cv::rgbd::RgbdOdometry Class Reference

#include <opencv2/rgbd/depth.hpp>

Inheritance diagram for cv::rgbd::RgbdOdometry:

Public Member Functions
	RgbdOdometry ()
	RgbdOdometry (const Mat &cameraMatrix, float minDepth=Odometry::DEFAULT_MIN_DEPTH(), float maxDepth=Odometry::DEFAULT_MAX_DEPTH(), float maxDepthDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), float maxPointsPart=Odometry::DEFAULT_MAX_POINTS_PART(), int transformType=Odometry::RIGID_BODY_MOTION)
cv::Mat	getCameraMatrix () const CV_OVERRIDE
cv::Mat	getIterationCounts () const
double	getMaxDepth () const
double	getMaxDepthDiff () const
double	getMaxPointsPart () const
double	getMaxRotation () const
double	getMaxTranslation () const
double	getMinDepth () const
cv::Mat	getMinGradientMagnitudes () const
int	getTransformType () const CV_OVERRIDE
virtual Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const CV_OVERRIDE
void	setCameraMatrix (const cv::Mat &val) CV_OVERRIDE
void	setIterationCounts (const cv::Mat &val)
void	setMaxDepth (double val)
void	setMaxDepthDiff (double val)
void	setMaxPointsPart (double val)
void	setMaxRotation (double val)
void	setMaxTranslation (double val)
void	setMinDepth (double val)
void	setMinGradientMagnitudes (const cv::Mat &val)
void	setTransformType (int val) CV_OVERRIDE
Public Member Functions inherited from cv::rgbd::Odometry
bool	compute (const Mat &srcImage, const Mat &srcDepth, const Mat &srcMask, const Mat &dstImage, const Mat &dstDepth, const Mat &dstMask, OutputArray Rt, const Mat &initRt=Mat()) const
bool	compute (Ptr< OdometryFrame > &srcFrame, Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt=Mat()) const
virtual cv::Mat	getCameraMatrix () const =0
virtual int	getTransformType () const =0
virtual Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const
virtual void	setCameraMatrix (const cv::Mat &val)=0
virtual void	setTransformType (int val)=0
Public Member Functions inherited from cv::Algorithm
	Algorithm ()
virtual	~Algorithm ()
virtual void	clear ()
	Clears the algorithm state.
virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual String	getDefaultName () const
virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.
virtual void	save (const String &filename) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.
void	write (FileStorage &fs, const String &name) const

Static Public Member Functions
static Ptr< RgbdOdometry >	create (const Mat &cameraMatrix=Mat(), float minDepth=Odometry::DEFAULT_MIN_DEPTH(), float maxDepth=Odometry::DEFAULT_MAX_DEPTH(), float maxDepthDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), float maxPointsPart=Odometry::DEFAULT_MAX_POINTS_PART(), int transformType=Odometry::RIGID_BODY_MOTION)
Static Public Member Functions inherited from cv::rgbd::Odometry
static Ptr< Odometry >	create (const String &odometryType)
static float	DEFAULT_MAX_DEPTH ()
static float	DEFAULT_MAX_DEPTH_DIFF ()
static float	DEFAULT_MAX_POINTS_PART ()
static float	DEFAULT_MAX_ROTATION ()
static float	DEFAULT_MAX_TRANSLATION ()
static float	DEFAULT_MIN_DEPTH ()
Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file.
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String.
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node.

Protected Member Functions
virtual void	checkParams () const CV_OVERRIDE
virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt) const CV_OVERRIDE
virtual void	checkParams () const =0
virtual bool	computeImpl (const Ptr< OdometryFrame > &srcFrame, const Ptr< OdometryFrame > &dstFrame, OutputArray Rt, const Mat &initRt) const =0
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Protected Attributes
Mat	cameraMatrix
Mat	iterCounts
double	maxDepth
double	maxDepthDiff
double	maxPointsPart
double	maxRotation
double	maxTranslation
double	minDepth
Mat	minGradientMagnitudes
int	transformType

Additional Inherited Members
Public Types inherited from cv::rgbd::Odometry
enum	{   ROTATION = 1 ,   TRANSLATION = 2 ,   RIGID_BODY_MOTION = 4 }

Detailed Description

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

Constructor & Destructor Documentation

RgbdOdometry() [1/2]

cv::rgbd::RgbdOdometry::RgbdOdometry

(

)

RgbdOdometry() [2/2]

cv::rgbd::RgbdOdometry::RgbdOdometry	(	const Mat &	cameraMatrix,
		float	minDepth = Odometry::DEFAULT_MIN_DEPTH(),
		float	maxDepth = Odometry::DEFAULT_MAX_DEPTH(),
		float	maxDepthDiff = Odometry::DEFAULT_MAX_DEPTH_DIFF(),
		const std::vector< int > &	iterCounts = std::vector< int >(),
		const std::vector< float > &	minGradientMagnitudes = std::vector< float >(),
		float	maxPointsPart = Odometry::DEFAULT_MAX_POINTS_PART(),
		int	transformType = Odometry::RIGID_BODY_MOTION
	)

