Class Odometry

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

Odometry algorithm that computes the rigid transformation between two frames.

public class Odometry : CvObject, IDisposable

Inheritance

object

CvObject

Odometry

Implements

IDisposable

Inherited Members

CvObject.IsDisposed

CvObject.ptr

CvObject.SetSafeHandle(OpenCvSafeHandle)

CvObject.Dispose()

CvObject.Dispose(bool)

CvObject.DisposeManaged()

CvObject.DisposeUnmanaged()

CvObject.ThrowIfDisposed()

CvObject.CvPtr

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

Odometry()

Creates an Odometry object with default settings.

public Odometry()

Odometry(OdometryType)

Creates an Odometry object of the given type.

public Odometry(OdometryType otype)

Parameters

otype OdometryType

odometry type.

Odometry(OdometryType, OdometrySettings, OdometryAlgoType)

Creates an Odometry object of the given type with custom settings.

public Odometry(OdometryType otype, OdometrySettings settings, OdometryAlgoType algtype)

Parameters

otype OdometryType

odometry type.

settings OdometrySettings

odometry settings.

algtype OdometryAlgoType

odometry algorithm type.

Methods

Compute(InputArray, InputArray, InputArray, InputArray, OutputArray)

Computes the rigid transformation between two RGB-D frames so that Rt * src = dst.

public bool Compute(InputArray srcDepth, InputArray srcRGB, InputArray dstDepth, InputArray dstRGB, OutputArray Rt)

Parameters

srcDepth InputArray

source depth ("original" image).

srcRGB InputArray

source RGB.

dstDepth InputArray

destination depth ("rotated" image).

dstRGB InputArray

destination RGB.

Rt OutputArray

Rigid transformation output (4x4).

Returns

bool

true on success, false if failed to find the transformation.

Compute(InputArray, InputArray, OutputArray)

Computes the rigid transformation between two depth images so that Rt * src = dst.

public bool Compute(InputArray srcDepth, InputArray dstDepth, OutputArray Rt)

Parameters

srcDepth InputArray

source depth ("original" image).

dstDepth InputArray

destination depth ("rotated" image).

Rt OutputArray

Rigid transformation output (4x4).

Returns

bool

true on success, false if failed to find the transformation.

Compute(OdometryFrame, OdometryFrame, OutputArray)

Computes the rigid transformation between two prepared frames so that Rt * src = dst.

public bool Compute(OdometryFrame srcFrame, OdometryFrame dstFrame, OutputArray Rt)

Parameters

srcFrame OdometryFrame

src frame ("original" image).

dstFrame OdometryFrame

dst frame ("rotated" image).

Rt OutputArray

Rigid transformation output (4x4).

Returns

bool

true on success, false if failed to find the transformation.

GetNormalsComputer()

Returns the normals computer used by this odometry.

public RgbdNormals GetNormalsComputer()

Returns

RgbdNormals

PrepareFrame(OdometryFrame)

Prepares the frame for odometry calculation (as both src and dst frame).

public void PrepareFrame(OdometryFrame frame)

Parameters

frame OdometryFrame

frame to prepare.

PrepareFrames(OdometryFrame, OdometryFrame)

Prepares the src and dst frames for odometry calculation.

public void PrepareFrames(OdometryFrame srcFrame, OdometryFrame dstFrame)

Parameters

srcFrame OdometryFrame

frame will be prepared as src frame ("original" image).

dstFrame OdometryFrame

frame will be prepared as dst frame ("rotated" image).

Release()

Clean up any resources being used.

public void Release()