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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef __OPENCV_RGBD_HPP__
+#define __OPENCV_RGBD_HPP__
+
+#ifdef __cplusplus
+
+#include <opencv2/core.hpp>
+#include <limits>
+
+/** @defgroup rgbd RGB-Depth Processing
+*/
+
+namespace cv
+{
+namespace rgbd
+{
+
+//! @addtogroup rgbd
+//! @{
+
+  /** Checks if the value is a valid depth. For CV_16U or CV_16S, the convention is to be invalid if it is
+   * a limit. For a float/double, we just check if it is a NaN
+   * @param depth the depth to check for validity
+   */
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const float & depth)
+  {
+    return !cvIsNaN(depth);
+  }
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const double & depth)
+  {
+    return !cvIsNaN(depth);
+  }
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const short int & depth)
+  {
+    return (depth != std::numeric_limits<short int>::min()) && (depth != std::numeric_limits<short int>::max());
+  }
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const unsigned short int & depth)
+  {
+    return (depth != std::numeric_limits<unsigned short int>::min())
+        && (depth != std::numeric_limits<unsigned short int>::max());
+  }
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const int & depth)
+  {
+    return (depth != std::numeric_limits<int>::min()) && (depth != std::numeric_limits<int>::max());
+  }
+  CV_EXPORTS
+  inline bool
+  isValidDepth(const unsigned int & depth)
+  {
+    return (depth != std::numeric_limits<unsigned int>::min()) && (depth != std::numeric_limits<unsigned int>::max());
+  }
+
+  /** Object that can compute the normals in an image.
+   * It is an object as it can cache data for speed efficiency
+   * The implemented methods are either:
+   * - FALS (the fastest) and SRI from
+   * ``Fast and Accurate Computation of Surface Normals from Range Images``
+   * by H. Badino, D. Huber, Y. Park and T. Kanade
+   * - the normals with bilateral filtering on a depth image from
+   * ``Gradient Response Maps for Real-Time Detection of Texture-Less Objects``
+   * by S. Hinterstoisser, C. Cagniart, S. Ilic, P. Sturm, N. Navab, P. Fua, and V. Lepetit
+   */
+  class CV_EXPORTS RgbdNormals: public Algorithm
+  {
+  public:
+    enum RGBD_NORMALS_METHOD
+    {
+      RGBD_NORMALS_METHOD_FALS, RGBD_NORMALS_METHOD_LINEMOD, RGBD_NORMALS_METHOD_SRI
+    };
+
+    RgbdNormals()
+        :
+          rows_(0),
+          cols_(0),
+          depth_(0),
+          K_(Mat()),
+          window_size_(0),
+          method_(RGBD_NORMALS_METHOD_FALS),
+          rgbd_normals_impl_(0)
+    {
+    }
+
+    /** Constructor
+     * @param rows the number of rows of the depth image normals will be computed on
+     * @param cols the number of cols of the depth image normals will be computed on
+     * @param depth the depth of the normals (only CV_32F or CV_64F)
+     * @param K the calibration matrix to use
+     * @param window_size the window size to compute the normals: can only be 1,3,5 or 7
+     * @param method one of the methods to use: RGBD_NORMALS_METHOD_SRI, RGBD_NORMALS_METHOD_FALS
+     */
+    RgbdNormals(int rows, int cols, int depth, InputArray K, int window_size = 5, int method =
+        RGBD_NORMALS_METHOD_FALS);
+
+    ~RgbdNormals();
+
+    /** Given a set of 3d points in a depth image, compute the normals at each point.
