Struct opencv::rgbd::ICPOdometry

pub struct ICPOdometry { /* private fields */ }

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

pub fn default() -> Result<ICPOdometry>

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>

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 new_def(camera_matrix: &Mat) -> 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

Note

This alternative version of [new] function uses the following default values for its arguments:

• 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>>

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

pub fn create_def() -> Result<Ptr<ICPOdometry>>

Note

This alternative version of ICPOdometry::create function uses the following default values for its arguments:

• 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

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 ICPOdometry

fn as_raw_Algorithm(&self) -> *const c_void

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

Stores algorithm parameters in a file storage

fn write_1(&self, fs: &mut FileStorage, name: &str) -> Result<()>

Stores algorithm parameters in a file storage

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

@deprecated

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:

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 ICPOdometry

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 Debug for ICPOdometry

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for ICPOdometry

fn drop(&mut self)

Executes the destructor for this type.

impl From<ICPOdometry> for Algorithm

fn from(s: ICPOdometry) -> Self

Converts to this type from the input type.

impl From<ICPOdometry> for Odometry

fn from(s: ICPOdometry) -> Self

Converts to this type from the input type.

impl ICPOdometryTrait for ICPOdometry

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<()>

impl ICPOdometryTraitConst for ICPOdometry

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>>

impl OdometryTrait for ICPOdometry

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 OdometryTraitConst for ICPOdometry

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 impl 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 compute_def( &self, src_image: &Mat, src_depth: &Mat, src_mask: &Mat, dst_image: &Mat, dst_depth: &Mat, dst_mask: &Mat, 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).

fn compute2( &self, src_frame: &mut Ptr<OdometryFrame>, dst_frame: &mut Ptr<OdometryFrame>, rt: &mut impl 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 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.).

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 TryFrom<Odometry> for ICPOdometry

type Error = Error

The type returned in the event of a conversion error.

fn try_from(s: Odometry) -> Result<Self>

Performs the conversion.

impl Send for ICPOdometry