Class OdometryFrame

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

An object that keeps per-frame data for Odometry algorithms.

public class OdometryFrame : CvObject, IDisposable

Inheritance

object

CvObject

OdometryFrame

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

OdometryFrame(InputArray, InputArray, InputArray, InputArray)

Constructs a new OdometryFrame object. All non-empty images should have the same size.

public OdometryFrame(InputArray depth = default, InputArray image = default, InputArray mask = default, InputArray normals = default)

Parameters

depth InputArray

A depth image.

image InputArray

An BGR or grayscale image (or null if it's not required for the used ICP algorithm).

mask InputArray

A user-provided mask of valid pixels, should be CV_8UC1.

normals InputArray

A user-provided normals to the depth surface, should be CV_32FC4.

Methods

GetDepth(OutputArray)

Gets the original user-provided depth image.

public void GetDepth(OutputArray depth)

Parameters

depth OutputArray

GetGrayImage(OutputArray)

Gets the gray image generated from the user-provided BGR/Gray image.

public void GetGrayImage(OutputArray image)

Parameters

image OutputArray

GetImage(OutputArray)

Gets the original user-provided BGR/Gray image.

public void GetImage(OutputArray image)

Parameters

image OutputArray

GetMask(OutputArray)

Gets the valid pixels mask generated for the ICP calculations intersected with the user-provided mask.

public void GetMask(OutputArray mask)

Parameters

mask OutputArray

GetNormals(OutputArray)

Gets the normals image either generated for the ICP calculations or user-provided.

public void GetNormals(OutputArray normals)

Parameters

normals OutputArray

GetProcessedDepth(OutputArray)

Gets the depth image generated for ICP algorithm needs.

public void GetProcessedDepth(OutputArray depth)

Parameters

depth OutputArray

GetPyramidAt(OutputArray, OdometryFramePyramidType, long)

Gets the image generated for the ICP calculations from one of the pyramids specified by pyrType.

public void GetPyramidAt(OutputArray img, OdometryFramePyramidType pyrType, long level)

Parameters

img OutputArray

Output image.

pyrType OdometryFramePyramidType

Type of pyramid.

level long

Level in the pyramid.

GetPyramidLevels()

Gets the amount of levels in pyramids, or 0 if no pyramids were prepared yet.

public int GetPyramidLevels()

Returns

int

Release()

Clean up any resources being used.

public void Release()