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Merge pull request #21439 from DumDereDum:python_odometry

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Odometry python support
This commit is contained in:
Artem Saratovtsev
2022-02-07 19:16:17 +03:00
committed by GitHub
parent 0a0714bd1b
commit 4ba2b05df8
9 changed files with 330 additions and 42 deletions
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modules/3d/include/opencv2/3d/odometry.hpp
+7 -3
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@@ -18,7 +18,7 @@ namespace cv
* @param RGB only rgb image
* @param RGB_DEPTH only depth and rgb data simultaneously
*/
enum class OdometryType
enum OdometryType
{
DEPTH = 0,
RGB = 1,
@@ -32,13 +32,14 @@ enum class OdometryType
enum class OdometryAlgoType
{
COMMON = 0,
FAST = 1
FAST = 1
};
class CV_EXPORTS_W Odometry
{
public:
Odometry();
CV_WRAP Odometry();
CV_WRAP Odometry(OdometryType otype);
Odometry(OdometryType otype, const OdometrySettings settings, OdometryAlgoType algtype);
~Odometry();
@@ -72,6 +73,9 @@ public:
*/
bool compute(const OdometryFrame& srcFrame, const OdometryFrame& dstFrame, OutputArray Rt);
CV_WRAP bool compute(InputArray srcFrame, InputArray dstFrame, OutputArray Rt) const;
CV_WRAP bool compute(InputArray srcDepthFrame, InputArray srcRGBFrame, InputArray dstDepthFrame, InputArray dstRGBFrame, OutputArray Rt) const;
class Impl;
private:
Ptr<Impl> impl;