View Source Evision.RGBD.FastICPOdometry (Evision v0.1.28)
Link to this section Summary
Functions
create
create
getAngleThreshold
getCameraMatrix
getIterationCounts
getKernelSize
getMaxDistDiff
getSigmaDepth
getSigmaSpatial
getTransformType
prepareFrameCache
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
@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
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
@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
getKernelSize
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
Return
- retval:
int
Python prototype (for reference only):
getKernelSize() -> retval
getMaxDistDiff
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
Return
- retval:
double
Python prototype (for reference only):
getMaxDistDiff() -> retval
getSigmaDepth
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
Return
- retval:
float
Python prototype (for reference only):
getSigmaDepth() -> retval
getSigmaSpatial
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
Return
- retval:
float
Python prototype (for reference only):
getSigmaSpatial() -> retval
getTransformType
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
Return
- retval:
int
Python prototype (for reference only):
getTransformType() -> retval
@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
setAngleThreshold
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- f:
float
Python prototype (for reference only):
setAngleThreshold(f) -> None
@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
@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
setKernelSize
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- f:
int
Python prototype (for reference only):
setKernelSize(f) -> None
setMaxDistDiff
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- val:
float
Python prototype (for reference only):
setMaxDistDiff(val) -> None
setSigmaDepth
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- f:
float
Python prototype (for reference only):
setSigmaDepth(f) -> None
setSigmaSpatial
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- f:
float
Python prototype (for reference only):
setSigmaSpatial(f) -> None
setTransformType
Positional Arguments
- self:
Evision.RGBD.FastICPOdometry.t()
- val:
int
Python prototype (for reference only):
setTransformType(val) -> None