View Source Evision.RGBD.FastICPOdometry (Evision v0.2.2-rc2)

Summary

Types

t()

Type that represents an RGBD.FastICPOdometry struct.

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
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create(cameraMatrix, opts)

View Source
@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.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
Link to this function

from_struct(fast_icp_odometry)

View Source
@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(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
Link to this function

getIterationCounts(self)

View Source
@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(t()) :: integer() | {:error, String.t()}

getKernelSize

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

Python prototype (for reference only):

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

getTransformType

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

Python prototype (for reference only):

getTransformType() -> retval
Link to this function

prepareFrameCache(self, frame, cacheType)

View Source
@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
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setAngleThreshold(self, f)

View Source
@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
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setCameraMatrix(self, val)

View Source
@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
Link to this function

setIterationCounts(self, val)

View Source
@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
@spec setKernelSize(t(), integer()) :: t() | {:error, String.t()}

setKernelSize

Positional Arguments
  • self: Evision.RGBD.FastICPOdometry.t()
  • f: int

Python prototype (for reference only):

setKernelSize(f) -> None
Link to this function

setMaxDistDiff(self, val)

View Source
@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
Link to this function

setSigmaSpatial(self, f)

View Source
@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
Link to this function

setTransformType(self, val)

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

setTransformType

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

Python prototype (for reference only):

setTransformType(val) -> None