Unverified Commit d442856f authored by Ayush Garg's avatar Ayush Garg Committed by GitHub
Browse files

Merge pull request #2447 from ayushgargdroid:kinfuParams 

* Adding constructor for kinfu_Params(). Allows users to configure parameters for KinFu Algorithm

* Trailing whitespace correct

* Add constructor for TSDF Initial Pose. Allowed parameters are Matx33f,Vec3f and Matx44f. Also added function setInitialVolumePose to handle Matx44f param data type.
parent 80deee64

modules/rgbd/include/opencv2/rgbd/kinfu.hpp

+46 −6
Original line number Diff line number Diff line
@@ -17,8 +17,48 @@ namespace kinfu { 


struct CV_EXPORTS_W Params

{

    /** @brief Default parameters

    A set of parameters which provides better model quality, can be very slow.



    CV_WRAP Params(){}



    /**

     * @brief Constructor for Params

     * Sets the initial pose of the TSDF volume.

     * @param volumeIntialPoseRot rotation matrix

     * @param volumeIntialPoseTransl translation vector

     */

    CV_WRAP Params(Matx33f volumeIntialPoseRot, Vec3f volumeIntialPoseTransl)

    {

      setInitialVolumePose(volumeIntialPoseRot,volumeIntialPoseTransl);

    }



    /**

     * @brief Constructor for Params

     * Sets the initial pose of the TSDF volume.

     * @param volumeIntialPose 4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

     */

    CV_WRAP Params(Matx44f volumeIntialPose)

    {

      setInitialVolumePose(volumeIntialPose);

    }



    /**

     * @brief Set Initial Volume Pose

     * Sets the initial pose of the TSDF volume.

     * @param R rotation matrix

     * @param t translation vector

     */

    CV_WRAP void setInitialVolumePose(Matx33f R, Vec3f t);



    /**

     * @brief Set Initial Volume Pose

     * Sets the initial pose of the TSDF volume.

     * @param homogen_tf 4 by 4 Homogeneous Transform matrix to set the intial pose of TSDF volume

     */

    CV_WRAP void setInitialVolumePose(Matx44f homogen_tf);



    /**

     * @brief Default parameters

     * A set of parameters which provides better model quality, can be very slow.

     */

    CV_WRAP static Ptr<Params> defaultParams();
@@ -32,7 +72,7 @@ struct CV_EXPORTS_W Params 
    CV_PROP_RW Size frameSize;



    /** @brief camera intrinsics */

    CV_PROP Matx33f intr;

    CV_PROP_RW Matx33f intr;



    /** @brief pre-scale per 1 meter for input values
@@ -93,14 +133,14 @@ struct CV_EXPORTS_W Params 
    // float gradient_delta_factor;



    /** @brief light pose for rendering in meters */

    CV_PROP Vec3f lightPose;

    CV_PROP_RW Vec3f lightPose;



    /** @brief distance theshold for ICP in meters */

    CV_PROP_RW float icpDistThresh;

    /** angle threshold for ICP in radians */

    CV_PROP_RW float icpAngleThresh;

    /** number of ICP iterations for each pyramid level */

    CV_PROP std::vector<int> icpIterations;

    CV_PROP_RW std::vector<int> icpIterations;



    /** @brief Threshold for depth truncation in meters

modules/rgbd/src/kinfu.cpp

+12 −0
Original line number Diff line number Diff line
@@ -12,6 +12,16 @@ 
namespace cv {

namespace kinfu {



void Params::setInitialVolumePose(Matx33f R, Vec3f t)

{

    setInitialVolumePose(Affine3f(R,t).matrix);

}



void Params::setInitialVolumePose(Matx44f homogen_tf)

{

    Params::volumePose.matrix = homogen_tf;

}



Ptr<Params> Params::defaultParams()

{

    Params p;
@@ -299,6 +309,8 @@ void KinFuImpl<T>::getNormals(InputArray points, OutputArray normals) const 


Ptr<KinFu> KinFu::create(const Ptr<Params>& params)

{

    CV_Assert((int)params->icpIterations.size() == params->pyramidLevels);

    CV_Assert(params->intr(0,1) == 0 && params->intr(1,0) == 0 && params->intr(2,0) == 0 && params->intr(2,1) == 0 && params->intr(2,2) == 1);

#ifdef HAVE_OPENCL

    if(cv::ocl::useOpenCL())

        return makePtr< KinFuImpl<UMat> >(*params);