initial version of rgbd odometry with sample

modules/contrib/include/opencv2/contrib/contrib.hpp

@@ -623,6 +623,19 @@ namespace cv
      * 4) convert the colors back to RGB
      */
     CV_EXPORTS void generateColors( std::vector<Scalar>& colors, size_t count, size_t factor=100 );
+
+
+    /*
+     *  Estimate the rigid body motion from frame0 to frame1. The method is based on the paper
+     *  "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
+     */
+    CV_EXPORTS bool RGBDOdometry( cv::Mat& Rt,
+                                  const cv::Mat& image0, const cv::Mat& depth0, const cv::Mat& mask0,
+                                  const cv::Mat& image1, const cv::Mat& depth1, const cv::Mat& mask1,
+                                  const cv::Mat& cameraMatrix, const std::vector<int>& iterCounts,
+                                  const std::vector<float>& minGradientMagnitudes,
+                                  float minDepth, float maxDepth, float maxDepthDiff );
+
 }
 
 #include "opencv2/contrib/retina.hpp"