OpenCVForUnity.PtcloudModule.OdometryFrame Class Reference

An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data. When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data. A BGR/Gray image and normals are optional. OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations. A correct way to do that is to call Odometry.prepareFrames() on prev and next frames and then pass them to Odometry.compute() method. More...

Public Member Functions
	OdometryFrame ()
	Construct a new OdometryFrame object. All non-empty images should have the same size.
	OdometryFrame (Mat depth)
	Construct a new OdometryFrame object. All non-empty images should have the same size.
	OdometryFrame (Mat depth, Mat image)
	Construct a new OdometryFrame object. All non-empty images should have the same size.
	OdometryFrame (Mat depth, Mat image, Mat mask)
	Construct a new OdometryFrame object. All non-empty images should have the same size.
	OdometryFrame (Mat depth, Mat image, Mat mask, Mat normals)
	Construct a new OdometryFrame object. All non-empty images should have the same size.
void	getDepth (Mat depth)
	Get the original user-provided depth image.
void	getGrayImage (Mat image)
	Get the gray image generated from the user-provided BGR/Gray image.
void	getImage (Mat image)
	Get the original user-provided BGR/Gray image.
void	getMask (Mat mask)
	Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask.
IntPtr	getNativeObjAddr ()
void	getNormals (Mat normals)
	Get the normals image either generated for the ICP calculations or user-provided.
void	getProcessedDepth (Mat depth)
	Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs.
void	getPyramidAt (Mat img, int pyrType, long level)
	Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if the pyramid is empty or there's no such pyramid level.
int	getPyramidLevels ()
	Get the amount of levels in pyramids (all of them if not empty should have the same number of levels) or 0 if no pyramids were prepared yet.
Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
	Releases resources used by this object.
void	ThrowIfDisposed ()
	Throws ObjectDisposedException if this object has been disposed.

Static Public Member Functions
static OdometryFrame	__fromPtr__ (IntPtr addr)
Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)
	Returns the native pointer, or throws CoreModule.CvException if it is zero.

Protected Member Functions
override void	Dispose (bool disposing)
Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	Initializes a new instance with a zero native pointer and dispose enabled.
	DisposableOpenCVObject (bool isEnabledDispose)
	Initializes a new instance with a zero native pointer.
	DisposableOpenCVObject (IntPtr ptr)
	Initializes a new instance with the specified native pointer and dispose enabled.
	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
	Initializes a new instance with the specified native pointer.
Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	Initializes a new instance with dispose enabled.
	DisposableObject (bool isEnabledDispose)
	Initializes a new instance.

Additional Inherited Members
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed [get, protected set]
bool	IsEnabledDispose [get, set]

Detailed Description

An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data. When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data. A BGR/Gray image and normals are optional. OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations. A correct way to do that is to call Odometry.prepareFrames() on prev and next frames and then pass them to Odometry.compute() method.

Constructor & Destructor Documentation

OdometryFrame() [1/5]

OpenCVForUnity.PtcloudModule.OdometryFrame.OdometryFrame	(	Mat	depth,
		Mat	image,
		Mat	mask,
		Mat	normals )

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

Parameters

depth	A depth image, should be CV_8UC1
image	An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale image automatically.
mask	A user-provided mask of valid pixels, should be CV_8UC1
normals	A user-provided normals to the depth surface, should be CV_32FC4

OdometryFrame() [2/5]

OpenCVForUnity.PtcloudModule.OdometryFrame.OdometryFrame	(	Mat	depth,
		Mat	image,
		Mat	mask )

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

Parameters

depth	A depth image, should be CV_8UC1
image	An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale image automatically.
mask	A user-provided mask of valid pixels, should be CV_8UC1
normals	A user-provided normals to the depth surface, should be CV_32FC4

OdometryFrame() [3/5]

OpenCVForUnity.PtcloudModule.OdometryFrame.OdometryFrame	(	Mat	depth,
		Mat	image )

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

Parameters

depth	A depth image, should be CV_8UC1
image	An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale image automatically.
mask	A user-provided mask of valid pixels, should be CV_8UC1
normals	A user-provided normals to the depth surface, should be CV_32FC4

OdometryFrame() [4/5]

OpenCVForUnity.PtcloudModule.OdometryFrame.OdometryFrame

(

Mat

depth

)

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

Parameters

depth	A depth image, should be CV_8UC1
image	An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale image automatically.
mask	A user-provided mask of valid pixels, should be CV_8UC1
normals	A user-provided normals to the depth surface, should be CV_32FC4

OdometryFrame() [5/5]

OpenCVForUnity.PtcloudModule.OdometryFrame.OdometryFrame

(

)

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

Parameters

depth	A depth image, should be CV_8UC1
image	An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale image automatically.
mask	A user-provided mask of valid pixels, should be CV_8UC1
normals	A user-provided normals to the depth surface, should be CV_32FC4

Member Function Documentation

__fromPtr__()

static OdometryFrame OpenCVForUnity.PtcloudModule.OdometryFrame.__fromPtr__ ( IntPtr addr )

static

Dispose()

override void OpenCVForUnity.PtcloudModule.OdometryFrame.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableOpenCVObject.

getDepth()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getDepth

(

Mat

depth

)

Get the original user-provided depth image.

Parameters

depth

Output image

getGrayImage()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getGrayImage

(

Mat

image

)

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

Parameters

image

Output image

getImage()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getImage

(

Mat

image

)

Get the original user-provided BGR/Gray image.

Parameters

image

Output image

getMask()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getMask

(

Mat

mask

)

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

Parameters

mask	Output image

getNativeObjAddr()

IntPtr OpenCVForUnity.PtcloudModule.OdometryFrame.getNativeObjAddr

(

)

getNormals()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getNormals

(

Mat

normals

)

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

Parameters

normals

Output image

getProcessedDepth()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getProcessedDepth

(

Mat

depth

)

Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs.

Parameters

depth

Output image

getPyramidAt()

void OpenCVForUnity.PtcloudModule.OdometryFrame.getPyramidAt	(	Mat	img,
		int	pyrType,
		long	level )

Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if the pyramid is empty or there's no such pyramid level.

Parameters

img	Output image
pyrType	Type of pyramid
level	Level in the pyramid

getPyramidLevels()

int OpenCVForUnity.PtcloudModule.OdometryFrame.getPyramidLevels

(

)

Get the amount of levels in pyramids (all of them if not empty should have the same number of levels) or 0 if no pyramids were prepared yet.

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

• OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Core/org/opencv/ptcloud/OdometryFrame.cs