Commit e70a4c42 authored by Alexander Alekhin's avatar Alexander Alekhin
Browse files

Merge pull request #2355 from czgdp1807:pr-2341-follow-up

parents b3ad2c32 854d33bc

modules/rgbd/src/odometry.cpp

+0 −22
Original line number Diff line number Diff line
@@ -1009,28 +1009,6 @@ 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)

{}

modules/rgbd/src/plane.cpp

+22 −0
Original line number Diff line number Diff line
@@ -530,6 +530,28 @@ private: 


////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////



  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()

  {}



  void

  RgbdPlane::operator()(InputArray points3d_in, OutputArray mask_out, OutputArray plane_coefficients)

  {