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

Member Function Documentation

checkParams()

virtual void cv::rgbd::RgbdOdometry::checkParams ( ) const

protectedvirtual

Implements cv::rgbd::Odometry.

computeImpl()

virtual bool cv::rgbd::RgbdOdometry::computeImpl ( const Ptr< OdometryFrame > &  srcFrame, const Ptr< OdometryFrame > &  dstFrame, OutputArray  Rt, const Mat &  initRt  ) const

protectedvirtual

Implements cv::rgbd::Odometry.

create()

static Ptr< RgbdOdometry > cv::rgbd::RgbdOdometry::create ( const Mat &  cameraMatrix = Mat(), float  minDepth = Odometry::DEFAULT_MIN_DEPTH(), float  maxDepth = Odometry::DEFAULT_MAX_DEPTH(), float  maxDepthDiff = Odometry::DEFAULT_MAX_DEPTH_DIFF(), const std::vector< int > &  iterCounts = std::vector< int >(), const std::vector< float > &  minGradientMagnitudes = std::vector< float >(), float  maxPointsPart = Odometry::DEFAULT_MAX_POINTS_PART(), int  transformType = Odometry::RIGID_BODY_MOTION  )

static

getCameraMatrix()

cv::Mat cv::rgbd::RgbdOdometry::getCameraMatrix ( ) const

inlinevirtual

See also

setCameraMatrix

Implements cv::rgbd::Odometry.

getIterationCounts()

cv::Mat cv::rgbd::RgbdOdometry::getIterationCounts ( ) const

inline

getMaxDepth()

double cv::rgbd::RgbdOdometry::getMaxDepth ( ) const

inline

getMaxDepthDiff()

double cv::rgbd::RgbdOdometry::getMaxDepthDiff ( ) const

inline

getMaxPointsPart()

double cv::rgbd::RgbdOdometry::getMaxPointsPart ( ) const

inline

getMaxRotation()

double cv::rgbd::RgbdOdometry::getMaxRotation ( ) const

inline

getMaxTranslation()

double cv::rgbd::RgbdOdometry::getMaxTranslation ( ) const

inline

getMinDepth()

double cv::rgbd::RgbdOdometry::getMinDepth ( ) const

inline

getMinGradientMagnitudes()

cv::Mat cv::rgbd::RgbdOdometry::getMinGradientMagnitudes ( ) const

inline

getTransformType()

int cv::rgbd::RgbdOdometry::getTransformType ( ) const

inlinevirtual

See also

setTransformType

Implements cv::rgbd::Odometry.

prepareFrameCache()

virtual Size cv::rgbd::RgbdOdometry::prepareFrameCache ( Ptr< OdometryFrame > &  frame, int  cacheType  ) const

virtual

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.

Parameters

frame	The odometry which will process the frame.
cacheType	The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL.

Reimplemented from cv::rgbd::Odometry.

setCameraMatrix()

void cv::rgbd::RgbdOdometry::setCameraMatrix ( const cv::Mat &  val )

inlinevirtual

See also

getCameraMatrix

Implements cv::rgbd::Odometry.

setIterationCounts()

void cv::rgbd::RgbdOdometry::setIterationCounts ( const cv::Mat &  val )

inline

setMaxDepth()

void cv::rgbd::RgbdOdometry::setMaxDepth ( double  val )

inline

setMaxDepthDiff()

void cv::rgbd::RgbdOdometry::setMaxDepthDiff ( double  val )

inline

setMaxPointsPart()

void cv::rgbd::RgbdOdometry::setMaxPointsPart ( double  val )

inline

setMaxRotation()

void cv::rgbd::RgbdOdometry::setMaxRotation ( double  val )

inline

setMaxTranslation()

void cv::rgbd::RgbdOdometry::setMaxTranslation ( double  val )

inline

setMinDepth()

void cv::rgbd::RgbdOdometry::setMinDepth ( double  val )

inline

setMinGradientMagnitudes()

void cv::rgbd::RgbdOdometry::setMinGradientMagnitudes ( const cv::Mat &  val )

inline

setTransformType()

void cv::rgbd::RgbdOdometry::setTransformType ( int  val )

inlinevirtual

See also

getTransformType

Implements cv::rgbd::Odometry.

Member Data Documentation

cameraMatrix

Mat cv::rgbd::RgbdOdometry::cameraMatrix

protected

iterCounts

Mat cv::rgbd::RgbdOdometry::iterCounts

protected

maxDepth

double cv::rgbd::RgbdOdometry::maxDepth

protected

maxDepthDiff

double cv::rgbd::RgbdOdometry::maxDepthDiff

protected

maxPointsPart

double cv::rgbd::RgbdOdometry::maxPointsPart

protected

maxRotation

double cv::rgbd::RgbdOdometry::maxRotation

protected

maxTranslation

double cv::rgbd::RgbdOdometry::maxTranslation

protected

minDepth

double cv::rgbd::RgbdOdometry::minDepth

protected

minGradientMagnitudes

Mat cv::rgbd::RgbdOdometry::minGradientMagnitudes

protected

transformType

int cv::rgbd::RgbdOdometry::transformType

protected

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The documentation for this class was generated from the following file:

• opencv2/rgbd/depth.hpp