Trait opencv::prelude::FastICPOdometryTraitConst
source · [−]pub trait FastICPOdometryTraitConst: OdometryConst {
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> { ... }
}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