From be1d95b4957fa52b2270cabb50dc5ed2a6502b7f Mon Sep 17 00:00:00 2001
From: Maria Dimashova <no@email>
Date: Tue, 20 Mar 2012 14:41:27 +0000
Subject: [PATCH] added default values of parameters

---
 .../contrib/include/opencv2/contrib/contrib.hpp    | 11 ++++----
 modules/contrib/src/rgbdodometry.cpp               | 33 ++++++++++++++++++----
 2 files changed, 34 insertions(+), 10 deletions(-)

diff --git a/modules/contrib/include/opencv2/contrib/contrib.hpp b/modules/contrib/include/opencv2/contrib/contrib.hpp
index f27c0c1..8a3f85d 100644
--- a/modules/contrib/include/opencv2/contrib/contrib.hpp
+++ b/modules/contrib/include/opencv2/contrib/contrib.hpp
@@ -631,14 +631,15 @@ namespace cv
      *  "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
      */
     enum { ROTATION          = 1,
-            TRANSLATION       = 2,
-            RIGID_BODY_MOTION = 4
-            };
+           TRANSLATION       = 2,
+           RIGID_BODY_MOTION = 4
+         };
     CV_EXPORTS bool RGBDOdometry( Mat& Rt, const Mat& initRt,
                                   const Mat& image0, const Mat& depth0, const Mat& mask0,
                                   const Mat& image1, const Mat& depth1, const Mat& mask1,
-                                  const Mat& cameraMatrix, float minDepth, float maxDepth, float maxDepthDiff,
-                                  const std::vector<int>& iterCounts, const std::vector<float>& minGradientMagnitudes,
+                                  const Mat& cameraMatrix, float minDepth=0.f, float maxDepth=4.f, float maxDepthDiff=0.07f,
+                                  const std::vector<int>& iterCounts=std::vector<int>(),
+                                  const std::vector<float>& minGradientMagnitudes=std::vector<float>(),
                                   int transformType=RIGID_BODY_MOTION );
 
     /**
diff --git a/modules/contrib/src/rgbdodometry.cpp b/modules/contrib/src/rgbdodometry.cpp
index 43eab09..352c1fa 100644
--- a/modules/contrib/src/rgbdodometry.cpp
+++ b/modules/contrib/src/rgbdodometry.cpp
@@ -499,22 +499,45 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
     CV_Assert( cameraMatrix.type() == CV_32FC1 && cameraMatrix.size() == Size(3,3) );
 
     // other checks
-    CV_Assert( !iterCounts.empty() );
-    CV_Assert( minGradientMagnitudes.size() == iterCounts.size() );
+    CV_Assert( iterCounts.empty() || minGradientMagnitudes.empty() ||
+               minGradientMagnitudes.size() == iterCounts.size() );
     CV_Assert( initRt.empty() || (initRt.type()==CV_64FC1 && initRt.size()==Size(4,4) ) );
 
+    vector<int> defaultIterCounts;
+    vector<float> defaultMinGradMagnitudes;
+    vector<int> const* iterCountsPtr = &iterCounts;
+    vector<float> const* minGradientMagnitudesPtr = &minGradientMagnitudes;
+
+    if( iterCounts.empty() || minGradientMagnitudes.empty() )
+    {
+        defaultIterCounts.resize(4);
+        defaultIterCounts[0] = 7;
+        defaultIterCounts[1] = 7;
+        defaultIterCounts[2] = 7;
+        defaultIterCounts[3] = 10;
+
+        defaultMinGradMagnitudes.resize(4);
+        defaultMinGradMagnitudes[0] = 12;
+        defaultMinGradMagnitudes[1] = 5;
+        defaultMinGradMagnitudes[2] = 3;
+        defaultMinGradMagnitudes[3] = 1;
+
+        iterCountsPtr = &defaultIterCounts;
+        minGradientMagnitudesPtr = &defaultMinGradMagnitudes;
+    }
+
     preprocessDepth( depth0, depth1, validMask0, validMask1, minDepth, maxDepth );
 
     vector<Mat> pyramidImage0, pyramidDepth0,
                 pyramidImage1, pyramidDepth1, pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1,
                 pyramidCameraMatrix;
-    buildPyramids( image0, image1, depth0, depth1, cameraMatrix, sobelSize, sobelScale, minGradientMagnitudes,
+    buildPyramids( image0, image1, depth0, depth1, cameraMatrix, sobelSize, sobelScale, *minGradientMagnitudesPtr,
                    pyramidImage0, pyramidDepth0, pyramidImage1, pyramidDepth1,
                    pyramid_dI_dx1, pyramid_dI_dy1, pyramidTexturedMask1, pyramidCameraMatrix );
 
     Mat resultRt = initRt.empty() ? Mat::eye(4,4,CV_64FC1) : initRt.clone();
     Mat currRt, ksi;
-    for( int level = (int)iterCounts.size() - 1; level >= 0; level-- )
+    for( int level = (int)iterCountsPtr->size() - 1; level >= 0; level-- )
     {
         const Mat& levelCameraMatrix = pyramidCameraMatrix[level];
 
@@ -540,7 +563,7 @@ bool cv::RGBDOdometry( cv::Mat& Rt, const Mat& initRt,
         Mat corresps( levelImage0.size(), levelImage0.type(), CV_32SC1 );
 
         // Run transformation search on current level iteratively.
-        for( int iter = 0; iter < iterCounts[level]; iter ++ )
+        for( int iter = 0; iter < (*iterCountsPtr)[level]; iter ++ )
         {
             int correspsCount = computeCorresp( levelCameraMatrix, levelCameraMatrix.inv(), resultRt.inv(DECOMP_SVD),
                                                 levelDepth0, levelDepth1, pyramidTexturedMask1[level], maxDepthDiff,
-- 
2.7.4