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doc fixes

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This commit is contained in:
Rostislav Vasilikhin 2022-10-25 22:37:38 +02:00
parent 95ab8517ae
commit a09bb3c2f6
1 changed files with 8 additions and 8 deletions
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modules/3d/include/opencv2/3d/odometry_frame.hpp
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@ -29,7 +29,7 @@ enum OdometryFramePyramidType
/** /**
* @brief An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data. * @brief An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data.
* When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data. * When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data.
* An RGB/Gray image and normals are optional. * An BGR/Gray image and normals are optional.
* OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations. * OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations.
* A proper way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method. * A proper way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.
*/ */
@ -39,24 +39,24 @@ public:
/** /**
* @brief Construct a new OdometryFrame object. All non-empty images should have the same size. * @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). * @param image An BGR 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 * Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale
* image automatically. * image automatically.
* @param depth A depth image, should have 1 channel * @param depth A depth image, should be CV_8UC1
* @param mask A user-provided mask of valid pixels, should have 1 uchar channel * @param mask A user-provided mask of valid pixels, should be CV_8UC1
* @param normals A user-provided normals to the depth surface, should have 4 float channels * @param normals A user-provided normals to the depth surface, should be CV_32FC4
*/ */
OdometryFrame(InputArray image = noArray(), InputArray depth = noArray(), InputArray mask = noArray(), InputArray normals = noArray()); OdometryFrame(InputArray image = noArray(), InputArray depth = noArray(), InputArray mask = noArray(), InputArray normals = noArray());
~OdometryFrame() {}; ~OdometryFrame() {};
/** /**
* @brief Get the original user-provided RGB/Gray image * @brief Get the original user-provided BGR/Gray image
* *
* @param image Output image * @param image Output image
*/ */
void getImage(OutputArray image) const; void getImage(OutputArray image) const;
/** /**
* @brief Get the gray image generated from the user-provided RGB/Gray image * @brief Get the gray image generated from the user-provided BGR/Gray image
* *
* @param image Output image * @param image Output image
*/ */