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@ -150,12 +150,54 @@ namespace rgbd |
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void |
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void |
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initialize() const; |
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initialize() const; |
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CV_IMPL_PROPERTY(int, Rows, rows_) |
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int getRows() const |
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CV_IMPL_PROPERTY(int, Cols, cols_) |
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{ |
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CV_IMPL_PROPERTY(int, WindowSize, window_size_) |
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return rows_; |
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CV_IMPL_PROPERTY(int, Depth, depth_) |
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} |
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CV_IMPL_PROPERTY_S(cv::Mat, K, K_) |
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void setRows(int val) |
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CV_IMPL_PROPERTY(int, Method, method_) |
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{ |
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rows_ = val; |
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} |
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int getCols() const |
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{ |
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return cols_; |
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} |
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void setCols(int val) |
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{ |
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cols_ = val; |
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} |
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int getWindowSize() const |
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{ |
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return window_size_; |
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} |
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void setWindowSize(int val) |
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{ |
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window_size_ = val; |
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} |
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int getDepth() const |
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{ |
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return depth_; |
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} |
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void setDepth(int val) |
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{ |
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depth_ = val; |
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} |
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cv::Mat getK() const |
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{ |
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return K_; |
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} |
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void setK(const cv::Mat &val) |
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{ |
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K_ = val; |
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} |
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int getMethod() const |
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{ |
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return method_; |
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} |
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void setMethod(int val) |
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{ |
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method_ = val; |
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} |
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protected: |
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protected: |
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void |
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void |
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@ -213,9 +255,30 @@ namespace rgbd |
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void |
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void |
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initialize() const; |
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initialize() const; |
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CV_IMPL_PROPERTY(int, WindowSize, window_size_) |
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int getWindowSize() const |
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CV_IMPL_PROPERTY(int, Depth, depth_) |
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{ |
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CV_IMPL_PROPERTY(int, Method, method_) |
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return window_size_; |
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} |
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void setWindowSize(int val) |
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{ |
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window_size_ = val; |
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} |
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int getDepth() const |
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{ |
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return depth_; |
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} |
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void setDepth(int val) |
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{ |
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depth_ = val; |
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} |
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int getMethod() const |
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{ |
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return method_; |
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} |
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void setMethod(int val) |
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{ |
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method_ = val; |
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} |
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protected: |
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protected: |
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void |
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void |
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@ -305,13 +368,62 @@ namespace rgbd |
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void |
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void |
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operator()(InputArray points3d, OutputArray mask, OutputArray plane_coefficients); |
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operator()(InputArray points3d, OutputArray mask, OutputArray plane_coefficients); |
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CV_IMPL_PROPERTY(int, BlockSize, block_size_) |
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int getBlockSize() const |
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CV_IMPL_PROPERTY(int, MinSize, min_size_) |
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{ |
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CV_IMPL_PROPERTY(int, Method, method_) |
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return block_size_; |
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CV_IMPL_PROPERTY(double, Threshold, threshold_) |
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} |
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CV_IMPL_PROPERTY(double, SensorErrorA, sensor_error_a_) |
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void setBlockSize(int val) |
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CV_IMPL_PROPERTY(double, SensorErrorB, sensor_error_b_) |
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{ |
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CV_IMPL_PROPERTY(double, SensorErrorC, sensor_error_c_) |
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block_size_ = val; |
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} |
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int getMinSize() const |
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{ |
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return min_size_; |
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} |
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void setMinSize(int val) |
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{ |
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min_size_ = val; |
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} |
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int getMethod() const |
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{ |
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return method_; |
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} |
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void setMethod(int val) |
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{ |
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method_ = val; |
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} |
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double getThreshold() const |
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{ |
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return threshold_; |
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} |
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void setThreshold(double val) |
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{ |
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threshold_ = val; |
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} |
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double getSensorErrorA() const |
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{ |
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return sensor_error_a_; |
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} |
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void setSensorErrorA(double val) |
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{ |
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sensor_error_a_ = val; |
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} |
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double getSensorErrorB() const |
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{ |
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return sensor_error_b_; |
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} |
