View Source Evision.RGBD.FastICPOdometry (Evision v0.1.28)

Link to this section Summary

Types

t()

Type that represents an RGBD.FastICPOdometry struct.

Functions

getAngleThreshold

getCameraMatrix

getIterationCounts

getKernelSize

getMaxDistDiff

getSigmaDepth

getSigmaSpatial

getTransformType

setAngleThreshold

setCameraMatrix

setIterationCounts

setKernelSize

setMaxDistDiff

setSigmaDepth

setSigmaSpatial

setTransformType

Link to this section Types

@type t() :: %Evision.RGBD.FastICPOdometry{ref: reference()}

Type that represents an RGBD.FastICPOdometry struct.

  • ref. reference()

    The underlying erlang resource variable.

Link to this section Functions

@spec create(Evision.Mat.maybe_mat_in()) :: t() | {:error, String.t()}

create

Positional Arguments
  • cameraMatrix: Evision.Mat.t().

    Camera matrix

Keyword Arguments
  • maxDistDiff: float.

    Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff

  • angleThreshold: float.

    Correspondence will be filtered out if an angle between their normals is bigger than threshold

  • sigmaDepth: float.

    Depth sigma in meters for bilateral smooth

  • sigmaSpatial: float.

    Spatial sigma in pixels for bilateral smooth

  • kernelSize: int.

    Kernel size in pixels for bilateral smooth

  • iterCounts: [int].

    Count of iterations on each pyramid level

Return
  • retval: FastICPOdometry

Constructor.

Python prototype (for reference only):

create(cameraMatrix[, maxDistDiff[, angleThreshold[, sigmaDepth[, sigmaSpatial[, kernelSize[, iterCounts]]]]]]) -> retval
Link to this function

create(cameraMatrix, opts)

View Source
@spec create(Evision.Mat.maybe_mat_in(), [{atom(), term()}, ...] | nil) ::
  t() | {:error, String.t()}

create

Positional Arguments
  • cameraMatrix: Evision.Mat.t().

    Camera matrix

Keyword Arguments
  • maxDistDiff: float.

    Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff

  • angleThreshold: float.

    Correspondence will be filtered out if an angle between their normals is bigger than threshold

  • sigmaDepth: float.

    Depth sigma in meters for bilateral smooth

  • sigmaSpatial: float.

    Spatial sigma in pixels for bilateral smooth

  • kernelSize: int.

    Kernel size in pixels for bilateral smooth

  • iterCounts: [int].

    Count of iterations on each pyramid level

Return
  • retval: FastICPOdometry

Constructor.

Python prototype (for reference only):

create(cameraMatrix[, maxDistDiff[, angleThreshold[, sigmaDepth[, sigmaSpatial[, kernelSize[, iterCounts]]]]]]) -> retval
@spec getAngleThreshold(t()) :: number() | {:error, String.t()}

getAngleThreshold

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: float

Python prototype (for reference only):

getAngleThreshold() -> retval
@spec getCameraMatrix(t()) :: Evision.Mat.t() | {:error, String.t()}

getCameraMatrix

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: Evision.Mat.t()

Python prototype (for reference only):

getCameraMatrix() -> retval
Link to this function

getIterationCounts(self)

View Source
@spec getIterationCounts(t()) :: Evision.Mat.t() | {:error, String.t()}

getIterationCounts

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: Evision.Mat.t()

Python prototype (for reference only):

getIterationCounts() -> retval
@spec getKernelSize(t()) :: integer() | {:error, String.t()}

getKernelSize

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: int

Python prototype (for reference only):

getKernelSize() -> retval
@spec getMaxDistDiff(t()) :: number() | {:error, String.t()}

getMaxDistDiff

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: double

Python prototype (for reference only):

getMaxDistDiff() -> retval
@spec getSigmaDepth(t()) :: number() | {:error, String.t()}

getSigmaDepth

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: float

Python prototype (for reference only):

getSigmaDepth() -> retval
@spec getSigmaSpatial(t()) :: number() | {:error, String.t()}

getSigmaSpatial

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: float

Python prototype (for reference only):

getSigmaSpatial() -> retval
@spec getTransformType(t()) :: integer() | {:error, String.t()}

getTransformType

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
Return
  • retval: int

Python prototype (for reference only):

getTransformType() -> retval
Link to this function

prepareFrameCache(self, frame, cacheType)

View Source
@spec prepareFrameCache(t(), Evision.RGBD.OdometryFrame.t(), integer()) ::
  {number(), number()} | {:error, String.t()}

prepareFrameCache

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • frame: OdometryFrame
  • cacheType: int
Return
  • retval: Size

Python prototype (for reference only):

prepareFrameCache(frame, cacheType) -> retval
Link to this function

setAngleThreshold(self, f)

View Source
@spec setAngleThreshold(t(), number()) :: t() | {:error, String.t()}

setAngleThreshold

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • f: float

Python prototype (for reference only):

setAngleThreshold(f) -> None
Link to this function

setCameraMatrix(self, val)

View Source
@spec setCameraMatrix(t(), Evision.Mat.maybe_mat_in()) :: t() | {:error, String.t()}

setCameraMatrix

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • val: Evision.Mat.t()

Python prototype (for reference only):

setCameraMatrix(val) -> None
Link to this function

setIterationCounts(self, val)

View Source
@spec setIterationCounts(t(), Evision.Mat.maybe_mat_in()) ::
  t() | {:error, String.t()}

setIterationCounts

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • val: Evision.Mat.t()

Python prototype (for reference only):

setIterationCounts(val) -> None
@spec setKernelSize(t(), integer()) :: t() | {:error, String.t()}

setKernelSize

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • f: int

Python prototype (for reference only):

setKernelSize(f) -> None
Link to this function

setMaxDistDiff(self, val)

View Source
@spec setMaxDistDiff(t(), number()) :: t() | {:error, String.t()}

setMaxDistDiff

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • val: float

Python prototype (for reference only):

setMaxDistDiff(val) -> None
@spec setSigmaDepth(t(), number()) :: t() | {:error, String.t()}

setSigmaDepth

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • f: float

Python prototype (for reference only):

setSigmaDepth(f) -> None
Link to this function

setSigmaSpatial(self, f)

View Source
@spec setSigmaSpatial(t(), number()) :: t() | {:error, String.t()}

setSigmaSpatial

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • f: float

Python prototype (for reference only):

setSigmaSpatial(f) -> None
Link to this function

setTransformType(self, val)

View Source
@spec setTransformType(t(), integer()) :: t() | {:error, String.t()}

setTransformType

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • val: int

Python prototype (for reference only):

setTransformType(val) -> None