+     * @param points a rows x cols x 3 matrix of CV_32F/CV64F or a rows x cols x 1 CV_U16S
+     * @param normals a rows x cols x 3 matrix
+     */
+    void
+    operator()(InputArray points, OutputArray normals) const;
+
+    /** Initializes some data that is cached for later computation
+     * If that function is not called, it will be called the first time normals are computed
+     */
+    void
+    initialize() const;
+
+    int getRows() const
+    {
+        return rows_;
+    }
+    void setRows(int val)
+    {
+        rows_ = val;
+    }
+    int getCols() const
+    {
+        return cols_;
+    }
+    void setCols(int val)
+    {
+        cols_ = val;
+    }
+    int getWindowSize() const
+    {
+        return window_size_;
+    }
+    void setWindowSize(int val)
+    {
+        window_size_ = val;
+    }
+    int getDepth() const
+    {
+        return depth_;
+    }
+    void setDepth(int val)
+    {
+        depth_ = val;
+    }
+    cv::Mat getK() const
+    {
+        return K_;
+    }
+    void setK(const cv::Mat &val)
+    {
+        K_ = val;
+    }
+    int getMethod() const
+    {
+        return method_;
+    }
+    void setMethod(int val)
+    {
+        method_ = val;
+    }
+
+  protected:
+    void
+    initialize_normals_impl(int rows, int cols, int depth, const Mat & K, int window_size, int method) const;
+
+    int rows_, cols_, depth_;
+    Mat K_;
+    int window_size_;
+    int method_;
+    mutable void* rgbd_normals_impl_;
+  };
+
+  /** Object that can clean a noisy depth image
+   */
+  class CV_EXPORTS DepthCleaner: public Algorithm
+  {
+  public:
+    /** NIL method is from
+     * ``Modeling Kinect Sensor Noise for Improved 3d Reconstruction and Tracking``
+     * by C. Nguyen, S. Izadi, D. Lovel
+     */
+    enum DEPTH_CLEANER_METHOD
+    {
+      DEPTH_CLEANER_NIL
+    };
+
+    DepthCleaner()
+        :
+          depth_(0),
+          window_size_(0),
+          method_(DEPTH_CLEANER_NIL),
+          depth_cleaner_impl_(0)
+    {
+    }
+
+    /** Constructor
+     * @param depth the depth of the normals (only CV_32F or CV_64F)
+     * @param window_size the window size to compute the normals: can only be 1,3,5 or 7
+     * @param method one of the methods to use: RGBD_NORMALS_METHOD_SRI, RGBD_NORMALS_METHOD_FALS
+     */
+    DepthCleaner(int depth, int window_size = 5, int method = DEPTH_CLEANER_NIL);
+
+    ~DepthCleaner();
+
+    /** Given a set of 3d points in a depth image, compute the normals at each point.
+     * @param points a rows x cols x 3 matrix of CV_32F/CV64F or a rows x cols x 1 CV_U16S
+     * @param depth a rows x cols matrix of the cleaned up depth
+     */
+    void
+    operator()(InputArray points, OutputArray depth) const;
+
+    /** Initializes some data that is cached for later computation
+     * If that function is not called, it will be called the first time normals are computed
+     */
+    void
+    initialize() const;
+
+    int getWindowSize() const
+    {
+        return window_size_;
+    }
+    void setWindowSize(int val)
+    {
+        window_size_ = val;
+    }
+    int getDepth() const
+    {
+        return depth_;
+    }
+    void setDepth(int val)
+    {
+        depth_ = val;
+    }
+    int getMethod() const
+    {
+        return method_;
+    }
+    void setMethod(int val)
+    {
+        method_ = val;
+    }
+
+  protected:
+    void
+    initialize_cleaner_impl() const;
+
+    int depth_;
+    int window_size_;
+    int method_;
+    mutable void* depth_cleaner_impl_;
+  };
+
+
+  /** Registers depth data to an external camera
+   * Registration is performed by creating a depth cloud, transforming the cloud by
+   * the rigid body transformation between the cameras, and then projecting the
+   * transformed points into the RGB camera.
+   *
+   * uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir
+   *
+   * Currently does not check for negative depth values.
+   *
+   * @param unregisteredCameraMatrix the camera matrix of the depth camera
+   * @param registeredCameraMatrix the camera matrix of the external camera
+   * @param registeredDistCoeffs the distortion coefficients of the external camera
+   * @param Rt the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
+   * @param unregisteredDepth the input depth data
+   * @param outputImagePlaneSize the image plane dimensions of the external camera (width, height)
+   * @param registeredDepth the result of transforming the depth into the external camera
+   * @param depthDilation whether or not the depth is dilated to avoid holes and occlusion errors (optional)
+   */
+  CV_EXPORTS
+  void
+  registerDepth(InputArray unregisteredCameraMatrix, InputArray registeredCameraMatrix, InputArray registeredDistCoeffs,
+                InputArray Rt, InputArray unregisteredDepth, const Size& outputImagePlaneSize,
+                OutputArray registeredDepth, bool depthDilation=false);
+
+  /**
+   * @param depth the depth image
+   * @param in_K
+   * @param in_points the list of xy coordinates
+   * @param points3d the resulting 3d points
+   */
+  CV_EXPORTS
+  void
+  depthTo3dSparse(InputArray depth, InputArray in_K, InputArray in_points, OutputArray points3d);
+
+  /** Converts a depth image to an organized set of 3d points.
