraitConst,
dst_mask: &impl MatTraitConst,
rt: &mut impl ToOutputArray,
init_rt: &impl MatTraitConst
) -> Result<bool>
fn compute( &self, src_image: &impl MatTraitConst, src_depth: &impl MatTraitConst, src_mask: &impl MatTraitConst, dst_image: &impl MatTraitConst, dst_depth: &impl MatTraitConst, dst_mask: &impl MatTraitConst, rt: &mut impl ToOutputArray, init_rt: &impl MatTraitConst ) -> Result<bool>
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). Read more
source§fn compute_def(
&self,
src_image: &impl MatTraitConst,
src_depth: &impl MatTraitConst,
src_mask: &impl MatTraitConst,
dst_image: &impl MatTraitConst,
dst_depth: &impl MatTraitConst,
dst_mask: &impl MatTraitConst,
rt: &mut impl ToOutputArray
) -> Result<bool>
fn compute_def( &self, src_image: &impl MatTraitConst, src_depth: &impl MatTraitConst, src_mask: &impl MatTraitConst, dst_image: &impl MatTraitConst, dst_depth: &impl MatTraitConst, dst_mask: &impl MatTraitConst, rt: &mut impl ToOutputArray ) -> Result<bool>
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). Read more
source§fn compute2(
&self,
src_frame: &mut Ptr<OdometryFrame>,
dst_frame: &mut Ptr<OdometryFrame>,
rt: &mut impl ToOutputArray,
init_rt: &impl MatTraitConst
) -> Result<bool>
fn compute2( &self, src_frame: &mut Ptr<OdometryFrame>, dst_frame: &mut Ptr<OdometryFrame>, rt: &mut impl ToOutputArray, init_rt: &impl MatTraitConst ) -> Result<bool>
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.). Read more
source§fn compute2_def(
&self,
src_frame: &mut Ptr<OdometryFrame>,
dst_frame: &mut Ptr<OdometryFrame>,
rt: &mut impl ToOutputArray
) -> Result<bool>
fn compute2_def( &self, src_frame: &mut Ptr<OdometryFrame>, dst_frame: &mut Ptr<OdometryFrame>, rt: &mut impl ToOutputArray ) -> Result<bool>
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.). Read more
source§fn prepare_frame_cache(
&self,
frame: &mut Ptr<OdometryFrame>,
cache_type: i32
) -> Result<Size>
fn prepare_frame_cache( &self, frame: &mut Ptr<OdometryFrame>, cache_type: i32 ) -> Result<Size>
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. Read more
source§impl TryFrom<Odometry> for FastICPOdometry
impl TryFrom<Odometry> for FastICPOdometry
impl Send for FastICPOdometry
Auto Trait Implementations§
impl Freeze for FastICPOdometry
impl RefUnwindSafe for FastICPOdometry
impl !Sync for FastICPOdometry
impl Unpin for FastICPOdometry
impl UnwindSafe for FastICPOdometry
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
source§impl<Mat> ModifyInplace for Matwhere
Mat: Boxed,
impl<Mat> ModifyInplace for Matwhere
Mat: Boxed,
source§unsafe fn modify_inplace<Res>(
&mut self,
f: impl FnOnce(&Mat, &mut Mat) -> Res
) -> Res
unsafe fn modify_inplace<Res>( &mut self, f: impl FnOnce(&Mat, &mut Mat) -> Res ) -> Res
Helper function to call OpenCV functions that allow in-place modification of a
Mat
or another similar object. By passing
a mutable reference to the Mat
to this function your closure will get called with the read reference and a write references
to the same Mat
. This is of course unsafe as it breaks the Rust aliasing rules, but it might be useful for some performance
sensitive operations. One example of an OpenCV function that allows such in-place modification is imgproc::threshold
. Read more