#include <opencv2/rgbd/depth.hpp>

cv::rgbd::RgbdICPOdometry 的协作关系图

公有成员函数
	RgbdICPOdometry ()

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

Ptr< RgbdNormals >	getNormalsComputer () 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

继承自 cv::rgbd::Odometry 的公开成员函数
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

继承自 cv::Algorithm 的公开成员函数
	Algorithm ()

virtual	~Algorithm ()

virtual void	clear ()
	清除算法状态。

virtual bool	empty () const
	如果 Algorithm 为空（例如在初始阶段或读取失败后），则返回 true。

virtual String	getDefaultName () const

virtual void	read (const FileNode &fn)
	从文件存储中读取算法参数。

virtual void	save (const String &filename) const

void	write (FileStorage &fs, const String &name=String()) const

virtual void	write (FileStorage &fs) const
	将算法参数存储在文件存储中。

void	write (FileStorage &fs, const String &name) const

静态公开成员函数
静态 Ptr< RgbdICPOdometry >	create (const Mat &cameraMatrix=Mat(), float minDepth=Odometry::DEFAULT_MIN_DEPTH(), float maxDepth=Odometry::DEFAULT_MAX_DEPTH(), float maxDepthDiff=Odometry::DEFAULT_MAX_DEPTH_DIFF(), float maxPointsPart=Odometry::DEFAULT_MAX_POINTS_PART(), const std::vector< int > &iterCounts=std::vector< int >(), const std::vector< float > &minGradientMagnitudes=std::vector< float >(), int transformType=Odometry::RIGID_BODY_MOTION)

从 cv::rgbd::Odometry 继承的静态公共成员函数
静态 Ptr< Odometry >	create (const String &odometryType)

静态 float	DEFAULT_MAX_DEPTH ()

静态 float	DEFAULT_MAX_DEPTH_DIFF ()

静态 float	DEFAULT_MAX_POINTS_PART ()

静态 float	DEFAULT_MAX_ROTATION ()

静态 float	DEFAULT_MAX_TRANSLATION ()

静态 float	DEFAULT_MIN_DEPTH ()

从 cv::Algorithm 继承的静态公共成员函数
模板<typename _Tp >
静态 Ptr< _Tp >	load (const String &filename, const String &objname=String())
	从文件加载算法。

模板<typename _Tp >
静态 Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	从字符串加载算法。

模板<typename _Tp >
静态 Ptr< _Tp >	read (const FileNode &fn)
	从文件节点读取算法。

保护成员函数
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

从 cv::Algorithm 继承的保护成员函数
void	writeFormat (FileStorage &fs) const

受保护属性
Mat	cameraMatrix

Mat	iterCounts

double	maxDepth

double	maxDepthDiff

double	maxPointsPart

double	maxRotation

double	maxTranslation

double	minDepth

Mat	minGradientMagnitudes

Ptr< RgbdNormals >	normalsComputer

int	transformType

其他继承成员
从 cv::rgbd::Odometry 继承的公共类型
枚举	{ ROTATION = 1 , TRANSLATION = 2 , RIGID_BODY_MOTION = 4 }

详细描述

Odometry 通过最小化它们的能量函数之和，合并了 RgbdOdometry 和 ICPOdometry.

构造函数 & 析构函数文档

◆ RgbdICPOdometry() [1/2]

cv::rgbd::RgbdICPOdometry::RgbdICPOdometry ( )

◆ RgbdICPOdometry() [2/2]

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

构造函数.

参数

cameraMatrix	相机矩阵
minDepth	像素深度小于 minDepth 的情况下将不被使用
maxDepth	像素深度大于 maxDepth 的情况下将不被使用
maxDepthDiff	如果两帧给定帧之间的像素深度差大于 maxDepthDiff，则将过滤掉它们的对应关系
maxPointsPart	该方法使用尺寸为 frameWidth x frameHeight x pointsPart 的随机像素子集
iterCounts	在每层金字塔上的迭代次数。
minGradientMagnitudes	对于每层金字塔，如果像素的梯度幅度小于 minGradientMagnitudes[level]，则将过滤掉像素。
transformType	变换类

成员函数文档

◆ checkParams()

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

protectedvirtual

实现了 cv::rgbd::Odometry.

◆ computeImpl()

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

protectedvirtual

实现了 cv::rgbd::Odometry.

◆ create()

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

static

Python
	cv.rgbd.RgbdICPOdometry.create(	[, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]]	) ->	retval
	cv.rgbd.RgbdICPOdometry_create(	[, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]]	) ->	retval

◆ getCameraMatrix()

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

inlinevirtual

Python
	cv.rgbd.RgbdICPOdometry.getCameraMatrix(		) ->	retval

另请参阅: setCameraMatrix

实现 cv::rgbd::Odometry.

