potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-29 23:33:05 +04:00
Code Packages Releases Wiki Activity

moving code from ICP+Scale

Browse Source
This commit is contained in:
Saratovtsev
2022-02-08 18:14:32 +03:00
committed by Rostislav Vasilikhin
parent b06544bd54
commit df490c6399
7 changed files with 433 additions and 204 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/3d/include/opencv2/3d/odometry.hpp
+19 -5
View File
@@ -16,7 +16,7 @@ namespace cv
/** These constants are used to set a type of data which odometry will use
* @param DEPTH only depth data
* @param RGB only rgb image
* @param RGB_DEPTH only depth and rgb data simultaneously
* @param RGB_DEPTH depth and rgb data simultaneously
*/
enum OdometryType
{
@@ -26,8 +26,8 @@ enum OdometryType
};
/** These constants are used to set the speed and accuracy of odometry
* @param COMMON only accurate but not so fast
* @param FAST only less accurate but faster
* @param COMMON accurate but not so fast
* @param FAST less accurate but faster
*/
enum class OdometryAlgoType
{
@@ -62,9 +62,9 @@ public:
*/
void prepareFrames(OdometryFrame& srcFrame, OdometryFrame& dstFrame);
/** Prepare frame for odometry calculation
/** Compute Rigid Transformation between two frames so that Rt * src = dst
* @param srcFrame src frame ("original" image)
* @param dstFrame dsr frame ("rotated" image)
* @param dstFrame dst frame ("rotated" image)
* @param Rt Rigid transformation, which will be calculated, in form:
* { R_11 R_12 R_13 t_1
* R_21 R_22 R_23 t_2
@@ -73,7 +73,21 @@ public:
*/
bool compute(const OdometryFrame& srcFrame, const OdometryFrame& dstFrame, OutputArray Rt);
/** Compute Rigid Transformation and scale between two frames so that Rt * (src * scale) = dst
* Works only on OdometryType::DEPTH and OdometryAlgoType::COMMON
* @param srcFrame src frame ("original" image)
* @param dstFrame dst frame ("rotated" image)
* @param Rt Rigid transformation, which will be calculated, in form:
* { R_11 R_12 R_13 t_1
* R_21 R_22 R_23 t_2
* R_31 R_32 R_33 t_3
* 0 0 0 1 }
* @param scale scale between srcFrame and dstFrame (use scale = 1 for input)
*/
bool compute(const OdometryFrame& srcFrame, const OdometryFrame& dstFrame, OutputArray Rt, float& scale);
CV_WRAP bool compute(InputArray srcFrame, InputArray dstFrame, OutputArray Rt) const;
CV_WRAP bool compute(InputArray srcFrame, InputArray dstFrame, OutputArray Rt, OutputArray scale) const;
CV_WRAP bool compute(InputArray srcDepthFrame, InputArray srcRGBFrame, InputArray dstDepthFrame, InputArray dstRGBFrame, OutputArray Rt) const;
class Impl;