Struct DenseRgbdOdometryOptions 

pub struct DenseRgbdOdometryOptions {
    pub iterations: Vec<usize>,
    pub min_depth: f64,
    pub max_depth: f64,
    pub max_depth_difference: f64,
    pub depth_weight: f64,
    pub min_correspondences: usize,
    pub min_correspondence_fraction: f64,
    pub epsilon: f64,
    pub max_working_bytes: usize,
}

Bounded dense photometric/projective-depth least-squares controls.

Fields

iterations: Vec<usize>

Iterations from coarsest to finest; one to six levels, 1..=100 each.

min_depth: f64

Inclusive minimum valid metric depth.

max_depth: f64

Inclusive maximum valid metric depth.

max_depth_difference: f64

Maximum absolute target-depth / warped-source-depth difference, metres.

depth_weight: f64

Relative squared depth weight; intensity weight is one minus this value.

min_correspondences: usize

Minimum projective correspondence count at every level and final pose.

min_correspondence_fraction: f64

Minimum matched fraction of all valid source pixels at the returned pose. Initial/intermediate hypotheses need the minimum count and a solvable normal system; they are not yet accepted motion estimates.

epsilon: f64

Stop a level when rotation-vector norm plus translation norm is smaller.

max_working_bytes: usize

Upper bound on logical owned pyramid/reduction buffer payloads.

Implementations

impl DenseRgbdOdometryOptions

pub fn required_working_bytes( &self, width: usize, height: usize, ) -> VisionResult<usize>

Preflights dimensions, controls and logical buffers before allocation.

Excludes input views/copies, allocator headers and worker/thread stacks.

pub fn required_working_bytes_with_model( &self, width: usize, height: usize, preprocessing: DenseRgbdPreprocessing, model: DenseRgbdFittingModel, ) -> VisionResult<usize>

Preflights a complete fitting model before allocating any logical buffers. RoundedSobel owns raw levels, floor pyramids and one level’s Sobel gradients.

pub fn required_working_bytes_with_preprocessing( &self, width: usize, height: usize, preprocessing: DenseRgbdPreprocessing, ) -> VisionResult<usize>

Includes both retained raw levels when filtered fitting is selected.

Trait Implementations

impl Clone for DenseRgbdOdometryOptions

fn clone(&self) -> DenseRgbdOdometryOptions

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DenseRgbdOdometryOptions

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for DenseRgbdOdometryOptions

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for DenseRgbdOdometryOptions

fn eq(&self, other: &DenseRgbdOdometryOptions) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for DenseRgbdOdometryOptions