Merge pull request #22691 from savuor:icp_oframe_docs

Docs added for Odometry and OdometryFrame

modules/3d/include/opencv2/3d/odometry.hpp

@@ -68,8 +68,11 @@ public:
     CV_WRAP bool compute(InputArray srcDepthFrame, InputArray dstDepthFrame, OutputArray Rt) const;
     CV_WRAP bool compute(InputArray srcDepthFrame, InputArray srcRGBFrame, InputArray dstDepthFrame, InputArray dstRGBFrame, OutputArray Rt) const;
 
-    //TODO: document it
+    /**
-    //requires frame size, initialized at prepareFrame stage()
+     * @brief Get the normals computer object used for normals calculation (if presented).
+     * The normals computer is generated at first need during prepareFrame when normals are required for the ICP algorithm
+     * but not presented by a user. Re-generated each time the related settings change or a new frame arrives with the different size.
+     */
     Ptr<RgbdNormals> getNormalsComputer() const;
 
     class Impl;

modules/3d/include/opencv2/3d/odometry_frame.hpp

@@ -26,25 +26,79 @@ enum OdometryFramePyramidType
     N_PYRAMIDS
 };
 
+/**
+ * @brief An object that keeps per-frame data for Odometry algorithms from user-provided images to algorithm-specific precalculated data.
+ * When not empty, it contains a depth image, a mask of valid pixels and a set of pyramids generated from that data.
+ * An BGR/Gray image and normals are optional.
+ * OdometryFrame is made to be used together with Odometry class to reuse precalculated data between Rt data calculations.
+ * A proper way to do that is to call Odometry::prepareFrames() on prev and next frames and then pass them to Odometry::compute() method.
+ */
 class CV_EXPORTS_W OdometryFrame
 {
 public:
-    //TODO: add to docs: check image channels, if 3 or 4 then do cvtColor(BGR(A)2GRAY)
+    /**
+     * @brief Construct a new OdometryFrame object. All non-empty images should have the same size.
+     *
+     * @param image An BGR or grayscale image (or noArray() if it's not required for used ICP algorithm).
+     * Should be CV_8UC3 or CV_8C4 if it's BGR image or CV_8UC1 if it's grayscale. If it's BGR then it's converted to grayscale
+     * image automatically.
+     * @param depth A depth image, should be CV_8UC1
+     * @param mask A user-provided mask of valid pixels, should be CV_8UC1
+     * @param normals A user-provided normals to the depth surface, should be CV_32FC4
+     */
     OdometryFrame(InputArray image = noArray(), InputArray depth = noArray(), InputArray mask = noArray(), InputArray normals = noArray());
     ~OdometryFrame() {};
 
+    /**
+     * @brief Get the original user-provided BGR/Gray image
+     *
+     * @param image Output image
+     */
     void getImage(OutputArray image) const;
+    /**
+     * @brief Get the gray image generated from the user-provided BGR/Gray image
+     *
+     * @param image Output image
+     */
     void getGrayImage(OutputArray image) const;
+    /**
+     * @brief Get the original user-provided depth image
+     *
+     * @param depth Output image
+     */
     void getDepth(OutputArray depth) const;
-    void getScaledDepth(OutputArray depth) const;
+    /**
+     * @brief Get the depth image generated from the user-provided one after conversion, rescale or filtering for ICP algorithm needs
+     *
+     * @param depth Output image
+     */
+    void getProcessedDepth(OutputArray depth) const;
+    /**
+     * @brief Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
+     *
+     * @param mask Output image
+     */
     void getMask(OutputArray mask) const;
+    /**
+     * @brief Get the normals image either generated for the ICP calculations or user-provided
+     *
+     * @param normals Output image
+     */
     void getNormals(OutputArray normals) const;
 
-    //TODO: add docs
+    /**
-    // returns amt of levels in pyramids (all of them should have the same amt of levels) or 0 if no pyramids were prepared yet
+     * @brief Get the amount of levels in pyramids (all of them if not empty should have the same number of levels)
+     * or 0 if no pyramids were prepared yet
+     */
     size_t getPyramidLevels() const;
-    //TODO: add docs
+    /**
-    // returns empty img if no data in the pyramid or in the pyramid's level
+     * @brief Get the image generated for the ICP calculations from one of the pyramids specified by pyrType. Returns empty image if
+     * the pyramid is empty or there's no such pyramid level
+     *
+     * @param img Output image
+     * @param pyrType Type of pyramid
+     * @param level Level in the pyramid
+     */
     void getPyramidAt(OutputArray img, OdometryFramePyramidType pyrType, size_t level) const;
 
     class Impl;

modules/3d/src/rgbd/odometry_frame_impl.cpp

@@ -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);
 }

modules/3d/src/rgbd/odometry_functions.cpp

@@ -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];
 

modules/3d/src/rgbd/odometry_functions.hpp

@@ -31,16 +31,6 @@ static inline int getTransformDim(OdometryTransformType transformType)
 }
 
 
-static inline
-void checkNormals(InputArray normals, const Size& depthSize)
-{
-    if (normals.size() != depthSize)
-        CV_Error(Error::StsBadSize, "Normals has to have the size equal to the depth size.");
-    if (normals.type() != CV_32FC3)
-        CV_Error(Error::StsBadSize, "Normals type has to be CV_32FC3.");
-}
-
-
 static inline
 Vec6d calcRgbdEquationCoeffs(double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
 {

modules/3d/src/rgbd/utils.hpp

@@ -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 ;
 

modules/3d/test/test_odometry.cpp

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