Merge remote-tracking branch 'upstream/3.4' into merge-3.4

modules/line_descriptor/misc/python/pyopencv_LSDDetector.hpp

@@ -2,7 +2,7 @@
 
 template<> struct pyopencvVecConverter<line_descriptor::KeyLine>
 {
-    static bool to(PyObject* obj, std::vector<line_descriptor::KeyLine>& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<line_descriptor::KeyLine>& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }

modules/rgbd/include/opencv2/rgbd.hpp

@@ -21,4 +21,3 @@
 #endif
 
 /* End of file. */
-

modules/rgbd/include/opencv2/rgbd/depth.hpp

@@ -345,6 +345,25 @@ 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/pyopencv_linemod.hpp

@@ -3,7 +3,7 @@
 
 template<> struct pyopencvVecConverter<linemod::Match>
 {
-    static bool to(PyObject* obj, std::vector<linemod::Match>& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<linemod::Match>& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }
@@ -16,7 +16,7 @@ template<> struct pyopencvVecConverter<linemod::Match>
 
 template<> struct pyopencvVecConverter<linemod::Template>
 {
-    static bool to(PyObject* obj, std::vector<linemod::Template>& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<linemod::Template>& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }
@@ -29,7 +29,7 @@ template<> struct pyopencvVecConverter<linemod::Template>
 
 template<> struct pyopencvVecConverter<linemod::Feature>
 {
-    static bool to(PyObject* obj, std::vector<linemod::Feature>& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<linemod::Feature>& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }
@@ -42,7 +42,7 @@ template<> struct pyopencvVecConverter<linemod::Feature>
 
 template<> struct pyopencvVecConverter<Ptr<linemod::Modality> >
 {
-    static bool to(PyObject* obj, std::vector<Ptr<linemod::Modality> >& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<Ptr<linemod::Modality> >& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }

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

@@ -0,0 +1,45 @@
+#!/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

@@ -983,6 +983,28 @@ 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)
 {}
 

modules/surface_matching/misc/python/pyopencv_ppf_match_3d.hpp

@@ -2,7 +2,7 @@
 
 template<> struct pyopencvVecConverter<ppf_match_3d::Pose3DPtr >
 {
-    static bool to(PyObject* obj, std::vector<ppf_match_3d::Pose3DPtr >& value, const ArgInfo info)
+    static bool to(PyObject* obj, std::vector<ppf_match_3d::Pose3DPtr >& value, const ArgInfo& info)
     {
         return pyopencv_to_generic_vec(obj, value, info);
     }