added special cases to RGBDOdometry (translation only, rotation only)

modules/contrib/include/opencv2/contrib/contrib.hpp

@@ -629,13 +629,19 @@ namespace cv
      *  Estimate the rigid body motion from frame0 to frame1. The method is based on the paper
      *  "Real-Time Visual Odometry from Dense RGB-D Images", F. Steinbucker, J. Strum, D. Cremers, ICCV, 2011.
      */
+    CV_EXPORTS struct TransformationType
+    {
+        enum { ROTATION          = 1,
+               TRANSLATION       = 2,
+               RIGID_BODY_MOTION = 4
+             };
+    };
     CV_EXPORTS bool RGBDOdometry( cv::Mat& Rt,
                                   const cv::Mat& image0, const cv::Mat& depth0, const cv::Mat& mask0,
                                   const cv::Mat& image1, const cv::Mat& depth1, const cv::Mat& mask1,
                                   const cv::Mat& cameraMatrix, const std::vector<int>& iterCounts,
                                   const std::vector<float>& minGradientMagnitudes,
-                                  float minDepth, float maxDepth, float maxDepthDiff );
-
+                                  float minDepth, float maxDepth, float maxDepthDiff, int transformType=TransformationType::RIGID_BODY_MOTION );
 }
 
 #include "opencv2/contrib/retina.hpp"

samples/cpp/rgbdodometry.cpp

@@ -78,10 +78,14 @@ int main(int argc, char** argv)
     const Mat cameraMatrix = Mat(3,3,CV_32FC1,vals);
     const Mat distCoeff(1,5,CV_32FC1,Scalar(0));
 
-    if( argc != 5 )
+    if( argc != 5 && argc != 6 )
     {
-        cout << "Format: image0 depth0 image1 depth1" << endl;
+        cout << "Format: image0 depth0 image1 depth1 [transformationType]" << endl;
         cout << "Depth file must be 16U image stored depth in mm." << endl;
+        cout << "Transformation types:" << endl;
+        cout << "   -rbm - rigid body motion (default)" << endl;
+        cout << "   -r   - rotation rotation only" << endl;
+        cout << "   -t   - translation only" << endl;
         return -1;
     }
 
@@ -97,6 +101,29 @@ int main(int argc, char** argv)
         return -1;
     }
 
+    int transformationType = TransformationType::RIGID_BODY_MOTION;
+    if( argc == 6 )
+    {
+        string ttype = argv[5];
+        if( ttype == "-rbm" )
+        {
+            transformationType = TransformationType::RIGID_BODY_MOTION;
+        }
+        else if ( ttype == "-r")
+        {
+            transformationType = TransformationType::ROTATION;
+        }
+        else if ( ttype == "-t")
+        {
+            transformationType = TransformationType::TRANSLATION;
+        }
+        else
+        {
+            cout << "Unsupported transformation type." << endl;
+            return -1;
+        }
+    }
+
     Mat grayImage0, grayImage1, depthFlt0, depthFlt1/*in meters*/;
     cvtColor( colorImage0, grayImage0, CV_BGR2GRAY );
     cvtColor( colorImage1, grayImage1, CV_BGR2GRAY );
@@ -126,7 +153,7 @@ int main(int argc, char** argv)
     bool isFound = cv::RGBDOdometry( Rt, grayImage0, depthFlt0, Mat(),
                                      grayImage1, depthFlt1, Mat(),
                                      cameraMatrix, iterCounts, minGradMagnitudes,
-                                     minDepth, maxDepth, maxDepthDiff );
+                                     minDepth, maxDepth, maxDepthDiff, transformationType );
     tm.stop();
 
     cout << "Rt = " << Rt << endl;
@@ -141,9 +168,9 @@ int main(int argc, char** argv)
     Mat warpedImage0;
     warpImage<Point3_<uchar> >( colorImage0, depthFlt0, Rt, cameraMatrix, distCoeff, warpedImage0 );
 
-    imshow( "im0", colorImage0 );
-    imshow( "warped_im0", warpedImage0 );
-    imshow( "im1", colorImage1 );
+    imshow( "image0", colorImage0 );
+    imshow( "warped_image0", warpedImage0 );
+    imshow( "image1", colorImage1 );
     waitKey();
 
     return 0;