@spec create(Keyword.t()) :: any() | {:error, String.t()}

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

create

Positional Arguments

• cameraMatrix: Evision.Mat.

  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: integer().

  Kernel size in pixels for bilateral smooth

• iterCounts: [integer()].

  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(),
  [
    angleThreshold: term(),
    iterCounts: term(),
    kernelSize: term(),
    maxDistDiff: term(),
    sigmaDepth: term(),
    sigmaSpatial: term()
  ]
  | nil
) :: t() | {:error, String.t()}

create

Positional Arguments

• cameraMatrix: Evision.Mat.

  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: integer().

  Kernel size in pixels for bilateral smooth

• iterCounts: [integer()].

  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(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@spec getKernelSize(t()) :: integer() | {:error, String.t()}

getKernelSize

Positional Arguments

• self: Evision.RGBD.FastICPOdometry.t()

Return

• retval: integer()

Python prototype (for reference only):

getKernelSize() -> retval

@spec getMaxDistDiff(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@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(Keyword.t()) :: any() | {:error, String.t()}

@spec getTransformType(t()) :: integer() | {:error, String.t()}

getTransformType

Positional Arguments

• self: Evision.RGBD.FastICPOdometry.t()

Return

• retval: integer()

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: integer()

Return

• retval: Size

Python prototype (for reference only):

prepareFrameCache(frame, cacheType) -> retval

@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

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

setCameraMatrix

Positional Arguments

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

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

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: integer()

Python prototype (for reference only):

setKernelSize(f) -> None

@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

@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

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

setTransformType

Positional Arguments

• self: Evision.RGBD.FastICPOdometry.t()
• val: integer()

Python prototype (for reference only):

setTransformType(val) -> None