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void setSensorErrorB(double val) |
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{ |
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sensor_error_b_ = val; |
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} |
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double getSensorErrorC() const |
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{ |
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return sensor_error_c_; |
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} |
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void setSensorErrorC(double val) |
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{ |
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sensor_error_c_ = val; |
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} |
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private: |
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private: |
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/** The method to use to compute the planes */ |
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/** The method to use to compute the planes */ |
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@ -510,16 +622,86 @@ namespace rgbd |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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CV_IMPL_PROPERTY_S(cv::Mat, CameraMatrix, cameraMatrix) |
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cv::Mat getCameraMatrix() const |
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CV_IMPL_PROPERTY(double, MinDepth, minDepth) |
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{ |
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CV_IMPL_PROPERTY(double, MaxDepth, maxDepth) |
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return cameraMatrix; |
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CV_IMPL_PROPERTY(double, MaxDepthDiff, maxDepthDiff) |
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} |
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CV_IMPL_PROPERTY_S(cv::Mat, IterationCounts, iterCounts) |
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void setCameraMatrix(const cv::Mat &val) |
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CV_IMPL_PROPERTY_S(cv::Mat, MinGradientMagnitudes, minGradientMagnitudes) |
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{ |
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CV_IMPL_PROPERTY(double, MaxPointsPart, maxPointsPart) |
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cameraMatrix = val; |
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CV_IMPL_PROPERTY(int, TransformType, transformType) |
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} |
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CV_IMPL_PROPERTY(double, MaxTranslation, maxTranslation) |
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double getMinDepth() const |
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CV_IMPL_PROPERTY(double, MaxRotation, maxRotation) |
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{ |
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return minDepth; |
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} |
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void setMinDepth(double val) |
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{ |
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minDepth = val; |
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} |
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double getMaxDepth() const |
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{ |
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return maxDepth; |
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} |
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void setMaxDepth(double val) |
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{ |
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maxDepth = val; |
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} |
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double getMaxDepthDiff() const |
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{ |
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return maxDepthDiff; |
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} |
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void setMaxDepthDiff(double val) |
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{ |
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maxDepthDiff = val; |
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} |
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cv::Mat getIterationCounts() const |
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{ |
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return iterCounts; |
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} |
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void setIterationCounts(const cv::Mat &val) |
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{ |
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iterCounts = val; |
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} |
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cv::Mat getMinGradientMagnitudes() const |
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{ |
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return minGradientMagnitudes; |
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} |
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void setMinGradientMagnitudes(const cv::Mat &val) |
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{ |
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minGradientMagnitudes = val; |
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} |
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double getMaxPointsPart() const |
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{ |
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return maxPointsPart; |
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} |
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void setMaxPointsPart(double val) |
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{ |
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maxPointsPart = val; |
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} |
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int getTransformType() const |
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{ |
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return transformType; |
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} |
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void setTransformType(int val) |
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{ |
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transformType = val; |
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} |
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double getMaxTranslation() const |
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{ |
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return maxTranslation; |
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} |
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void setMaxTranslation(double val) |
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{ |
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maxTranslation = val; |
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} |
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double getMaxRotation() const |
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{ |
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return maxRotation; |
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} |
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void setMaxRotation(double val) |
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{ |
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maxRotation = val; |
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} |
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protected: |
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protected: |
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virtual void |
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virtual void |
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@ -567,16 +749,82 @@ namespace rgbd |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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CV_IMPL_PROPERTY_S(cv::Mat, CameraMatrix, cameraMatrix) |
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cv::Mat getCameraMatrix() const |
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CV_IMPL_PROPERTY(double, MinDepth, minDepth) |
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{ |
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CV_IMPL_PROPERTY(double, MaxDepth, maxDepth) |
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return cameraMatrix; |
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CV_IMPL_PROPERTY(double, MaxDepthDiff, maxDepthDiff) |
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} |
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CV_IMPL_PROPERTY_S(cv::Mat, IterationCounts, iterCounts) |
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void setCameraMatrix(const cv::Mat &val) |
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CV_IMPL_PROPERTY(double, MaxPointsPart, maxPointsPart) |
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{ |
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CV_IMPL_PROPERTY(int, TransformType, transformType) |
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cameraMatrix = val; |
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CV_IMPL_PROPERTY(double, MaxTranslation, maxTranslation) |
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} |
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CV_IMPL_PROPERTY(double, MaxRotation, maxRotation) |
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double getMinDepth() const |
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CV_IMPL_PROPERTY_RO(Ptr<RgbdNormals>, NormalsComputer, normalsComputer) |
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{ |
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return minDepth; |
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} |
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void setMinDepth(double val) |
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{ |
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minDepth = val; |
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} |
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double getMaxDepth() const |
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{ |
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return maxDepth; |
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} |
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void setMaxDepth(double val) |
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{ |
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maxDepth = val; |
