OpenCVForUnity.PtcloudModule.Odometry Class Reference

Public Member Functions
	Odometry ()
	Odometry (int otype)
	Odometry (int otype, OdometrySettings settings, int algtype)
bool	compute (Mat srcDepth, Mat dstDepth, Mat Rt)
	Compute Rigid Transformation between two frames so that Rt * src = dst.
bool	compute (Mat srcDepth, Mat srcRGB, Mat dstDepth, Mat dstRGB, Mat Rt)
	Compute Rigid Transformation between two frames so that Rt * src = dst.
bool	compute (OdometryFrame srcFrame, OdometryFrame dstFrame, Mat Rt)
IntPtr	getNativeObjAddr ()
RgbdNormals	getNormalsComputer ()
	Get the normals computer object used for normals calculation (if presented). The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.
void	prepareFrame (OdometryFrame frame)
void	prepareFrames (OdometryFrame srcFrame, OdometryFrame dstFrame)
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 Odometry	__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]

Constructor & Destructor Documentation

Odometry() [1/3]

OpenCVForUnity.PtcloudModule.Odometry.Odometry

(

)

Odometry() [2/3]

OpenCVForUnity.PtcloudModule.Odometry.Odometry

(

int

otype

)

Odometry() [3/3]

OpenCVForUnity.PtcloudModule.Odometry.Odometry	(	int	otype,
		OdometrySettings	settings,
		int	algtype )

Member Function Documentation

__fromPtr__()

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

static

compute() [1/3]

bool OpenCVForUnity.PtcloudModule.Odometry.compute	(	Mat	srcDepth,
		Mat	dstDepth,
		Mat	Rt )

Compute Rigid Transformation between two frames so that Rt * src = dst.

Parameters

srcDepth	source depth ("original" image)
dstDepth	destination depth ("rotated" image)
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

compute() [2/3]

bool OpenCVForUnity.PtcloudModule.Odometry.compute	(	Mat	srcDepth,
		Mat	srcRGB,
		Mat	dstDepth,
		Mat	dstRGB,
		Mat	Rt )

Compute Rigid Transformation between two frames so that Rt * src = dst.

Parameters

srcDepth	source depth ("original" image)
srcRGB	source RGB
dstDepth	destination depth ("rotated" image)
dstRGB	destination RGB
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

compute() [3/3]

bool OpenCVForUnity.PtcloudModule.Odometry.compute	(	OdometryFrame	srcFrame,
		OdometryFrame	dstFrame,
		Mat	Rt )

Compute Rigid Transformation between two frames so that Rt * src = dst Both frames, source and destination, should have been prepared by calling prepareFrame() first

Parameters

srcFrame	src frame ("original" image)
dstFrame	dst frame ("rotated" image)
Rt	Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Returns

true on success, false if failed to find the transformation

Dispose()

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

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableOpenCVObject.

getNativeObjAddr()

IntPtr OpenCVForUnity.PtcloudModule.Odometry.getNativeObjAddr

(

)

getNormalsComputer()

RgbdNormals OpenCVForUnity.PtcloudModule.Odometry.getNormalsComputer

(

)

Get the normals computer object used for normals calculation (if presented). The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.

prepareFrame()

void OpenCVForUnity.PtcloudModule.Odometry.prepareFrame

(

OdometryFrame

frame

)

Prepare frame for odometry calculation

Parameters

frame

odometry prepare this frame as src frame and dst frame simultaneously

prepareFrames()

void OpenCVForUnity.PtcloudModule.Odometry.prepareFrames	(	OdometryFrame	srcFrame,
		OdometryFrame	dstFrame )

Prepare frame for odometry calculation

Parameters

srcFrame	frame will be prepared as src frame ("original" image)
dstFrame	frame will be prepared as dsr frame ("rotated" image)

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

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