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Merge pull request #29331 from agrim-rai/slamVO

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[GSOC] Added Visual Odometry (VO) for SLAM
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Abhishek Gola
2026-07-25 10:34:00 +05:30
committed by GitHub
parent e247376ee2 aacac3d349
commit 0d88e1933a
29 changed files with 2746 additions and 2 deletions
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modules/features/include/opencv2/features.hpp
+17
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@@ -998,6 +998,19 @@ public:
*/
CV_WRAP virtual bool isMaskSupported() const = 0;
/** @brief Provides keypoint and image-size context for matchers that need it (e.g. LightGlueMatcher).
Must be called before match()/knnMatch()/radiusMatch() for matchers that require this context.
Matchers that don't need it (e.g. BFMatcher, FlannBasedMatcher) ignore the call.
@param queryKpts Query image keypoints.
@param trainKpts Train image keypoints.
@param queryImageSize Size of the query image (width, height).
@param trainImageSize Size of the train image (width, height).
*/
CV_WRAP virtual void setImagePairInfo(const std::vector<KeyPoint>& queryKpts, const std::vector<KeyPoint>& trainKpts,
Size queryImageSize = Size(), Size trainImageSize = Size());
/** @brief Trains a descriptor matcher
Trains a descriptor matcher (for example, the flann index). In all methods to match, the method
@@ -1349,6 +1362,10 @@ public:
/** @brief Clears stored pair context information.
*/
CV_WRAP virtual void clearPairInfo() = 0;
/** @brief Convenience overload of setPairInfo() taking keypoints directly. */
CV_WRAP void setImagePairInfo(const std::vector<KeyPoint>& queryKpts, const std::vector<KeyPoint>& trainKpts,
Size queryImageSize = Size(), Size trainImageSize = Size()) CV_OVERRIDE;
};
//! @} features_match