Merge pull request #21439 from DumDereDum:python_odometry

Odometry python support

samples/python/odometry.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+
+import numpy as np
+import cv2 as cv
+
+import argparse
+import sys
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        '--algo',
+        help="""DEPTH - works with depth,
+                RGB - works with images,
+                RGB_DEPTH - works with all,
+                default - runs all algos""",
+        default="")
+    parser.add_argument(
+        '-src_d',
+        '--source_depth_frame',
+        default="")
+    parser.add_argument(
+        '-dst_d',
+        '--destination_depth_frame',
+        default="")
+    parser.add_argument(
+        '-src_rgb',
+        '--source_rgb_frame',
+        default="")
+    parser.add_argument(
+        '-dst_rgb',
+        '--destination_rgb_frame',
+        default="")
+
+    args = parser.parse_args()
+
+    if args.algo == "RGB_DEPTH" or args.algo == "DEPTH" or args.algo == "":
+        source_depth_frame = cv.samples.findFile(args.source_depth_frame)
+        destination_depth_frame = cv.samples.findFile(args.destination_depth_frame)
+        depth1 = cv.imread(source_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
+        depth2 = cv.imread(destination_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32)
+
+    if args.algo == "RGB_DEPTH" or args.algo == "RGB" or args.algo == "":
+        source_rgb_frame = cv.samples.findFile(args.source_rgb_frame)
+        destination_rgb_frame = cv.samples.findFile(args.destination_rgb_frame)
+        rgb1 = cv.imread(source_rgb_frame, cv.IMREAD_COLOR)
+        rgb2 = cv.imread(destination_rgb_frame, cv.IMREAD_COLOR)
+
+    if args.algo == "DEPTH" or args.algo == "":
+        odometry = cv.Odometry(cv.DEPTH)
+        Rt = np.zeros((4, 4))
+        odometry.compute(depth1, depth2, Rt)
+        print(Rt)
+    if args.algo == "RGB" or args.algo == "":
+        odometry = cv.Odometry(cv.RGB)
+        Rt = np.zeros((4, 4))
+        odometry.compute(rgb1, rgb2, Rt)
+        print(Rt)
+    if args.algo == "RGB_DEPTH" or args.algo == "":
+        odometry = cv.Odometry(cv.RGB_DEPTH)
+        Rt = np.zeros((4, 4))
+        odometry.compute(depth1, rgb1, depth2, rgb2, Rt)
+        print(Rt)
+
+
+
+if __name__ == '__main__':
+    main()