+   * The coordinate system is x pointing left, y down and z away from the camera
+   * @param depth the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters
+   *              (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters)
+   * @param K The calibration matrix
+   * @param points3d the resulting 3d points. They are of depth the same as `depth` if it is CV_32F or CV_64F, and the
+   *        depth of `K` if `depth` is of depth CV_U
+   * @param mask the mask of the points to consider (can be empty)
+   */
+  CV_EXPORTS
+  void
+  depthTo3d(InputArray depth, InputArray K, OutputArray points3d, InputArray mask = noArray());
+
+  /** If the input image is of type CV_16UC1 (like the Kinect one), the image is converted to floats, divided
+   * by 1000 to get a depth in meters, and the values 0 are converted to std::numeric_limits<float>::quiet_NaN()
+   * Otherwise, the image is simply converted to floats
+   * @param in the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters
+   *              (as done with the Microsoft Kinect), it is assumed in meters)
+   * @param depth the desired output depth (floats or double)
+   * @param out The rescaled float depth image
+   */
+  CV_EXPORTS
+  void
+  rescaleDepth(InputArray in, int depth, OutputArray out);
+
+  /** Object that can compute planes in an image
+   */
+  class CV_EXPORTS RgbdPlane: public Algorithm
+  {
+  public:
+    enum RGBD_PLANE_METHOD
+    {
+      RGBD_PLANE_METHOD_DEFAULT
+    };
+
+    RgbdPlane(RGBD_PLANE_METHOD method = RGBD_PLANE_METHOD_DEFAULT)
+        :
+          method_(method),
+          block_size_(40),
+          min_size_(block_size_*block_size_),
+          threshold_(0.01),
+          sensor_error_a_(0),
+          sensor_error_b_(0),
+          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
+     * @param mask An image where each pixel is labeled with the plane it belongs to
+     *        and 255 if it does not belong to any plane
+     * @param plane_coefficients the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1
+     *        and c < 0 (so that the normal points towards the camera)
+     */
+    void
+    operator()(InputArray points3d, InputArray normals, OutputArray mask,
+               OutputArray plane_coefficients);
+
+    /** Find The planes in a depth image but without doing a normal check, which is faster but less accurate
+     * @param points3d the 3d points organized like the depth image: rows x cols with 3 channels
+     * @param mask An image where each pixel is labeled with the plane it belongs to
+     *        and 255 if it does not belong to any plane
+     * @param plane_coefficients the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0
+     */
+    void
+    operator()(InputArray points3d, OutputArray mask, OutputArray plane_coefficients);
+
+    int getBlockSize() const
+    {
+        return block_size_;
+    }
+    void setBlockSize(int val)
+    {
+        block_size_ = val;
+    }
+    int getMinSize() const
+    {
+        return min_size_;
+    }
+    void setMinSize(int val)
+    {
+        min_size_ = val;
+    }
+    int getMethod() const
+    {
+        return method_;
+    }
+    void setMethod(int val)
+    {
+        method_ = val;
+    }
+    double getThreshold() const
+    {
+        return threshold_;
+    }
+    void setThreshold(double val)
+    {
+        threshold_ = val;
+    }
+    double getSensorErrorA() const
+    {
+        return sensor_error_a_;
+    }
+    void setSensorErrorA(double val)
+    {
+        sensor_error_a_ = val;
+    }
+    double getSensorErrorB() const
+    {
+        return sensor_error_b_;
+    }
+    void setSensorErrorB(double val)
+    {
+        sensor_error_b_ = val;
+    }
+    double getSensorErrorC() const
+    {
+        return sensor_error_c_;
+    }
+    void setSensorErrorC(double val)
+    {
+        sensor_error_c_ = val;
+    }
+
+  private:
+    /** The method to use to compute the planes */
+    int method_;
+    /** The size of the blocks to look at for a stable MSE */
+    int block_size_;
+    /** The minimum size of a cluster to be considered a plane */
+    int min_size_;
+    /** How far a point can be from a plane to belong to it (in meters) */
+    double threshold_;
+    /** coefficient of the sensor error with respect to the. All 0 by default but you want a=0.0075 for a Kinect */
+    double sensor_error_a_, sensor_error_b_, sensor_error_c_;
+  };
+
+  /** Object that contains a frame data.
