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

@spec compute(t(), Evision.OdometryFrame.t(), Evision.OdometryFrame.t()) ::
  Evision.Mat.t() | false | {:error, String.t()}

Variant 1:

Compute Rigid Transformation between two frames so that Rt * src = dst

Positional Arguments

• self: Evision.Odometry.t()

• srcDepth: Evision.Mat.

  source depth ("original" image)

• dstDepth: Evision.Mat.

  destination depth ("rotated" image)

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

@return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcDepth, dstDepth[, Rt]) -> retval, Rt

Variant 2:

compute

Positional Arguments

• self: Evision.Odometry.t()

• srcFrame: Evision.OdometryFrame.

  src frame ("original" image)

• dstFrame: Evision.OdometryFrame.

  dst frame ("rotated" image)

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Compute Rigid Transformation between two frames so that Rt * src = dst Both frames, source and destination, should have been prepared by calling prepareFrame() first @return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcFrame, dstFrame[, Rt]) -> retval, Rt

@spec compute(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  [{atom(), term()}, ...] | nil
) :: Evision.Mat.t() | false | {:error, String.t()}

@spec compute(
  t(),
  Evision.OdometryFrame.t(),
  Evision.OdometryFrame.t(),
  [{atom(), term()}, ...] | nil
) ::
  Evision.Mat.t() | false | {:error, String.t()}

Variant 1:

Compute Rigid Transformation between two frames so that Rt * src = dst

Positional Arguments

• self: Evision.Odometry.t()

• srcDepth: Evision.Mat.

  source depth ("original" image)

• dstDepth: Evision.Mat.

  destination depth ("rotated" image)

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

@return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcDepth, dstDepth[, Rt]) -> retval, Rt

Variant 2:

compute

Positional Arguments

• self: Evision.Odometry.t()

• srcFrame: Evision.OdometryFrame.

  src frame ("original" image)

• dstFrame: Evision.OdometryFrame.

  dst frame ("rotated" image)

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

Compute Rigid Transformation between two frames so that Rt * src = dst Both frames, source and destination, should have been prepared by calling prepareFrame() first @return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcFrame, dstFrame[, Rt]) -> retval, Rt

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

Compute Rigid Transformation between two frames so that Rt * src = dst

Positional Arguments

• self: Evision.Odometry.t()

• srcDepth: Evision.Mat.

  source depth ("original" image)

• srcRGB: Evision.Mat.

  source RGB

• dstDepth: Evision.Mat.

  destination depth ("rotated" image)

• dstRGB: Evision.Mat.

  destination RGB

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

@return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcDepth, srcRGB, dstDepth, dstRGB[, Rt]) -> retval, Rt

@spec compute(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  [{atom(), term()}, ...] | nil
) :: Evision.Mat.t() | false | {:error, String.t()}

Compute Rigid Transformation between two frames so that Rt * src = dst

Positional Arguments

• self: Evision.Odometry.t()

• srcDepth: Evision.Mat.

  source depth ("original" image)

• srcRGB: Evision.Mat.

  source RGB

• dstDepth: Evision.Mat.

  destination depth ("rotated" image)

• dstRGB: Evision.Mat.

  destination RGB

Return

• retval: bool

• rt: Evision.Mat.t().

  Rigid transformation, which will be calculated, in form: { R_11 R_12 R_13 t_1 R_21 R_22 R_23 t_2 R_31 R_32 R_33 t_3 0 0 0 1 }

@return true on success, false if failed to find the transformation

Python prototype (for reference only):

compute(srcDepth, srcRGB, dstDepth, dstRGB[, Rt]) -> retval, Rt

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

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

Get the normals computer object used for normals calculation (if presented). The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.

Positional Arguments

• self: Evision.Odometry.t()

Return

• retval: Evision.RgbdNormals.t()

Python prototype (for reference only):

getNormalsComputer() -> retval

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

Odometry

Return

• self: Evision.Odometry.t()

Python prototype (for reference only):

Odometry() -> <Odometry object>

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

@spec odometry(Evision.OdometryType.enum()) :: t() | {:error, String.t()}

Odometry

Positional Arguments

• otype: OdometryType

Return

• self: Evision.Odometry.t()

Python prototype (for reference only):

Odometry(otype) -> <Odometry object>

@spec odometry(
  Evision.OdometryType.enum(),
  Evision.OdometrySettings.t(),
  Evision.OdometryAlgoType.enum()
) :: t() | {:error, String.t()}

Odometry

Positional Arguments

• otype: OdometryType
• settings: Evision.OdometrySettings
• algtype: OdometryAlgoType

Return

• self: Evision.Odometry.t()

Python prototype (for reference only):

Odometry(otype, settings, algtype) -> <Odometry object>

@spec prepareFrame(t(), Evision.OdometryFrame.t()) :: t() | {:error, String.t()}

prepareFrame

Positional Arguments

• self: Evision.Odometry.t()

• frame: Evision.OdometryFrame.

  odometry prepare this frame as src frame and dst frame simultaneously

Prepare frame for odometry calculation

Python prototype (for reference only):

prepareFrame(frame) -> None

@spec prepareFrames(t(), Evision.OdometryFrame.t(), Evision.OdometryFrame.t()) ::
  t() | {:error, String.t()}

prepareFrames

Positional Arguments

• self: Evision.Odometry.t()

• srcFrame: Evision.OdometryFrame.

  frame will be prepared as src frame ("original" image)

• dstFrame: Evision.OdometryFrame.

  frame will be prepared as dsr frame ("rotated" image)

Prepare frame for odometry calculation

Python prototype (for reference only):

prepareFrames(srcFrame, dstFrame) -> None