Class Odometry

Namespace

Emgu.CV.Rgbd

Assembly

Emgu.CV.dll

Base class for computation of odometry.

public class Odometry : SharedPtrObject, IDisposable, IAlgorithm

Inheritance

object

DisposableObject

UnmanagedObject

SharedPtrObject

Odometry

Implements

IDisposable

IAlgorithm

Inherited Members

SharedPtrObject._sharedPtr

SharedPtrObject.SharedPtr

UnmanagedObject._ptr

UnmanagedObject.Ptr

DisposableObject.Dispose()

DisposableObject.ReleaseManagedResources()

object.GetType()

object.MemberwiseClone()

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

Extension Methods

AlgorithmExtensions.Clear(IAlgorithm)

AlgorithmExtensions.GetDefaultName(IAlgorithm)

AlgorithmExtensions.IsEmpty(IAlgorithm)

AlgorithmExtensions.Load(IAlgorithm, string, string, string)

AlgorithmExtensions.LoadFromString(IAlgorithm, string, string, string)

AlgorithmExtensions.Read(IAlgorithm, FileNode)

AlgorithmExtensions.Save(IAlgorithm, string)

AlgorithmExtensions.SaveToString(IAlgorithm, string)

AlgorithmExtensions.Write(IAlgorithm, FileStorage, string)

AlgorithmExtensions.Write(IAlgorithm, FileStorage)

Constructors

Odometry(string)

Create an Odometry instance.

public Odometry(string odometryType)

Parameters

odometryType string

One of the odometry type: "RgbdOdometry", "ICPOdometry", "RgbdICPOdometry" or "FastICPOdometry"

Properties

AlgorithmPtr

Pointer to the native algorithm object

public nint AlgorithmPtr { get; }

Property Value

nint

Methods

Compute(Mat, Mat, Mat, Mat, Mat, Mat, IOutputArray, Mat)

Method to compute a transformation from the source frame to the destination one. Some odometry algorithms do not used some data of frames (eg. ICP does not use images). In such case corresponding arguments can be set as empty Mat. The method returns true if all internal computations were possible (e.g. there were enough correspondences, system of equations has a solution, etc) and resulting transformation satisfies some test if it's provided by the Odometry inheritor implementation (e.g. thresholds for maximum translation and rotation).

public bool Compute(Mat srcImage, Mat srcDepth, Mat srcMask, Mat dstImage, Mat dstDepth, Mat dstMask, IOutputArray rt, Mat initRt = null)

Parameters

srcImage Mat

Image data of the source frame (CV_8UC1)

srcDepth Mat

Depth data of the source frame (CV_32FC1, in meters)

srcMask Mat

Mask that sets which pixels have to be used from the source frame (CV_8UC1)

dstImage Mat

Image data of the destination frame (CV_8UC1)

dstDepth Mat

Depth data of the destination frame (CV_32FC1, in meters)

dstMask Mat

Mask that sets which pixels have to be used from the destination frame (CV_8UC1)

rt IOutputArray

Resulting transformation from the source frame to the destination one (rigid body motion): dst_p = Rt * src_p, where dst_p is a homogeneous point in the destination frame and src_p is homogeneous point in the source frame, Rt is 4x4 matrix of CV_64FC1 type.

initRt Mat

Initial transformation from the source frame to the destination one (optional)

Returns

bool

True if all internal computations were possible

DisposeObject()

Release the unmanaged memory associated with this object

protected override void DisposeObject()