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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 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& image0, const cv::Mat& depth0, const cv::Mat& mask0,
const cv::Mat& image1, const cv::Mat& depth1, const cv::Mat& mask1, const cv::Mat& image1, const cv::Mat& depth1, const cv::Mat& mask1,
const cv::Mat& cameraMatrix, const std::vector<int>& iterCounts, const cv::Mat& cameraMatrix, float minDepth, float maxDepth, float maxDepthDiff,
const std::vector<float>& minGradientMagnitudes, const std::vector<int>& iterCounts, const std::vector<float>& minGradientMagnitudes,
float minDepth, float maxDepth, float maxDepthDiff, int transformType=TransformationType::RIGID_BODY_MOTION ); int transformType=TransformationType::RIGID_BODY_MOTION );
} }
#include "opencv2/contrib/retina.hpp" #include "opencv2/contrib/retina.hpp"

12
modules/contrib/src/rgbdodometry.cpp
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@ -469,12 +469,12 @@ bool computeKsi( int transformType,
return solutionExist; return solutionExist;
} }
bool cv::RGBDOdometry( cv::Mat& Rt, bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
const cv::Mat& image0, const cv::Mat& _depth0, const cv::Mat& validMask0, const cv::Mat& image0, const cv::Mat& _depth0, const cv::Mat& validMask0,
const cv::Mat& image1, const cv::Mat& _depth1, const cv::Mat& validMask1, const cv::Mat& image1, const cv::Mat& _depth1, const cv::Mat& validMask1,
const cv::Mat& cameraMatrix, const std::vector<int>& iterCounts, const cv::Mat& cameraMatrix, float minDepth, float maxDepth, float maxDepthDiff,
const std::vector<float>& minGradientMagnitudes, const std::vector<int>& iterCounts, const std::vector<float>& minGradientMagnitudes,
float minDepth, float maxDepth, float maxDepthDiff, int transformType ) int transformType )
{ {
const int sobelSize = 3; const int sobelSize = 3;
const double sobelScale = 1./8; const double sobelScale = 1./8;
@ -501,6 +501,7 @@ bool cv::RGBDOdometry( cv::Mat& Rt,
// other checks // other checks
CV_Assert( !iterCounts.empty() ); CV_Assert( !iterCounts.empty() );
CV_Assert( minGradientMagnitudes.size() == iterCounts.size() ); CV_Assert( minGradientMagnitudes.size() == iterCounts.size() );
CV_Assert( initRt.empty() || (initRt.type()==CV_64FC1 && initRt.size()==Size(4,4) ) );
preprocessDepth( depth0, depth1, validMask0, validMask1, minDepth, maxDepth ); preprocessDepth( depth0, depth1, validMask0, validMask1, minDepth, maxDepth );
@ -511,7 +512,8 @@ bool cv::RGBDOdometry( cv::Mat& Rt,
pyramidImage0, pyramidDepth0, pyramidImage1, pyramidDepth1, pyramidImage0, pyramidDepth0, pyramidImage1, pyramidDepth1,
pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1, pyramidCameraMatrix ); pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1, pyramidCameraMatrix );
Mat resultRt = Mat::eye(4,4,CV_64FC1), currRt, ksi; Mat resultRt = initRt.empty() ? Mat::eye(4,4,CV_64FC1) : initRt.clone();
Mat currRt, ksi;
for( int level = iterCounts.size() - 1; level >= 0; level-- ) for( int level = iterCounts.size() - 1; level >= 0; level-- )
{ {
const Mat& levelCameraMatrix = pyramidCameraMatrix[level]; const Mat& levelCameraMatrix = pyramidCameraMatrix[level];

7
samples/cpp/rgbdodometry.cpp
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@ -150,10 +150,11 @@ int main(int argc, char** argv)
const float maxDepthDiff = 0.07; //in meters const float maxDepthDiff = 0.07; //in meters
tm.start(); tm.start();
bool isFound = cv::RGBDOdometry( Rt, grayImage0, depthFlt0, Mat(), bool isFound = cv::RGBDOdometry( Rt, Mat(),
grayImage0, depthFlt0, Mat(),
grayImage1, depthFlt1, Mat(), grayImage1, depthFlt1, Mat(),
cameraMatrix, iterCounts, minGradMagnitudes, cameraMatrix, minDepth, maxDepth, maxDepthDiff,
minDepth, maxDepth, maxDepthDiff, transformationType ); iterCounts, minGradMagnitudes, transformationType );
tm.stop(); tm.stop();
cout << "Rt = " << Rt << endl; cout << "Rt = " << Rt << endl;