View Source Evision.RGBD.FastICPOdometry (Evision v0.1.34)
Summary
Functions
create
create
getAngleThreshold
getCameraMatrix
getIterationCounts
getKernelSize
getMaxDistDiff
getSigmaDepth
getSigmaSpatial
getTransformType
prepareFrameCache
setAngleThreshold
setCameraMatrix
setIterationCounts
setKernelSize
setMaxDistDiff
setSigmaDepth
setSigmaSpatial
setTransformType
Types
@type t() :: %Evision.RGBD.FastICPOdometry{ref: reference()}
Type that represents an RGBD.FastICPOdometry
struct.
ref.
reference()
The underlying erlang resource variable.
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