+   */
+  struct CV_EXPORTS RgbdFrame
+  {
+      RgbdFrame();
+      RgbdFrame(const Mat& image, const Mat& depth, const Mat& mask=Mat(), const Mat& normals=Mat(), int ID=-1);
+      virtual ~RgbdFrame();
+
+      virtual void
+      release();
+
+      int ID;
+      Mat image;
+      Mat depth;
+      Mat mask;
+      Mat normals;
+  };
+
+  /** Object that contains a frame data that is possibly needed for the Odometry.
+   * It's used for the efficiency (to pass precomputed/cached data of the frame that participates
+   * in the Odometry processing several times).
+   */
+  struct CV_EXPORTS OdometryFrame : public RgbdFrame
+  {
+    /** These constants are used to set a type of cache which has to be prepared depending on the frame role:
+     * srcFrame or dstFrame (see compute method of the Odometry class). For the srcFrame and dstFrame different cache data may be required,
+     * some part of a cache may be common for both frame roles.
+     * @param CACHE_SRC The cache data for the srcFrame will be prepared.
+     * @param CACHE_DST The cache data for the dstFrame will be prepared.
+     * @param CACHE_ALL The cache data for both srcFrame and dstFrame roles will be computed.
+     */
+    enum
+    {
+      CACHE_SRC = 1, CACHE_DST = 2, CACHE_ALL = CACHE_SRC + CACHE_DST
+    };
+
+    OdometryFrame();
+    OdometryFrame(const Mat& image, const Mat& depth, const Mat& mask=Mat(), const Mat& normals=Mat(), int ID=-1);
+
+    virtual void
+    release();
+
+    void
+    releasePyramids();
+
+    std::vector<Mat> pyramidImage;
+    std::vector<Mat> pyramidDepth;
+    std::vector<Mat> pyramidMask;
+
+    std::vector<Mat> pyramidCloud;
+
+    std::vector<Mat> pyramid_dI_dx;
+    std::vector<Mat> pyramid_dI_dy;
+    std::vector<Mat> pyramidTexturedMask;
+
+    std::vector<Mat> pyramidNormals;
+    std::vector<Mat> pyramidNormalsMask;
+  };
+
+  /** Base class for computation of odometry.
+   */
+  class CV_EXPORTS Odometry: public Algorithm
+  {
+  public:
+
+    /** A class of transformation*/
+    enum
+    {
+      ROTATION = 1, TRANSLATION = 2, RIGID_BODY_MOTION = 4
+    };
+
+    static inline float
+    DEFAULT_MIN_DEPTH()
+    {
+      return 0.f; // in meters
+    }
+    static inline float
+    DEFAULT_MAX_DEPTH()
+    {
+      return 4.f; // in meters
+    }
+    static inline float
+    DEFAULT_MAX_DEPTH_DIFF()
+    {
+      return 0.07f; // in meters
+    }
+    static inline float
+    DEFAULT_MAX_POINTS_PART()
+    {
+      return 0.07f; // in [0, 1]
+    }
+    static inline float
+    DEFAULT_MAX_TRANSLATION()
+    {
+      return 0.15f; // in meters
+    }
+    static inline float
+    DEFAULT_MAX_ROTATION()
+    {
+      return 15; // in degrees
+    }
+
+    /** 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,
+     * 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)
+     * @param srcDepth Depth data of the source frame (CV_32FC1, in meters)
+     * @param srcMask Mask that sets which pixels have to be used from the source frame (CV_8UC1)
+     * @param dstImage Image data of the destination frame (CV_8UC1)
+     * @param dstDepth Depth data of the destination frame (CV_32FC1, in meters)
+     * @param dstMask Mask that sets which pixels have to be used from the destination frame (CV_8UC1)
+     * @param Rt Resulting transformation from the source frame to the destination one (rigid body motion):
+     dst_p = Rt * src_p, where dst_p is a homogeneous point in the destination frame and src_p is
+     homogeneous point in the source frame,
+     Rt is 4x4 matrix of CV_64FC1 type.