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} |
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double getMaxDepthDiff() const |
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{ |
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return maxDepthDiff; |
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} |
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void setMaxDepthDiff(double val) |
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{ |
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maxDepthDiff = val; |
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} |
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cv::Mat getIterationCounts() const |
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{ |
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return iterCounts; |
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} |
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void setIterationCounts(const cv::Mat &val) |
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{ |
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iterCounts = val; |
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} |
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double getMaxPointsPart() const |
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{ |
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return maxPointsPart; |
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} |
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void setMaxPointsPart(double val) |
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{ |
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maxPointsPart = val; |
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} |
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int getTransformType() const |
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{ |
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return transformType; |
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} |
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void setTransformType(int val) |
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{ |
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transformType = val; |
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} |
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double getMaxTranslation() const |
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{ |
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return maxTranslation; |
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} |
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void setMaxTranslation(double val) |
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{ |
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maxTranslation = val; |
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} |
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double getMaxRotation() const |
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{ |
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return maxRotation; |
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} |
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void setMaxRotation(double val) |
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{ |
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maxRotation = val; |
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} |
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Ptr<RgbdNormals> getNormalsComputer() const |
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{ |
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return normalsComputer; |
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} |
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protected: |
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protected: |
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virtual void |
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virtual void |
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@ -629,17 +877,90 @@ namespace rgbd |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const; |
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CV_IMPL_PROPERTY_S(cv::Mat, CameraMatrix, cameraMatrix) |
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cv::Mat getCameraMatrix() const |
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CV_IMPL_PROPERTY(double, MinDepth, minDepth) |
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{ |
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CV_IMPL_PROPERTY(double, MaxDepth, maxDepth) |
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return cameraMatrix; |
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CV_IMPL_PROPERTY(double, MaxDepthDiff, maxDepthDiff) |
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} |
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CV_IMPL_PROPERTY(double, MaxPointsPart, maxPointsPart) |
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void setCameraMatrix(const cv::Mat &val) |
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CV_IMPL_PROPERTY_S(cv::Mat, IterationCounts, iterCounts) |
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{ |
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CV_IMPL_PROPERTY_S(cv::Mat, MinGradientMagnitudes, minGradientMagnitudes) |
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cameraMatrix = val; |
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CV_IMPL_PROPERTY(int, TransformType, transformType) |
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} |
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CV_IMPL_PROPERTY(double, MaxTranslation, maxTranslation) |
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double getMinDepth() const |
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CV_IMPL_PROPERTY(double, MaxRotation, maxRotation) |
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{ |
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CV_IMPL_PROPERTY_RO(Ptr<RgbdNormals>, NormalsComputer, normalsComputer) |
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return minDepth; |
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} |
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void setMinDepth(double val) |
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{ |
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minDepth = val; |
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} |
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double getMaxDepth() const |
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{ |
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return maxDepth; |
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} |
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void setMaxDepth(double val) |
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{ |
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maxDepth = val; |
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} |
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double getMaxDepthDiff() const |
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{ |
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return maxDepthDiff; |
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} |
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void setMaxDepthDiff(double val) |
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{ |
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maxDepthDiff = val; |
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} |
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double getMaxPointsPart() const |
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{ |
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return maxPointsPart; |
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} |
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void setMaxPointsPart(double val) |
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{ |
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maxPointsPart = val; |
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} |
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cv::Mat getIterationCounts() const |
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{ |
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return iterCounts; |
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} |
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void setIterationCounts(const cv::Mat &val) |
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{ |
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|
iterCounts = val; |
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} |
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cv::Mat getMinGradientMagnitudes() const |
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|
{ |
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|
return minGradientMagnitudes; |
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} |
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void setMinGradientMagnitudes(const cv::Mat &val) |
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|
{ |
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|
|
minGradientMagnitudes = val; |
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} |
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|
int getTransformType() const |
|
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|
|
{ |
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|
|
return transformType; |
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|
} |
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|
|
void setTransformType(int val) |
|
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|
|
{ |
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|
|
transformType = val; |
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|
} |
|
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|
|
double getMaxTranslation() const |
|
|
|
|
|
|
|
{ |
|
|
|
|
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|
|
return maxTranslation; |
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|
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|
|
} |
|
|
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|
|
void setMaxTranslation(double val) |
|
|
|
|
|
|
|
{ |
|
|
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|
|
maxTranslation = val; |
|
|
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|
|
|
} |
|
|
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|
|
double getMaxRotation() const |
|
|
|
|
|
|
|
{ |
|
|
|
|
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|
|
return maxRotation; |
|
|
|
|
|
|
|
} |
|
|
|
|
|
|
|
void setMaxRotation(double val) |
|
|
|
|
|
|
|
{ |
|
|
|
|
|
|
|
maxRotation = val; |
|
|
|
|
|
|
|
} |
|
|
|
|
|
|
|
Ptr<RgbdNormals> getNormalsComputer() const |
|
|
|
|
|
|
|
{ |
|
|
|
|
|
|
|
return normalsComputer; |
|
|
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
protected: |
|
|
|
protected: |
|
|
|
virtual void |
|
|
|
virtual void |
|
|
|