OdometryFrame
import { OdometryFrame } from '@banou/opencv-wasm'Use after await initOpenCV(). See the initialization and named imports guide.
Native object: release it with using or delete(). Factories can return null; check before calling methods.
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. A 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. A correct way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.
Constructors and members
static new
Construct a new OdometryFrame object. All non-empty images should have the same size.
new(depth: Mat, image: Mat, mask: Mat, normals: Mat): OdometryFrame;5 available overloads
new(): OdometryFrame;new(depth: Mat): OdometryFrame;new(depth: Mat, image: Mat): OdometryFrame;new(depth: Mat, image: Mat, mask: Mat): OdometryFrame;new(depth: Mat, image: Mat, mask: Mat, normals: Mat): OdometryFrame;depthA depth image, should be CV_8UC1
imageAn BGR or grayscale image (or noArray() if it's not required for used ICP algorithm). 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.
maskA user-provided mask of valid pixels, should be CV_8UC1
normalsA user-provided normals to the depth surface, should be CV_32FC4
The OdometryFrame result.
clone
Create another handle to the same native object. This retains the object without copying its pixels or algorithm state; dispose both handles separately.
clone(): this;The this result.
getImage
Get the original user-provided BGR/Gray image
getImage(image: Mat): void;imageOutput destination, filled by the native operation. Output image
getGrayImage
Get the gray image generated from the user-provided BGR/Gray image
getGrayImage(image: Mat): void;imageOutput destination, filled by the native operation. Output image
getDepth
Get the original user-provided depth image
getDepth(depth: Mat): void;depthOutput destination, filled by the native operation. Output image
getProcessedDepth
Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs
getProcessedDepth(depth: Mat): void;depthOutput destination, filled by the native operation. Output image
getMask
Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
getMask(mask: Mat): void;maskOutput destination, filled by the native operation. Output image
getNormals
Get the normals image either generated for the ICP calculations or user-provided
getNormals(normals: Mat): void;normalsOutput destination, filled by the native operation. Output image
getPyramidLevels
Get the amount of levels in pyramids (all of them if not empty should have the same number of levels) or 0 if no pyramids were prepared yet
getPyramidLevels(): number;The number result.
getPyramidAt
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
getPyramidAt(img: Mat, pyrType: number, level: number): void;imgOutput destination, filled by the native operation. Output image
pyrTypeType of pyramid
levelLevel in the pyramid
These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.