cv::rgbd::OdometryFrame Struct Reference

#include <opencv2/rgbd/depth.hpp>

Inheritance diagram for cv::rgbd::OdometryFrame:

Public Types
enum	{   CACHE_SRC = 1,   CACHE_DST = 2,   CACHE_ALL = CACHE_SRC + CACHE_DST }

Public Member Functions
	OdometryFrame ()
	OdometryFrame (const Mat &image, const Mat &depth, const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1)
virtual void	release () CV_OVERRIDE
void	releasePyramids ()
Public Member Functions inherited from cv::rgbd::RgbdFrame
	RgbdFrame ()
	RgbdFrame (const Mat &image, const Mat &depth, const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1)
virtual	~RgbdFrame ()

Static Public Member Functions
static Ptr< OdometryFrame >	create (const Mat &image=Mat(), const Mat &depth=Mat(), const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1)
Static Public Member Functions inherited from cv::rgbd::RgbdFrame
static Ptr< RgbdFrame >	create (const Mat &image=Mat(), const Mat &depth=Mat(), const Mat &mask=Mat(), const Mat &normals=Mat(), int ID=-1)

Public Attributes
std::vector< Mat >	pyramid_dI_dx
std::vector< Mat >	pyramid_dI_dy
std::vector< Mat >	pyramidCloud
std::vector< Mat >	pyramidDepth
std::vector< Mat >	pyramidImage
std::vector< Mat >	pyramidMask
std::vector< Mat >	pyramidNormals
std::vector< Mat >	pyramidNormalsMask
std::vector< Mat >	pyramidTexturedMask
Public Attributes inherited from cv::rgbd::RgbdFrame
Mat	depth
int	ID
Mat	image
Mat	mask
Mat	normals

Detailed Description

Object that contains a frame data that is possibly needed for the Odometry. It's used for the efficiency (to pass precomputed/cached data of the frame that participates in the Odometry processing several times).

Member Enumeration Documentation

anonymous enum

These constants are used to set a type of cache which has to be prepared depending on the frame role: srcFrame or dstFrame (see compute method of the Odometry class). For the srcFrame and dstFrame different cache data may be required, some part of a cache may be common for both frame roles.

Parameters

CACHE_SRC	The cache data for the srcFrame will be prepared.
CACHE_DST	The cache data for the dstFrame will be prepared.
CACHE_ALL	The cache data for both srcFrame and dstFrame roles will be computed.

Enumerator
CACHE_SRC
CACHE_DST
CACHE_ALL

Constructor & Destructor Documentation

cv::rgbd::OdometryFrame::OdometryFrame

(

)

cv::rgbd::OdometryFrame::OdometryFrame	(	const Mat &	image,
		const Mat &	depth,
		const Mat &	mask = Mat(),
		const Mat &	normals = Mat(),
		int	ID = -1
	)

Member Function Documentation

static Ptr<OdometryFrame> cv::rgbd::OdometryFrame::create ( const Mat &  image = Mat(), const Mat &  depth = Mat(), const Mat &  mask = Mat(), const Mat &  normals = Mat(), int  ID = -1  )

static

virtual void cv::rgbd::OdometryFrame::release ( )

virtual

Reimplemented from cv::rgbd::RgbdFrame.

void cv::rgbd::OdometryFrame::releasePyramids

(

)

Member Data Documentation

std::vector<Mat> cv::rgbd::OdometryFrame::pyramid_dI_dx

std::vector<Mat> cv::rgbd::OdometryFrame::pyramid_dI_dy

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidCloud

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidDepth

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidImage

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidMask

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidNormals

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidNormalsMask

std::vector<Mat> cv::rgbd::OdometryFrame::pyramidTexturedMask

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

• depth.hpp