◆ getIterationCounts()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getIterationCounts(		) ->	retval

◆ getMaxDepth()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMaxDepth(		) ->	retval

◆ getMaxDepthDiff()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMaxDepthDiff(		) ->	retval

◆ getMaxPointsPart()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMaxPointsPart(		) ->	retval

◆ getMaxRotation()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMaxRotation(		) ->	retval

◆ getMaxTranslation()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMaxTranslation(		) ->	retval

◆ getMinDepth()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMinDepth(		) ->	retval

◆ getMinGradientMagnitudes()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.getMinGradientMagnitudes(		) ->	retval

◆ getNormalsComputer()

Ptr< RgbdNormals > cv::rgbd::RgbdICPOdometry::getNormalsComputer ( ) const

inline

Python
	cv.rgbd.RgbdICPOdometry.getNormalsComputer(		) ->	retval

◆ getTransformType()

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

inlinevirtual

Python
	cv.rgbd.RgbdICPOdometry.getTransformType(		) ->	retval

另请参阅: setTransformType

实现 cv::rgbd::Odometry.

◆ prepareFrameCache()

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

virtual

Python
	cv.rgbd.RgbdICPOdometry.prepareFrameCache(	frame, cacheType	) ->	retval

为流准备缓存。该函数检查预计算的/传入的数据（如果这些数据不满足则抛出错误）并计算所有剩余的缓存数据，以便用于该帧。返回的尺寸是准备好的帧的分辨率。

参数

frame	处理帧的里程计。
cacheType	缓存类型：CACHE_SRC、CACHE_DST或CACHE_ALL。

从 cv::rgbd::Odometry 重实现。

◆ setCameraMatrix()

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

inlinevirtual

Python
	cv.rgbd.RgbdICPOdometry.setCameraMatrix(	val	) ->	None

另请参阅: getCameraMatrix

实现 cv::rgbd::Odometry.

◆ setIterationCounts()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setIterationCounts(	val	) ->	None

◆ setMaxDepth()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMaxDepth(	val	) ->	None

◆ setMaxDepthDiff()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMaxDepthDiff(	val	) ->	None

◆ setMaxPointsPart()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMaxPointsPart(	val	) ->	None

◆ setMaxRotation()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMaxRotation(	val	) ->	None

◆ setMaxTranslation()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMaxTranslation(	val	) ->	None

◆ setMinDepth()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMinDepth(	val	) ->	None

◆ setMinGradientMagnitudes()

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

inline

Python
	cv.rgbd.RgbdICPOdometry.setMinGradientMagnitudes(	val	) ->	None

◆ setTransformType()

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

inlinevirtual

Python
	cv.rgbd.RgbdICPOdometry.setTransformType(	val	) ->	None

另请参阅: getTransformType

实现 cv::rgbd::Odometry.

成员数据文档

◆ cameraMatrix

Mat cv::rgbd::RgbdICPOdometry::cameraMatrix

受保护

◆ iterCounts

Mat cv::rgbd::RgbdICPOdometry::iterCounts

受保护

◆ maxDepth

double cv::rgbd::RgbdICPOdometry::maxDepth

受保护

◆ maxDepthDiff

double cv::rgbd::RgbdICPOdometry::maxDepthDiff

受保护

◆ maxPointsPart

double cv::rgbd::RgbdICPOdometry::maxPointsPart

受保护

◆ maxRotation

double cv::rgbd::RgbdICPOdometry::maxRotation

受保护

◆ maxTranslation

double cv::rgbd::RgbdICPOdometry::maxTranslation

受保护

◆ minDepth

double cv::rgbd::RgbdICPOdometry::minDepth

受保护

◆ minGradientMagnitudes

Mat cv::rgbd::RgbdICPOdometry::minGradientMagnitudes

受保护

◆ normalsComputer

Ptr<RgbdNormals> cv::rgbd::RgbdICPOdometry::normalsComputer

mutableprotected

◆ transformType

int cv::rgbd::RgbdICPOdometry::transformType

受保护

本类的文档是从以下文件生成的

opencv2/rgbd/depth.hpp

公有成员函数

静态公开成员函数

保护成员函数

受保护属性

其他继承成员

详细描述

构造函数 & 析构函数文档

◆ RgbdICPOdometry() [1/2]

◆ RgbdICPOdometry() [2/2]

成员函数文档

◆ checkParams()

◆ computeImpl()

◆ create()

◆ getCameraMatrix()

◆ getIterationCounts()

◆ getMaxDepth()

◆ getMaxDepthDiff()

◆ getMaxPointsPart()

◆ getMaxRotation()

◆ getMaxTranslation()

◆ getMinDepth()

◆ getMinGradientMagnitudes()

◆ getNormalsComputer()

◆ getTransformType()

◆ prepareFrameCache()

◆ setCameraMatrix()

◆ setIterationCounts()

◆ setMaxDepth()

◆ setMaxDepthDiff()

◆ setMaxPointsPart()

◆ setMaxRotation()

◆ setMaxTranslation()

◆ setMinDepth()

◆ setMinGradientMagnitudes()

◆ setTransformType()

成员数据文档

◆ cameraMatrix

◆ iterCounts

◆ maxDepth

◆ maxDepthDiff

◆ maxPointsPart

◆ maxRotation

◆ maxTranslation

◆ minDepth

◆ minGradientMagnitudes

◆ normalsComputer

◆ transformType