+     * @param initRt Initial transformation from the source frame to the destination one (optional)
+     */
+    bool
+    compute(const Mat& srcImage, const Mat& srcDepth, const Mat& srcMask, const Mat& dstImage, const Mat& dstDepth,
+            const Mat& dstMask, Mat& Rt, const Mat& initRt = Mat()) const;
+
+    /** One more method to compute a transformation from the source frame to the destination one.
+     * It is designed to save on computing the frame data (image pyramids, normals, etc.).
+     */
+    bool
+    compute(Ptr<OdometryFrame>& srcFrame, Ptr<OdometryFrame>& dstFrame, Mat& Rt, const Mat& initRt = Mat()) const;
+
+    /** Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data
+     * does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution
+     * of the prepared frame.
+     * @param frame The odometry which will process the frame.
+     * @param cacheType The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL.
+     */
+    virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const;
+
+    static Ptr<Odometry> create(const String & odometryType);
+
+    /** @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
+    checkParams() const = 0;
+
+    virtual bool
+    computeImpl(const Ptr<OdometryFrame>& srcFrame, const Ptr<OdometryFrame>& dstFrame, Mat& Rt,
+                const Mat& initRt) const = 0;
+  };
+
+  /** 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
+  {
+  public:
+    RgbdOdometry();
+    /** Constructor.
+     * @param cameraMatrix Camera matrix
+     * @param minDepth Pixels with depth less than minDepth will not be used (in meters)
+     * @param maxDepth Pixels with depth larger than maxDepth will not be used (in meters)
+     * @param maxDepthDiff Correspondences between pixels of two given frames will be filtered out
+     *                     if their depth difference is larger than maxDepthDiff (in meters)
+     * @param iterCounts Count of iterations on each pyramid level.
+     * @param minGradientMagnitudes For each pyramid level the pixels will be filtered out
+     *                              if they have gradient magnitude less than minGradientMagnitudes[level].
+     * @param maxPointsPart The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
+     * @param transformType Class of transformation
+     */
+    RgbdOdometry(const Mat& cameraMatrix, float minDepth = DEFAULT_MIN_DEPTH(), float maxDepth = DEFAULT_MAX_DEPTH(),
+                 float maxDepthDiff = DEFAULT_MAX_DEPTH_DIFF(), const std::vector<int>& iterCounts = std::vector<int>(),
+                 const std::vector<float>& minGradientMagnitudes = std::vector<float>(), float maxPointsPart = DEFAULT_MAX_POINTS_PART(),
+                 int transformType = RIGID_BODY_MOTION);
+
+    virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const;
+
+    cv::Mat getCameraMatrix() const
+    {
+        return cameraMatrix;
+    }
+    void setCameraMatrix(const cv::Mat &val)
+    {
+        cameraMatrix = val;
+    }
+    double getMinDepth() const
+    {
+        return minDepth;
+    }
+    void setMinDepth(double val)
+    {
+        minDepth = val;
+    }
+    double getMaxDepth() const
+    {
+        return maxDepth;
+    }
+    void setMaxDepth(double val)
+    {
+        maxDepth = val;
+    }
+    double getMaxDepthDiff() const
+    {
+        return maxDepthDiff;
+    }
+    void setMaxDepthDiff(double val)
+    {
+        maxDepthDiff = val;
+    }
+    cv::Mat getIterationCounts() const
+    {
+        return iterCounts;
+    }
+    void setIterationCounts(const cv::Mat &val)
+    {
+        iterCounts = val;
+    }
+    cv::Mat getMinGradientMagnitudes() const
+    {
+        return minGradientMagnitudes;
+    }
+    void setMinGradientMagnitudes(const cv::Mat &val)
+    {
+        minGradientMagnitudes = val;
+    }
+    double getMaxPointsPart() const
+    {
+        return maxPointsPart;
+    }
+    void setMaxPointsPart(double val)
+    {
+        maxPointsPart = val;
+    }
+    int getTransformType() const
+    {
+        return transformType;
+    }
+    void setTransformType(int val)
+    {
+        transformType = val;
+    }
+    double getMaxTranslation() const
+    {
+        return maxTranslation;
+    }
+    void setMaxTranslation(double val)
+    {
+        maxTranslation = val;
+    }
+    double getMaxRotation() const
+    {
+        return maxRotation;
+    }
+    void setMaxRotation(double val)
+    {
+        maxRotation = val;
+    }
+
+  protected:
+    virtual void
+    checkParams() const;
+
+    virtual bool
+    computeImpl(const Ptr<OdometryFrame>& srcFrame, const Ptr<OdometryFrame>& dstFrame, Mat& Rt,
+                const Mat& initRt) const;
+
+    // Some params have commented desired type. It's due to AlgorithmInfo::addParams does not support it now.
