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Replaced CV_PURE_PROPERTY macros with the code

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This commit is contained in:
Maksim Shabunin
2015-03-18 17:37:37 +03:00
parent 63a86ac44e
commit 05405e3dca
3 changed files with 80 additions and 43 deletions
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30
modules/rgbd/include/opencv2/rgbd.hpp
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@@ -47,7 +47,7 @@
namespace cv
{
namespace rgbd
{
{
//! @addtogroup rgbd
//! @{
@@ -431,7 +431,7 @@ namespace rgbd
/** Method to compute a transformation from the source frame to the destination one.
* Some odometry algorithms do not used some data of frames (eg. ICP does not use images).
* In such case corresponding arguments can be set as empty Mat.
* The method returns true if all internal computions were possible (e.g. there were enough correspondences,
* The method returns true if all internal computions were possible (e.g. there were enough correspondences,
* system of equations has a solution, etc) and resulting transformation satisfies some test if it's provided
* by the Odometry inheritor implementation (e.g. thresholds for maximum translation and rotation).
* @param srcImage Image data of the source frame (CV_8UC1)
@@ -466,16 +466,14 @@ namespace rgbd
static Ptr<Odometry> create(const String & odometryType);
//TODO: which properties are common for all Odometry successors?
CV_PURE_PROPERTY_S(cv::Mat, CameraMatrix)
// CV_PURE_PROPERTY(double, MinDepth)
// CV_PURE_PROPERTY(double, MaxDepth)
// CV_PURE_PROPERTY(double, MaxDepthDiff)
// CV_PURE_PROPERTY_S(cv::Mat, IterationCounts)
// CV_PURE_PROPERTY(double, MaxPointsPart)
CV_PURE_PROPERTY(int, TransformType)
// CV_PURE_PROPERTY(double, MaxTranslation)
// CV_PURE_PROPERTY(double, MaxRotation)
/** @see setCameraMatrix */
virtual cv::Mat getCameraMatrix() const = 0;
/** @copybrief getCameraMatrix @see getCameraMatrix */
virtual void setCameraMatrix(const cv::Mat &val) = 0;
/** @see setTransformType */
virtual int getTransformType() const = 0;
/** @copybrief getTransformType @see getTransformType */
virtual void setTransformType(int val) = 0;
protected:
virtual void
@@ -486,7 +484,7 @@ namespace rgbd
const Mat& initRt) const = 0;
};
/** Odometry based on the paper "Real-Time Visual Odometry from Dense RGB-D Images",
/** Odometry based on the paper "Real-Time Visual Odometry from Dense RGB-D Images",
* F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
*/
class CV_EXPORTS RgbdOdometry: public Odometry
@@ -546,7 +544,7 @@ namespace rgbd
double maxTranslation, maxRotation;
};
/** Odometry based on the paper "KinectFusion: Real-Time Dense Surface Mapping and Tracking",
/** Odometry based on the paper "KinectFusion: Real-Time Dense Surface Mapping and Tracking",
* Richard A. Newcombe, Andrew Fitzgibbon, at al, SIGGRAPH, 2011.
*/
class ICPOdometry: public Odometry
@@ -669,8 +667,8 @@ namespace rgbd
mutable Ptr<RgbdNormals> normalsComputer;
};
/** Warp the image: compute 3d points from the depth, transform them using given transformation,
* then project color point cloud to an image plane.
/** Warp the image: compute 3d points from the depth, transform them using given transformation,
* then project color point cloud to an image plane.
* This function can be used to visualize results of the Odometry algorithm.
* @param image The image (of CV_8UC1 or CV_8UC3 type)
* @param depth The depth (of type used in depthTo3d fuction)