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added special cases to RGBDOdometry (translation only, rotation only)

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This commit is contained in:
Maria Dimashova
2012-03-12 10:40:39 +00:00
parent f4e5209d5a
commit fbfc0cc96f
3 changed files with 232 additions and 64 deletions
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10
modules/contrib/include/opencv2/contrib/contrib.hpp
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@@ -629,13 +629,19 @@ namespace cv
* 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 struct TransformationType
{
enum { ROTATION = 1,
TRANSLATION = 2,
RIGID_BODY_MOTION = 4
};
};
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 );
float minDepth, float maxDepth, float maxDepthDiff, int transformType=TransformationType::RIGID_BODY_MOTION );
}
#include "opencv2/contrib/retina.hpp"