slam:VO fix part 1

modules/ptcloud/include/opencv2/ptcloud/slam/odometry_params.hpp

@@ -15,46 +15,47 @@ namespace slam {
 //! @addtogroup slam
 //! @{
 
+/** @brief Tunable parameters for visual odometry: initialization, tracking, keyframe selection, and local-map refinement. */
 struct CV_EXPORTS_W_SIMPLE OdometryParams
 {
     CV_WRAP OdometryParams() {}
 
-    // Bootstrap
-    CV_PROP_RW int minInitInliers = 40;
-    CV_PROP_RW double minInitParallaxDeg = 1.5;
-    CV_PROP_RW int minInitPoints = 50;
-    CV_PROP_RW double hfRatioThresh = 0.45;
-    CV_PROP_RW double minGrowthParallaxDeg = 0.1;
-    CV_PROP_RW double essentialRansacThresh = 1.0;
-    CV_PROP_RW double essentialRansacConfidence = 0.999;
+    // Bootstrap (two-view map initialization)
+    CV_PROP_RW int minInitInliers = 40;             //!< Minimum match/inlier count at each bootstrap stage.
+    CV_PROP_RW double minInitParallaxDeg = 1.5;     //!< Minimum parallax (deg) to trigger initialization.
+    CV_PROP_RW int minInitPoints = 50;              //!< Minimum triangulated points to seed the map.
+    CV_PROP_RW double hfRatioThresh = 0.45;         //!< Homography/fundamental score ratio above which homography is chosen.
+    CV_PROP_RW double minGrowthParallaxDeg = 0.1;   //!< Minimum parallax (deg) to triangulate new points during map growth.
+    CV_PROP_RW double essentialRansacThresh = 1.0;  //!< RANSAC reprojection threshold (px) for essential-matrix/homography estimation.
+    CV_PROP_RW double essentialRansacConfidence = 0.999; //!< RANSAC confidence for essential-matrix estimation.
 
     // Tracking (PnP)
-    CV_PROP_RW double pnpReprojThresh = 4.0;
-    CV_PROP_RW int pnpMinInliers = 6;
-    CV_PROP_RW int pnpRansacIters = 500;
-    CV_PROP_RW double pnpConfidence = 0.99;
+    CV_PROP_RW double pnpReprojThresh = 4.0;        //!< PnP RANSAC reprojection threshold (px).
+    CV_PROP_RW int pnpMinInliers = 6;               //!< Minimum PnP inliers to accept a pose.
+    CV_PROP_RW int pnpRansacIters = 500;            //!< Maximum PnP RANSAC iterations.
+    CV_PROP_RW double pnpConfidence = 0.99;         //!< PnP RANSAC confidence.
 
-    // Motion model
-    CV_PROP_RW double motionModelRadius = 15.0;
-    CV_PROP_RW double motionModelRadiusWide = 30.0;
-    CV_PROP_RW int motionModelMinMatches = 20;
-    CV_PROP_RW double descProjThresh = 1.0;
+    // Motion model (guided match search)
+    CV_PROP_RW double motionModelRadius = 15.0;     //!< Guided-match search radius (px).
+    CV_PROP_RW double motionModelRadiusWide = 30.0; //!< Wider fallback search radius (px) when the narrow search finds too few.
+    CV_PROP_RW int motionModelMinMatches = 20;      //!< Matches below which the wider search runs.
+    CV_PROP_RW double descProjThresh = 1.0;         //!< Descriptor-distance cutoff for a projected map-point match.
 
     // Optical flow fallback
-    CV_PROP_RW int opticalFlowMinInliers = 10;
+    CV_PROP_RW int opticalFlowMinInliers = 10;      //!< Minimum correspondences for the optical-flow fallback.
 
     // Keyframe promotion
-    CV_PROP_RW int kfMinFrames = 1;
-    CV_PROP_RW int kfMaxFrames = 30;
-    CV_PROP_RW double kfInlierRatio = 0.70;
-    CV_PROP_RW int kfMinInliers = 40;
-    CV_PROP_RW double kfRotThreshDeg = 5.0;
-    CV_PROP_RW double kfTransThresh = 0.5; 
+    CV_PROP_RW int kfMinFrames = 1;                 //!< Minimum frames since last keyframe before inserting one.
+    CV_PROP_RW int kfMaxFrames = 30;                //!< Frames since last keyframe after which one is forced.
+    CV_PROP_RW double kfInlierRatio = 0.70;         //!< Insert a keyframe when inliers drop below this fraction of the last keyframe's.
+    CV_PROP_RW int kfMinInliers = 40;               //!< Absolute inlier floor: max(kfMinInliers, kfInlierRatio * lastKfInliers).
+    CV_PROP_RW double kfRotThreshDeg = 5.0;         //!< Rotation (deg) from last keyframe that forces a new one.
+    CV_PROP_RW double kfTransThresh = 0.5;          //!< Translation from last keyframe that forces a new one.
 
     // Local map refinement
-    CV_PROP_RW int localMapTopK = 10;
-    CV_PROP_RW int localMapNeighborK = 5;
-    CV_PROP_RW double localMapRadius = 7.0;
+    CV_PROP_RW int localMapTopK = 10;               //!< Top co-visible keyframes forming the local map.
+    CV_PROP_RW int localMapNeighborK = 5;           //!< Covisibility neighbors expanded per local-map keyframe.
+    CV_PROP_RW double localMapRadius = 7.0;         //!< Reprojection search radius (px) for local-map points.
 };
 
 //! @}

modules/ptcloud/include/opencv2/ptcloud/slam/visual_odometry.hpp

@@ -27,8 +27,7 @@ namespace slam {
 State machine: NOT_INITIALIZED → INITIALIZING (H/F two-view bootstrap) → TRACKING
 (per-frame PnP + local-map refinement). Tracking failure rewinds to INITIALIZING.
 
-@ref run writes trajectory.txt, trajectory.bin, map_points.txt, keypoints.txt,
-images.txt, and vo.log into `outputFolder`.
+@ref run writes camera.txt, point3d.txt, and images.txt into `outputFolder`.
 */
 class CV_EXPORTS_W VisualOdometry
 {

modules/ptcloud/include/opencv2/slam.hpp

@@ -1,14 +0,0 @@
-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-// Copyright (C) 2026, BigVision LLC, all rights reserved.
-// Third party copyrights are property of their respective owners.
-
-#ifndef OPENCV_SLAM_HPP
-#define OPENCV_SLAM_HPP
-
-// Convenience umbrella header so SLAM / visual odometry can be included as
-// <opencv2/slam.hpp>. The implementation currently lives in the ptcloud module.
-#include "opencv2/ptcloud/slam.hpp"
-
-#endif // OPENCV_SLAM_HPP