Type Definition opencv::types::PtrOfICPOdometry
source · [−]pub type PtrOfICPOdometry = Ptr<ICPOdometry>;
Implementations
sourceimpl PtrOfICPOdometry
impl PtrOfICPOdometry
pub fn as_raw_PtrOfICPOdometry(&self) -> *const c_void
pub fn as_raw_mut_PtrOfICPOdometry(&mut self) -> *mut c_void
Trait Implementations
sourceimpl AlgorithmTrait for PtrOfICPOdometry
impl AlgorithmTrait for PtrOfICPOdometry
sourceimpl AlgorithmTraitConst for PtrOfICPOdometry
impl AlgorithmTraitConst for PtrOfICPOdometry
fn as_raw_Algorithm(&self) -> *const c_void
sourcefn write(&self, fs: &mut FileStorage) -> Result<()>
fn write(&self, fs: &mut FileStorage) -> Result<()>
Stores algorithm parameters in a file storage
sourcefn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>
fn write_with_name(&self, fs: &Ptr<FileStorage>, name: &str) -> Result<()>
simplified API for language bindings Stores algorithm parameters in a file storage Read more
sourcefn 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
sourcefn 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). Read more
sourcefn 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. Read more
sourceimpl ICPOdometryTrait for PtrOfICPOdometry
impl ICPOdometryTrait for PtrOfICPOdometry
fn as_raw_mut_ICPOdometry(&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_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<()>
sourceimpl ICPOdometryTraitConst for PtrOfICPOdometry
impl ICPOdometryTraitConst for PtrOfICPOdometry
fn as_raw_ICPOdometry(&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_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>
fn get_normals_computer(&self) -> Result<Ptr<RgbdNormals>>
sourceimpl Odometry for PtrOfICPOdometry
impl Odometry for PtrOfICPOdometry
sourceimpl OdometryConst for PtrOfICPOdometry
impl OdometryConst for PtrOfICPOdometry
fn as_raw_Odometry(&self) -> *const c_void
sourcefn 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>
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). Read more
sourcefn compute2(
&self,
src_frame: &mut Ptr<OdometryFrame>,
dst_frame: &mut Ptr<OdometryFrame>,
rt: &mut dyn ToOutputArray,
init_rt: &Mat
) -> Result<bool>
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.). Read more
sourcefn 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
sourcefn get_camera_matrix(&self) -> Result<Mat>
fn get_camera_matrix(&self) -> Result<Mat>
See also Read more
sourcefn get_transform_type(&self) -> Result<i32>
fn get_transform_type(&self) -> Result<i32>
See also Read more