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added default values of parameters

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This commit is contained in:
Maria Dimashova 2012-03-20 14:41:27 +00:00
parent 0c381e2a9f
commit be1d95b495
2 changed files with 34 additions and 10 deletions
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11
modules/contrib/include/opencv2/contrib/contrib.hpp
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@ -631,14 +631,15 @@ namespace cv
* "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
*/
enum { ROTATION = 1,
TRANSLATION = 2,
RIGID_BODY_MOTION = 4
};
TRANSLATION = 2,
RIGID_BODY_MOTION = 4
};
CV_EXPORTS bool RGBDOdometry( Mat& Rt, const Mat& initRt,
const Mat& image0, const Mat& depth0, const Mat& mask0,
const Mat& image1, const Mat& depth1, const Mat& mask1,
const Mat& cameraMatrix, float minDepth, float maxDepth, float maxDepthDiff,
const std::vector<int>& iterCounts, const std::vector<float>& minGradientMagnitudes,
const Mat& cameraMatrix, float minDepth=0.f, float maxDepth=4.f, float maxDepthDiff=0.07f,
const std::vector<int>& iterCounts=std::vector<int>(),
const std::vector<float>& minGradientMagnitudes=std::vector<float>(),
int transformType=RIGID_BODY_MOTION );
/**

33
modules/contrib/src/rgbdodometry.cpp
View File

@ -499,22 +499,45 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
CV_Assert( cameraMatrix.type() == CV_32FC1 && cameraMatrix.size() == Size(3,3) );
// other checks
CV_Assert( !iterCounts.empty() );
CV_Assert( minGradientMagnitudes.size() == iterCounts.size() );
CV_Assert( iterCounts.empty() || minGradientMagnitudes.empty() ||
minGradientMagnitudes.size() == iterCounts.size() );
CV_Assert( initRt.empty() || (initRt.type()==CV_64FC1 && initRt.size()==Size(4,4) ) );
vector<int> defaultIterCounts;
vector<float> defaultMinGradMagnitudes;
vector<int> const* iterCountsPtr = &iterCounts;
vector<float> const* minGradientMagnitudesPtr = &minGradientMagnitudes;
if( iterCounts.empty() || minGradientMagnitudes.empty() )
{
defaultIterCounts.resize(4);
defaultIterCounts[0] = 7;
defaultIterCounts[1] = 7;
defaultIterCounts[2] = 7;
defaultIterCounts[3] = 10;
defaultMinGradMagnitudes.resize(4);
defaultMinGradMagnitudes[0] = 12;
defaultMinGradMagnitudes[1] = 5;
defaultMinGradMagnitudes[2] = 3;
defaultMinGradMagnitudes[3] = 1;
iterCountsPtr = &defaultIterCounts;
minGradientMagnitudesPtr = &defaultMinGradMagnitudes;
}
preprocessDepth( depth0, depth1, validMask0, validMask1, minDepth, maxDepth );
vector<Mat> pyramidImage0, pyramidDepth0,
pyramidImage1, pyramidDepth1, pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1,
pyramidCameraMatrix;
buildPyramids( image0, image1, depth0, depth1, cameraMatrix, sobelSize, sobelScale, minGradientMagnitudes,
buildPyramids( image0, image1, depth0, depth1, cameraMatrix, sobelSize, sobelScale, *minGradientMagnitudesPtr,
pyramidImage0, pyramidDepth0, pyramidImage1, pyramidDepth1,
pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1, pyramidCameraMatrix );
Mat resultRt = initRt.empty() ? Mat::eye(4,4,CV_64FC1) : initRt.clone();
Mat currRt, ksi;
for( int level = (int)iterCounts.size() - 1; level >= 0; level-- )
for( int level = (int)iterCountsPtr->size() - 1; level >= 0; level-- )
{
const Mat& levelCameraMatrix = pyramidCameraMatrix[level];
@ -540,7 +563,7 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
// Run transformation search on current level iteratively.
for( int iter = 0; iter < iterCounts[level]; iter ++ )
for( int iter = 0; iter < (*iterCountsPtr)[level]; iter ++ )
{
int correspsCount = computeCorresp( levelCameraMatrix, levelCameraMatrix.inv(), resultRt.inv(DECOMP_SVD),
levelDepth0, levelDepth1, pyramidTexturedMask1[level], maxDepthDiff,