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

Link to this section Summary

Types

t()

Type that represents an RGBD.RgbdICPOdometry struct.

Functions

create

create

getCameraMatrix

getIterationCounts

getMaxDepth

getMaxDepthDiff

getMaxPointsPart

getMaxRotation

getMaxTranslation

getMinDepth

getMinGradientMagnitudes

getNormalsComputer

getTransformType

setCameraMatrix

setIterationCounts

setMaxDepthDiff

setMaxPointsPart

setMaxRotation

setMaxTranslation

setMinGradientMagnitudes

setTransformType

Link to this section Types

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

Type that represents an RGBD.RgbdICPOdometry struct.

  • ref. reference()

    The underlying erlang resource variable.

Link to this section Functions

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

create

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

    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: [int].

    Count of iterations on each pyramid level.

  • minGradientMagnitudes: [float].

    For each pyramid level the pixels will be filtered out if they have gradient magnitude less than minGradientMagnitudes[level].

  • transformType: int.

    Class of trasformation

Return
  • retval: RgbdICPOdometry

Constructor.

Python prototype (for reference only):

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

create

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

    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: [int].

    Count of iterations on each pyramid level.

  • minGradientMagnitudes: [float].

    For each pyramid level the pixels will be filtered out if they have gradient magnitude less than minGradientMagnitudes[level].

  • transformType: int.

    Class of trasformation

Return
  • retval: RgbdICPOdometry

Constructor.

Python prototype (for reference only):

create([, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]]) -> retval
@spec getCameraMatrix(t()) :: Evision.Mat.t() | {:error, String.t()}

getCameraMatrix

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

Python prototype (for reference only):

getCameraMatrix() -> retval
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getIterationCounts(self)

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

getIterationCounts

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

Python prototype (for reference only):

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

getMaxDepth

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

Python prototype (for reference only):

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

getMaxDepthDiff

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

Python prototype (for reference only):

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

getMaxPointsPart

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

Python prototype (for reference only):

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

getMaxRotation

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

Python prototype (for reference only):

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

getMaxTranslation

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

Python prototype (for reference only):

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

getMinDepth

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

Python prototype (for reference only):

getMinDepth() -> retval
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getMinGradientMagnitudes(self)

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

getMinGradientMagnitudes

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

Python prototype (for reference only):

getMinGradientMagnitudes() -> retval
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getNormalsComputer(self)

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

getNormalsComputer

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.t()
Return
  • retval: RgbdNormals

Python prototype (for reference only):

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

getTransformType

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

Python prototype (for reference only):

getTransformType() -> retval
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prepareFrameCache(self, frame, cacheType)

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

prepareFrameCache

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

Python prototype (for reference only):

prepareFrameCache(frame, cacheType) -> retval
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setCameraMatrix(self, val)

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

setCameraMatrix

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

Python prototype (for reference only):

setCameraMatrix(val) -> None
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setIterationCounts(self, val)

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

setIterationCounts

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

Python prototype (for reference only):

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

setMaxDepth

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.t()
  • val: double

Python prototype (for reference only):

setMaxDepth(val) -> None
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setMaxDepthDiff(self, val)

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

setMaxDepthDiff

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.t()
  • val: double

Python prototype (for reference only):

setMaxDepthDiff(val) -> None
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setMaxPointsPart(self, val)

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

setMaxPointsPart

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.t()
  • val: double

Python prototype (for reference only):

setMaxPointsPart(val) -> None
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setMaxRotation(self, val)

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

setMaxRotation

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.t()
  • val: double

Python prototype (for reference only):

setMaxRotation(val) -> None
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setMaxTranslation(self, val)

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

setMaxTranslation

Positional Arguments
  • self: Evision.RGBD.RgbdICPOdometry.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.RgbdICPOdometry.t()
  • val: double

Python prototype (for reference only):

setMinDepth(val) -> None
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setMinGradientMagnitudes(self, val)

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

setMinGradientMagnitudes

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

Python prototype (for reference only):

setMinGradientMagnitudes(val) -> None
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setTransformType(self, val)

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

setTransformType

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

Python prototype (for reference only):

setTransformType(val) -> None