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This commit is contained in:
Rostislav Vasilikhin 2022-10-25 02:58:55 +02:00
parent a1820ff3d4
commit 95ab8517ae
1 changed files with 8 additions and 8 deletions
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16
modules/3d/include/opencv2/3d/odometry_frame.hpp
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@ -38,7 +38,7 @@ class CV_EXPORTS_W OdometryFrame
public:
/**
* @brief Construct a new OdometryFrame object. All non-empty images should have the same size.
*
*
* @param image An RGB or grayscale image (or noArray() if it's not required for used ICP algorithm).
* Should have 3 or 4 uchar channels if it's RGB image or 1 uchar channel if it's grayscale. If it's RGB then it's converted to grayscale
* image automatically.
@ -51,37 +51,37 @@ public:
/**
* @brief Get the original user-provided RGB/Gray image
*
*
* @param image Output image
*/
void getImage(OutputArray image) const;
/**
* @brief Get the gray image generated from the user-provided RGB/Gray image
*
*
* @param image Output image
*/
void getGrayImage(OutputArray image) const;
/**
* @brief Get the original user-provided depth image
*
*
* @param depth Output image
*/
void getDepth(OutputArray depth) const;
/**
* @brief Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs
*
*
* @param depth Output image
*/
void getProcessedDepth(OutputArray depth) const;
/**
* @brief Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
*
*
* @param mask Output image
*/
void getMask(OutputArray mask) const;
/**
* @brief Get the normals image either generated for the ICP calculations or user-provided
*
*
* @param normals Output image
*/
void getNormals(OutputArray normals) const;
@ -94,7 +94,7 @@ public:
/**
* @brief Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if
* the pyramid is empty or there's no such pyramid level
*
*
* @param img Output image
* @param pyrType Type of pyramid
* @param level Level in the pyramid