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added ability to pass initial transformation to rgbd odometry

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This commit is contained in:
Maria Dimashova
2012-03-13 13:07:30 +00:00
parent e4307d05f3
commit f67d9d9038
3 changed files with 15 additions and 12 deletions
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8
modules/contrib/include/opencv2/contrib/contrib.hpp
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@@ -636,12 +636,12 @@ namespace cv
RIGID_BODY_MOTION = 4
};
};
CV_EXPORTS bool RGBDOdometry( cv::Mat& Rt,
CV_EXPORTS bool RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
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, int transformType=TransformationType::RIGID_BODY_MOTION );
const cv::Mat& cameraMatrix, float minDepth, float maxDepth, float maxDepthDiff,
const std::vector<int>& iterCounts, const std::vector<float>& minGradientMagnitudes,
int transformType=TransformationType::RIGID_BODY_MOTION );
}
#include "opencv2/contrib/retina.hpp"