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#include <opencv2/core.hpp>
#include <opencv2/rgbd.hpp>
#include "opencv2/core/utility.hpp"
#include "opencv2/core/private.hpp"

namespace cv
{
  CV_INIT_ALGORITHM(DepthCleaner, "RGBD.DepthCleaner",
      obj.info()->addParam(obj, "window_size", obj.window_size_);
      obj.info()->addParam(obj, "depth", obj.depth_);
      obj.info()->addParam(obj, "method", obj.method_))

  CV_INIT_ALGORITHM(RgbdNormals, "RGBD.RgbdNormals",
      obj.info()->addParam(obj, "rows", obj.rows_);
      obj.info()->addParam(obj, "cols", obj.cols_);
      obj.info()->addParam(obj, "window_size", obj.window_size_);
      obj.info()->addParam(obj, "depth", obj.depth_);
      obj.info()->addParam(obj, "K", obj.K_);
      obj.info()->addParam(obj, "method", obj.method_))

  CV_INIT_ALGORITHM(RgbdPlane, "RGBD.RgbdPlane",
      obj.info()->addParam(obj, "block_size", obj.block_size_);
      obj.info()->addParam(obj, "min_size", obj.min_size_);
      obj.info()->addParam(obj, "method", obj.method_);
      obj.info()->addParam(obj, "threshold", obj.threshold_);
      obj.info()->addParam(obj, "sensor_error_a", obj.sensor_error_a_);
      obj.info()->addParam(obj, "sensor_error_b", obj.sensor_error_b_);
      obj.info()->addParam(obj, "sensor_error_c", obj.sensor_error_c_))

  CV_INIT_ALGORITHM(RgbdOdometry, "RGBD.RgbdOdometry",
      obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
      obj.info()->addParam(obj, "minDepth", obj.minDepth);
      obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
      obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
      obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
      obj.info()->addParam(obj, "minGradientMagnitudes", obj.minGradientMagnitudes);
      obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
      obj.info()->addParam(obj, "transformType", obj.transformType);
      obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
      obj.info()->addParam(obj, "maxRotation", obj.maxRotation);)

  CV_INIT_ALGORITHM(ICPOdometry, "RGBD.ICPOdometry",
      obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
      obj.info()->addParam(obj, "minDepth", obj.minDepth);
      obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
      obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
      obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
      obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
      obj.info()->addParam(obj, "transformType", obj.transformType);
      obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
      obj.info()->addParam(obj, "maxRotation", obj.maxRotation);
      obj.info()->addParam<cv::RgbdNormals>(obj, "normalsComputer", obj.normalsComputer, true, NULL, NULL);)

  CV_INIT_ALGORITHM(RgbdICPOdometry, "RGBD.RgbdICPOdometry",
      obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
      obj.info()->addParam(obj, "minDepth", obj.minDepth);
      obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
      obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
      obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
      obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
      obj.info()->addParam(obj, "minGradientMagnitudes", obj.minGradientMagnitudes);
      obj.info()->addParam(obj, "transformType", obj.transformType);
      obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
      obj.info()->addParam(obj, "maxRotation", obj.maxRotation);
      obj.info()->addParam<cv::RgbdNormals>(obj, "normalsComputer", obj.normalsComputer, true, NULL, NULL);)

  bool
  initModule_rgbd(void);
  bool
  initModule_rgbd(void)
  {
    bool all = true;
    all &= !RgbdNormals_info_auto.name().empty();
    all &= !RgbdPlane_info_auto.name().empty();
    all &= !RgbdOdometry_info_auto.name().empty();
    all &= !ICPOdometry_info_auto.name().empty();
    all &= !RgbdICPOdometry_info_auto.name().empty();
    return all;
  }
}
