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d49958141e
Fixes #22799 Replaces #21559 which was taken as a base Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388) ### Changes OK, now this is more Odometry-related PR than Volume-related. Anyway, * `Volume` class gets wrapped * The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings` * `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd. This works better for depth-only `Odometry` algorithms. * `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()` * `Odometry` was fully wrapped + more docs added * Added Python tests for `Odometry`, `OdometryFrame` and `Volume` * Added Python sample for `Volume` * Minor fixes including better var names ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#ifndef OPENCV_3D_ODOMETRY_SETTINGS_HPP
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#define OPENCV_3D_ODOMETRY_SETTINGS_HPP
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#include <opencv2/core.hpp>
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namespace cv
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{
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class CV_EXPORTS_W_SIMPLE OdometrySettings
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{
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public:
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CV_WRAP OdometrySettings();
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OdometrySettings(const OdometrySettings&);
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OdometrySettings& operator=(const OdometrySettings&);
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~OdometrySettings() {};
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CV_WRAP void setCameraMatrix(InputArray val);
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CV_WRAP void getCameraMatrix(OutputArray val) const;
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CV_WRAP void setIterCounts(InputArray val);
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CV_WRAP void getIterCounts(OutputArray val) const;
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CV_WRAP void setMinDepth(float val);
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CV_WRAP float getMinDepth() const;
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CV_WRAP void setMaxDepth(float val);
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CV_WRAP float getMaxDepth() const;
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CV_WRAP void setMaxDepthDiff(float val);
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CV_WRAP float getMaxDepthDiff() const;
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CV_WRAP void setMaxPointsPart(float val);
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CV_WRAP float getMaxPointsPart() const;
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CV_WRAP void setSobelSize(int val);
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CV_WRAP int getSobelSize() const;
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CV_WRAP void setSobelScale(double val);
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CV_WRAP double getSobelScale() const;
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CV_WRAP void setNormalWinSize(int val);
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CV_WRAP int getNormalWinSize() const;
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CV_WRAP void setNormalDiffThreshold(float val);
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CV_WRAP float getNormalDiffThreshold() const;
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CV_WRAP void setNormalMethod(RgbdNormals::RgbdNormalsMethod nm);
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CV_WRAP RgbdNormals::RgbdNormalsMethod getNormalMethod() const;
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CV_WRAP void setAngleThreshold(float val);
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CV_WRAP float getAngleThreshold() const;
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CV_WRAP void setMaxTranslation(float val);
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CV_WRAP float getMaxTranslation() const;
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CV_WRAP void setMaxRotation(float val);
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CV_WRAP float getMaxRotation() const;
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CV_WRAP void setMinGradientMagnitude(float val);
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CV_WRAP float getMinGradientMagnitude() const;
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CV_WRAP void setMinGradientMagnitudes(InputArray val);
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CV_WRAP void getMinGradientMagnitudes(OutputArray val) const;
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class Impl;
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private:
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Ptr<Impl> impl;
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};
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}
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#endif //OPENCV_3D_ODOMETRY_SETTINGS_HPP
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