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getScaledDepth -> getProcessedDepth

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This commit is contained in:
Rostislav Vasilikhin 2022-10-25 02:45:28 +02:00
parent 52d82bb44a
commit 097b0245da
5 changed files with 9 additions and 9 deletions
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2
modules/3d/include/opencv2/3d/odometry_frame.hpp
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@ -72,7 +72,7 @@ public:
*
* @param depth Output image
*/
void getScaledDepth(OutputArray depth) const;
void getProcessedDepth(OutputArray depth) const;
/**
* @brief Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
*

4
modules/3d/src/rgbd/odometry_frame_impl.cpp
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@ -35,7 +35,7 @@ OdometryFrame::OdometryFrame(InputArray image, InputArray depth, InputArray mask
void OdometryFrame::getImage(OutputArray image) const { this->impl->getImage(image); }
void OdometryFrame::getGrayImage(OutputArray image) const { this->impl->getGrayImage(image); }
void OdometryFrame::getDepth(OutputArray depth) const { this->impl->getDepth(depth); }
void OdometryFrame::getScaledDepth(OutputArray depth) const { this->impl->getScaledDepth(depth); }
void OdometryFrame::getProcessedDepth(OutputArray depth) const { this->impl->getProcessedDepth(depth); }
void OdometryFrame::getMask(OutputArray mask) const { this->impl->getMask(mask); }
void OdometryFrame::getNormals(OutputArray normals) const { this->impl->getNormals(normals); }
@ -61,7 +61,7 @@ void OdometryFrame::Impl::getDepth(OutputArray _depth) const
_depth.assign(this->depth);
}
void OdometryFrame::Impl::getScaledDepth(OutputArray _depth) const
void OdometryFrame::Impl::getProcessedDepth(OutputArray _depth) const
{
_depth.assign(this->scaledDepth);
}

7
modules/3d/src/rgbd/odometry_functions.cpp
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@ -262,7 +262,7 @@ static void prepareRGBFrameBase(OdometryFrame& frame, OdometrySettings settings)
//TODO: don't use scaled when scale bug is fixed
UMat scaledDepth;
frame.getScaledDepth(scaledDepth);
frame.getProcessedDepth(scaledDepth);
if (scaledDepth.empty())
{
scaledDepth = prepareScaledDepth(frame);
@ -348,7 +348,7 @@ static void prepareICPFrameBase(OdometryFrame& frame, OdometrySettings settings)
{
//TODO: don't use scaled when scale bug is fixed
UMat scaledDepth;
frame.getScaledDepth(scaledDepth);
frame.getProcessedDepth(scaledDepth);
if (scaledDepth.empty())
{
scaledDepth = prepareScaledDepth(frame);
@ -410,7 +410,7 @@ static void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings,
settings.getCameraMatrix(cameraMatrix);
UMat scaledDepth, mask, normals;
frame.getScaledDepth(scaledDepth);
frame.getProcessedDepth(scaledDepth);
frame.getMask(mask);
frame.getNormals(normals);
@ -439,6 +439,7 @@ static void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings,
normalsComputer->apply(c0, normals);
frame.impl->normals = normals;
}
CV_Assert(normals.type() == CV_32FC4);
const std::vector<UMat>& dpyramids = frame.impl->pyramids[OdometryFramePyramidType::PYR_DEPTH];

2
modules/3d/src/rgbd/utils.hpp
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@ -247,7 +247,7 @@ public:
virtual void getImage(OutputArray image) const ;
virtual void getGrayImage(OutputArray image) const ;
virtual void getDepth(OutputArray depth) const ;
virtual void getScaledDepth(OutputArray depth) const ;
virtual void getProcessedDepth(OutputArray depth) const ;
virtual void getMask(OutputArray mask) const ;
virtual void getNormals(OutputArray normals) const ;

3
modules/3d/test/test_odometry.cpp
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@ -310,8 +310,7 @@ void OdometryTest::prepareFrameCheck()
ASSERT_LE(grayNorm, 0.0);
}
//TODO: remove it when scale issue is fixed
odf.getScaledDepth(scaled);
odf.getProcessedDepth(scaled);
int scalednz = countNonZero(scaled);
EXPECT_EQ(scalednz, depthnz);