Struct opencv::rgbd::RgbdOdometry

pub struct RgbdOdometry { /* private fields */ }

Odometry based on the paper “Real-Time Visual Odometry from Dense RGB-D Images”, F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.

Implementations

impl RgbdOdometry

pub fn default() -> Result<RgbdOdometry>

pub fn new(
    camera_matrix: &Mat,
    min_depth: f32,
    max_depth: f32,
    max_depth_diff: f32,
    iter_counts: &Vector<i32>,
    min_gradient_magnitudes: &Vector<f32>,
    max_points_part: f32,
    transform_type: i32
) -> Result<RgbdOdometry>

Constructor.

Parameters

• cameraMatrix: Camera matrix
• minDepth: Pixels with depth less than minDepth will not be used (in meters)
• maxDepth: Pixels with depth larger than maxDepth will not be used (in meters)
• maxDepthDiff: Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff (in meters)
• iterCounts: Count of iterations on each pyramid level.
• minGradientMagnitudes: For each pyramid level the pixels will be filtered out if they have gradient magnitude less than minGradientMagnitudes[level].
• maxPointsPart: The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
• transformType: Class of transformation

C++ default parameters

• min_depth: Odometry::DEFAULT_MIN_DEPTH()
• max_depth: Odometry::DEFAULT_MAX_DEPTH()
• max_depth_diff: Odometry::DEFAULT_MAX_DEPTH_DIFF()
• iter_counts: std::vector()
• min_gradient_magnitudes: std::vector()
• max_points_part: Odometry::DEFAULT_MAX_POINTS_PART()
• transform_type: Odometry::RIGID_BODY_MOTION

pub fn create(
    camera_matrix: &Mat,
    min_depth: f32,
    max_depth: f32,
    max_depth_diff: f32,
    iter_counts: &Vector<i32>,
    min_gradient_magnitudes: &Vector<f32>,
    max_points_part: f32,
    transform_type: i32
) -> Result<Ptr<RgbdOdometry>>

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()
• iter_counts: std::vector()
• min_gradient_magnitudes: std::vector()
• max_points_part: Odometry::DEFAULT_MAX_POINTS_PART()
• transform_type: Odometry::RIGID_BODY_MOTION

Trait Implementations

impl AlgorithmTrait for RgbdOdometry

fn as_raw_mut_Algorithm(&mut self) -> *mut c_void

fn clear(&mut self) -> Result<()>

Clears the algorithm state

fn read(&mut self, fn_: &FileNode) -> Result<()>

Reads algorithm parameters from a file storage

impl AlgorithmTraitConst for RgbdOdometry

fn as_raw_Algorithm(&self) -> *const c_void

fn write(&self, fs: &mut FileStorage) -> Result<()>

Stores algorithm parameters in a file storage

fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>

simplified API for language bindings Stores algorithm parameters in a file storage

fn empty(&self) -> Result<bool>

Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read

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).

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.

impl Boxed for RgbdOdometry

unsafe fn from_raw(ptr: *mut c_void) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> *mut c_void

Return an the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> *const c_void

Return the underlying raw pointer.

fn as_raw_mut(&mut self) -> *mut c_void

Return the underlying mutable raw pointer

impl Drop for RgbdOdometry

fn drop(&mut self)

Executes the destructor for this type.

impl From<RgbdOdometry> for Algorithm

fn from(s: RgbdOdometry) -> Self

Converts to this type from the input type.

impl Odometry for RgbdOdometry

fn as_raw_mut_Odometry(&mut self) -> *mut c_void

fn set_camera_matrix(&mut self, val: &Mat) -> Result<()>

See also

fn set_transform_type(&mut self, val: i32) -> Result<()>

See also

impl OdometryConst for RgbdOdometry

fn as_raw_Odometry(&self) -> *const c_void

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>

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).

fn compute2(
    &self,
    src_frame: &mut Ptr<OdometryFrame>,
    dst_frame: &mut Ptr<OdometryFrame>,
    rt: &mut dyn ToOutputArray,
    init_rt: &Mat
) -> 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.).

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.

fn get_camera_matrix(&self) -> Result<Mat>

See also

fn get_transform_type(&self) -> Result<i32>

See also

impl RgbdOdometryTrait for RgbdOdometry

fn as_raw_mut_RgbdOdometry(&mut self) -> *mut c_void

fn set_camera_matrix(&mut self, val: &Mat) -> Result<()>

fn set_min_depth(&mut self, val: f64) -> Result<()>

fn set_max_depth(&mut self, val: f64) -> Result<()>

fn set_max_depth_diff(&mut self, val: f64) -> Result<()>

fn set_iteration_counts(&mut self, val: &Mat) -> Result<()>

fn set_min_gradient_magnitudes(&mut self, val: &Mat) -> Result<()>

fn set_max_points_part(&mut self, val: f64) -> Result<()>

fn set_transform_type(&mut self, val: i32) -> Result<()>

fn set_max_translation(&mut self, val: f64) -> Result<()>

fn set_max_rotation(&mut self, val: f64) -> Result<()>

impl RgbdOdometryTraitConst for RgbdOdometry

fn as_raw_RgbdOdometry(&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_min_depth(&self) -> Result<f64>

fn get_max_depth(&self) -> Result<f64>

fn get_max_depth_diff(&self) -> Result<f64>

fn get_iteration_counts(&self) -> Result<Mat>

fn get_min_gradient_magnitudes(&self) -> Result<Mat>

fn get_max_points_part(&self) -> Result<f64>

fn get_transform_type(&self) -> Result<i32>

fn get_max_translation(&self) -> Result<f64>

fn get_max_rotation(&self) -> Result<f64>

impl Send for RgbdOdometry