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

create

Keyword Arguments

• cameraMatrix: Evision.Mat.

  Camera matrix

• minDepth: float.

  Pixels with depth less than minDepth will not be used

• maxDepth: float.

  Pixels with depth larger than maxDepth will not be used

• maxDepthDiff: float.

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

• maxPointsPart: float.

  The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart

• iterCounts: [integer()].

  Count of iterations on each pyramid level.

• transformType: integer().

  Class of trasformation

Return

• retval: ICPOdometry

Constructor.

Python prototype (for reference only):

create([, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, transformType]]]]]]]) -> retval

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

@spec create(
  [
    cameraMatrix: term(),
    iterCounts: term(),
    maxDepth: term(),
    maxDepthDiff: term(),
    maxPointsPart: term(),
    minDepth: term(),
    transformType: term()
  ]
  | nil
) :: t() | {:error, String.t()}

create

Keyword Arguments

• cameraMatrix: Evision.Mat.

  Camera matrix

• minDepth: float.

  Pixels with depth less than minDepth will not be used

• maxDepth: float.

  Pixels with depth larger than maxDepth will not be used

• maxDepthDiff: float.

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

• maxPointsPart: float.

  The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart

• iterCounts: [integer()].

  Count of iterations on each pyramid level.

• transformType: integer().

  Class of trasformation

Return

• retval: ICPOdometry

Constructor.

Python prototype (for reference only):

create([, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, transformType]]]]]]]) -> retval

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

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

getCameraMatrix

Positional Arguments

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

Return

• retval: Evision.Mat.t()

Python prototype (for reference only):

getIterationCounts() -> retval

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

@spec getMaxDepth(t()) :: number() | {:error, String.t()}

getMaxDepth

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMaxDepth() -> retval

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

@spec getMaxDepthDiff(t()) :: number() | {:error, String.t()}

getMaxDepthDiff

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMaxDepthDiff() -> retval

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

@spec getMaxPointsPart(t()) :: number() | {:error, String.t()}

getMaxPointsPart

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMaxPointsPart() -> retval

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

@spec getMaxRotation(t()) :: number() | {:error, String.t()}

getMaxRotation

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMaxRotation() -> retval

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

@spec getMaxTranslation(t()) :: number() | {:error, String.t()}

getMaxTranslation

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMaxTranslation() -> retval

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

@spec getMinDepth(t()) :: number() | {:error, String.t()}

getMinDepth

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: double

Python prototype (for reference only):

getMinDepth() -> retval

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

@spec getNormalsComputer(t()) :: Evision.RGBD.RgbdNormals.t() | {:error, String.t()}

getNormalsComputer

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()

Return

• retval: RgbdNormals

Python prototype (for reference only):

getNormalsComputer() -> retval

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

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

getTransformType

Positional Arguments

• self: Evision.RGBD.ICPOdometry.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.ICPOdometry.t()
• frame: OdometryFrame
• cacheType: integer()

Return

• retval: Size

Python prototype (for reference only):

prepareFrameCache(frame, cacheType) -> retval

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

setCameraMatrix

Positional Arguments

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

Python prototype (for reference only):

setIterationCounts(val) -> None

@spec setMaxDepth(t(), number()) :: t() | {:error, String.t()}

setMaxDepth

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMaxDepth(val) -> None

@spec setMaxDepthDiff(t(), number()) :: t() | {:error, String.t()}

setMaxDepthDiff

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMaxDepthDiff(val) -> None

@spec setMaxPointsPart(t(), number()) :: t() | {:error, String.t()}

setMaxPointsPart

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMaxPointsPart(val) -> None

@spec setMaxRotation(t(), number()) :: t() | {:error, String.t()}

setMaxRotation

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMaxRotation(val) -> None

@spec setMaxTranslation(t(), number()) :: t() | {:error, String.t()}

setMaxTranslation

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMaxTranslation(val) -> None

@spec setMinDepth(t(), number()) :: t() | {:error, String.t()}

setMinDepth

Positional Arguments

• self: Evision.RGBD.ICPOdometry.t()
• val: double

Python prototype (for reference only):

setMinDepth(val) -> None

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

setTransformType

Positional Arguments

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

Python prototype (for reference only):

setTransformType(val) -> None