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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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39
samples/cpp/rgbdodometry.cpp
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@@ -78,10 +78,14 @@ int main(int argc, char** argv)
const Mat cameraMatrix = Mat(3,3,CV_32FC1,vals);
const Mat distCoeff(1,5,CV_32FC1,Scalar(0));
if( argc != 5 )
if( argc != 5 && argc != 6 )
{
cout << "Format: image0 depth0 image1 depth1" << endl;
cout << "Format: image0 depth0 image1 depth1 [transformationType]" << endl;
cout << "Depth file must be 16U image stored depth in mm." << endl;
cout << "Transformation types:" << endl;
cout << " -rbm - rigid body motion (default)" << endl;
cout << " -r - rotation rotation only" << endl;
cout << " -t - translation only" << endl;
return -1;
}
@@ -97,6 +101,29 @@ int main(int argc, char** argv)
return -1;
}
int transformationType = TransformationType::RIGID_BODY_MOTION;
if( argc == 6 )
{
string ttype = argv[5];
if( ttype == "-rbm" )
{
transformationType = TransformationType::RIGID_BODY_MOTION;
}
else if ( ttype == "-r")
{
transformationType = TransformationType::ROTATION;
}
else if ( ttype == "-t")
{
transformationType = TransformationType::TRANSLATION;
}
else
{
cout << "Unsupported transformation type." << endl;
return -1;
}
}
Mat grayImage0, grayImage1, depthFlt0, depthFlt1/*in meters*/;
cvtColor( colorImage0, grayImage0, CV_BGR2GRAY );
cvtColor( colorImage1, grayImage1, CV_BGR2GRAY );
@@ -126,7 +153,7 @@ int main(int argc, char** argv)
bool isFound = cv::RGBDOdometry( Rt, grayImage0, depthFlt0, Mat(),
grayImage1, depthFlt1, Mat(),
cameraMatrix, iterCounts, minGradMagnitudes,
minDepth, maxDepth, maxDepthDiff );
minDepth, maxDepth, maxDepthDiff, transformationType );
tm.stop();
cout << "Rt = " << Rt << endl;
@@ -141,9 +168,9 @@ int main(int argc, char** argv)
Mat warpedImage0;
warpImage<Point3_<uchar> >( colorImage0, depthFlt0, Rt, cameraMatrix, distCoeff, warpedImage0 );
imshow( "im0", colorImage0 );
imshow( "warped_im0", warpedImage0 );
imshow( "im1", colorImage1 );
imshow( "image0", colorImage0 );
imshow( "warped_image0", warpedImage0 );
imshow( "image1", colorImage1 );
waitKey();
return 0;