#include <opencv2/rgbd/depth.hpp>

Inheritance diagram for cv::rgbd::FastICPOdometry:

Public Member Functions
	FastICPOdometry ()

	FastICPOdometry (const Mat &cameraMatrix, float maxDistDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float angleThreshold=(float)(30. *CV_PI/180.), float sigmaDepth=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector< int > &iterCounts=std::vector< int >())

float	getAngleThreshold () const

cv::Mat	getCameraMatrix () const CV_OVERRIDE

cv::Mat	getIterationCounts () const

int	getKernelSize () const

double	getMaxDistDiff () const

float	getSigmaDepth () const

float	getSigmaSpatial () const

int	getTransformType () const CV_OVERRIDE

virtual Size	prepareFrameCache (Ptr< OdometryFrame > &frame, int cacheType) const CV_OVERRIDE

void	setAngleThreshold (float f)

void	setCameraMatrix (const cv::Mat &val) CV_OVERRIDE

void	setIterationCounts (const cv::Mat &val)

void	setKernelSize (int f)

void	setMaxDistDiff (float val)

void	setSigmaDepth (float f)

void	setSigmaSpatial (float f)

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< FastICPOdometry >	create (const Mat &cameraMatrix, float maxDistDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float angleThreshold=(float)(30. *CV_PI/180.), float sigmaDepth=0.04f, float sigmaSpatial=4.5f, int kernelSize=7, const std::vector< int > &iterCounts=std::vector< int >())

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
float	angleThreshold

Mat	cameraMatrix

Mat	iterCounts

int	kernelSize

float	maxDistDiff

float	sigmaDepth

float	sigmaSpatial

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

Detailed 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

Constructor & Destructor Documentation

◆ FastICPOdometry() [1/2]

cv::rgbd::FastICPOdometry::FastICPOdometry ( )

◆ FastICPOdometry() [2/2]

cv::rgbd::FastICPOdometry::FastICPOdometry	(	const Mat &	cameraMatrix,
		float	maxDistDiff = `Odometry::DEFAULT_MAX_DEPTH_DIFF()`,
		float	angleThreshold = `(float)(30. *CV_PI/180.)`,
		float	sigmaDepth = `0.04f`,
		float	sigmaSpatial = `4.5f`,
		int	kernelSize = `7`,
		const std::vector< int > &	iterCounts = `std::vector< int >()`
	)

Constructor.

Parameters

cameraMatrix	Camera matrix
maxDistDiff	Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff
angleThreshold	Correspondence will be filtered out if an angle between their normals is bigger than threshold
sigmaDepth	Depth sigma in meters for bilateral smooth
sigmaSpatial	Spatial sigma in pixels for bilateral smooth
kernelSize	Kernel size in pixels for bilateral smooth
iterCounts	Count of iterations on each pyramid level

Member Function Documentation

◆ checkParams()

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

protectedvirtual

Implements cv::rgbd::Odometry.

◆ computeImpl()

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

protectedvirtual

Implements cv::rgbd::Odometry.

◆ create()

static Ptr< FastICPOdometry > cv::rgbd::FastICPOdometry::create	(	const Mat &	cameraMatrix,
		float	maxDistDiff = `Odometry::DEFAULT_MAX_DEPTH_DIFF()`,
		float	angleThreshold = `(float)(30. *CV_PI/180.)`,
		float	sigmaDepth = `0.04f`,
		float	sigmaSpatial = `4.5f`,
		int	kernelSize = `7`,
		const std::vector< int > &	iterCounts = `std::vector< int >()`
	)

static

◆ getAngleThreshold()

float cv::rgbd::FastICPOdometry::getAngleThreshold ( ) const

inline

◆ getCameraMatrix()

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

inlinevirtual

See also: setCameraMatrix

Implements cv::rgbd::Odometry.

◆ getIterationCounts()

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

inline

◆ getKernelSize()

int cv::rgbd::FastICPOdometry::getKernelSize ( ) const

inline

◆ getMaxDistDiff()

double cv::rgbd::FastICPOdometry::getMaxDistDiff ( ) const

inline

◆ getSigmaDepth()

float cv::rgbd::FastICPOdometry::getSigmaDepth ( ) const

inline

◆ getSigmaSpatial()

float cv::rgbd::FastICPOdometry::getSigmaSpatial ( ) const

inline

◆ getTransformType()

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

inlinevirtual

See also: setTransformType

Implements cv::rgbd::Odometry.

◆ prepareFrameCache()

virtual Size cv::rgbd::FastICPOdometry::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.

◆ setAngleThreshold()

void cv::rgbd::FastICPOdometry::setAngleThreshold ( float f )

inline

◆ setCameraMatrix()

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

inlinevirtual

See also: getCameraMatrix

Implements cv::rgbd::Odometry.

◆ setIterationCounts()

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

inline

◆ setKernelSize()

void cv::rgbd::FastICPOdometry::setKernelSize ( int f )

inline

◆ setMaxDistDiff()

void cv::rgbd::FastICPOdometry::setMaxDistDiff ( float val )

inline

◆ setSigmaDepth()

void cv::rgbd::FastICPOdometry::setSigmaDepth ( float f )

inline

◆ setSigmaSpatial()

void cv::rgbd::FastICPOdometry::setSigmaSpatial ( float f )

inline

◆ setTransformType()

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

inlinevirtual

See also: getTransformType

Implements cv::rgbd::Odometry.

Member Data Documentation

◆ angleThreshold

float cv::rgbd::FastICPOdometry::angleThreshold

protected

◆ cameraMatrix

Mat cv::rgbd::FastICPOdometry::cameraMatrix

protected

◆ iterCounts

Mat cv::rgbd::FastICPOdometry::iterCounts

protected

◆ kernelSize

int cv::rgbd::FastICPOdometry::kernelSize

protected

◆ maxDistDiff

float cv::rgbd::FastICPOdometry::maxDistDiff

protected

◆ sigmaDepth

float cv::rgbd::FastICPOdometry::sigmaDepth

protected

◆ sigmaSpatial

float cv::rgbd::FastICPOdometry::sigmaSpatial

protected

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

opencv2/rgbd/depth.hpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FastICPOdometry() [1/2]

◆ FastICPOdometry() [2/2]

Member Function Documentation

◆ checkParams()

◆ computeImpl()

◆ create()

◆ getAngleThreshold()

◆ getCameraMatrix()

◆ getIterationCounts()

◆ getKernelSize()

◆ getMaxDistDiff()

◆ getSigmaDepth()

◆ getSigmaSpatial()

◆ getTransformType()

◆ prepareFrameCache()

◆ setAngleThreshold()

◆ setCameraMatrix()

◆ setIterationCounts()

◆ setKernelSize()

◆ setMaxDistDiff()

◆ setSigmaDepth()

◆ setSigmaSpatial()

◆ setTransformType()

Member Data Documentation

◆ angleThreshold

◆ cameraMatrix

◆ iterCounts

◆ kernelSize

◆ maxDistDiff

◆ sigmaDepth

◆ sigmaSpatial