Commit b3ad2c32 authored by Gagandeep Singh's avatar Gagandeep Singh Committed by Alexander Alekhin
Browse files

Merge pull request #2341 from czgdp1807:issue-2277 

Added constructors and destructors for RgbdPlane

* declared constructors and destructors of RgbdPlane

* definitions written

* tests for python bindings added
parent c5e0fa98

modules/rgbd/include/opencv2/rgbd.hpp

+19 −0
Original line number Diff line number Diff line
@@ -379,6 +379,25 @@ namespace rgbd 
    {

    }



    /** Constructor

     * @param block_size The size of the blocks to look at for a stable MSE

     * @param min_size The minimum size of a cluster to be considered a plane

     * @param threshold The maximum distance of a point from a plane to belong to it (in meters)

     * @param sensor_error_a coefficient of the sensor error. 0 by default, 0.0075 for a Kinect

     * @param sensor_error_b coefficient of the sensor error. 0 by default

     * @param sensor_error_c coefficient of the sensor error. 0 by default

     * @param method The method to use to compute the planes.

     */

    RgbdPlane(int method, int block_size,

              int min_size, double threshold, double sensor_error_a = 0,

              double sensor_error_b = 0, double sensor_error_c = 0);



    ~RgbdPlane();



    CV_WRAP static Ptr<RgbdPlane> create(int method, int block_size, int min_size, double threshold,

                                         double sensor_error_a = 0, double sensor_error_b = 0,

                                         double sensor_error_c = 0);



    /** Find The planes in a depth image

     * @param points3d the 3d points organized like the depth image: rows x cols with 3 channels

     * @param normals the normals for every point in the depth image

modules/rgbd/misc/python/test/test_rgbd.py

0 → 100644
+45 −0
Original line number Diff line number Diff line 
#!/usr/bin/env python



# Python 2/3 compatibility

from __future__ import print_function



import os, numpy



import cv2 as cv



from tests_common import NewOpenCVTests



class rgbd_test(NewOpenCVTests):



    def test_computeRgbdPlane(self):



        depth_image = self.get_sample('/cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)

        if depth_image is None:

            raise unittest.SkipTest("Missing files with test data")



        K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])

        points3d = cv.rgbd.depthTo3d(depth_image, K)

        normals_computer = normals_computer = cv.rgbd.RgbdNormals_create(480, 640, 5, K)

        normals = normals_computer.apply(points3d)

        rgbd_plane = cv.rgbd.RgbdPlane_create(cv.rgbd.RgbdPlane_RGBD_PLANE_METHOD_DEFAULT, 40, 1600, 0.01, 0, 0, 0)

        _, planes_coeff = rgbd_plane.apply(points3d, normals)



        planes_coeff_expected = \

        numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182,  4.02800846]],

                        [[-0.05055107, -0.86144137, -0.50533485,  3.95456314]],

                        [[-0.03294908, -0.86964548, -0.49257591,  3.97052431]],

                        [[-0.02886586, -0.87153459, -0.48948362,  7.77550507]],

                        [[-0.04455929, -0.87659335, -0.47916424,  3.93200684]],

                        [[-0.21514639,  0.18835169, -0.95824611,  7.59479475]],

                        [[-0.01006953, -0.86679155, -0.49856904,  4.01355648]],

                        [[-0.00876531, -0.87571168, -0.48275498,  3.96768975]],

                        [[-0.06395926, -0.86951321, -0.48975089,  4.08618736]],

                        [[-0.01403128, -0.87593341, -0.48222789,  7.74559402]],

                        [[-0.01143177, -0.87495202, -0.4840748 ,  7.75355816]]],

                        dtype=numpy.float32)



        eps = 0.05

        self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)



if __name__ == '__main__':

    NewOpenCVTests.bootstrap()

modules/rgbd/src/odometry.cpp

+22 −0
Original line number Diff line number Diff line
@@ -1009,6 +1009,28 @@ Ptr<DepthCleaner> DepthCleaner::create(int depth_in, int window_size_in, int met 
  return makePtr<DepthCleaner>(depth_in, window_size_in, method_in);

}



RgbdPlane::RgbdPlane(int method, int block_size,

                     int min_size, double threshold, double sensor_error_a,

                     double sensor_error_b, double sensor_error_c) :

                     method_(method),

                     block_size_(block_size),

                     min_size_(min_size),

                     threshold_(threshold),

                     sensor_error_a_(sensor_error_a),

                     sensor_error_b_(sensor_error_b),

                     sensor_error_c_(sensor_error_c)

{}



Ptr<RgbdPlane> RgbdPlane::create(int method, int block_size, int min_size, double threshold,

                                 double sensor_error_a, double sensor_error_b,

                                 double sensor_error_c ) {

    return makePtr<RgbdPlane>(method, block_size, min_size, threshold,

                              sensor_error_a, sensor_error_b, sensor_error_c);

}



RgbdPlane::~RgbdPlane()

{}



RgbdFrame::RgbdFrame() : ID(-1)

{}