+    /*float*/
+    double minDepth, maxDepth, maxDepthDiff;
+    /*vector<int>*/
+    Mat iterCounts;
+    /*vector<float>*/
+    Mat minGradientMagnitudes;
+    double maxPointsPart;
+
+    Mat cameraMatrix;
+    int transformType;
+
+    double maxTranslation, maxRotation;
+  };
+
+  /** 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
+  {
+  public:
+    ICPOdometry();
+    /** Constructor.
+     * @param cameraMatrix Camera matrix
+     * @param minDepth Pixels with depth less than minDepth will not be used
+     * @param maxDepth Pixels with depth larger than maxDepth will not be used
+     * @param maxDepthDiff Correspondences between pixels of two given frames will be filtered out
+     *                     if their depth difference is larger than maxDepthDiff
+     * @param maxPointsPart The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
+     * @param iterCounts Count of iterations on each pyramid level.
+     * @param transformType Class of trasformation
+     */
+    ICPOdometry(const Mat& cameraMatrix, float minDepth = DEFAULT_MIN_DEPTH(), float maxDepth = DEFAULT_MAX_DEPTH(),
+                float maxDepthDiff = DEFAULT_MAX_DEPTH_DIFF(), float maxPointsPart = DEFAULT_MAX_POINTS_PART(),
+                const std::vector<int>& iterCounts = std::vector<int>(), int transformType = RIGID_BODY_MOTION);
+
+    virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const;
+
+    cv::Mat getCameraMatrix() const
+    {
+        return cameraMatrix;
+    }
+    void setCameraMatrix(const cv::Mat &val)
+    {
+        cameraMatrix = val;
+    }
+    double getMinDepth() const
+    {
+        return minDepth;
+    }
+    void setMinDepth(double val)
+    {
+        minDepth = val;
+    }
+    double getMaxDepth() const
+    {
+        return maxDepth;
+    }
+    void setMaxDepth(double val)
+    {
+        maxDepth = val;
+    }
+    double getMaxDepthDiff() const
+    {
+        return maxDepthDiff;
+    }
+    void setMaxDepthDiff(double val)
+    {
+        maxDepthDiff = val;
+    }
+    cv::Mat getIterationCounts() const
+    {
+        return iterCounts;
+    }
+    void setIterationCounts(const cv::Mat &val)
+    {
+        iterCounts = val;
+    }
+    double getMaxPointsPart() const
+    {
+        return maxPointsPart;
+    }
+    void setMaxPointsPart(double val)
+    {
+        maxPointsPart = val;
+    }
+    int getTransformType() const
+    {
+        return transformType;
+    }
+    void setTransformType(int val)
+    {
+        transformType = val;
+    }
+    double getMaxTranslation() const
+    {
+        return maxTranslation;
+    }
+    void setMaxTranslation(double val)
+    {
+        maxTranslation = val;
+    }
+    double getMaxRotation() const
+    {
+        return maxRotation;
+    }
+    void setMaxRotation(double val)
+    {
+        maxRotation = val;
+    }
+    Ptr<RgbdNormals> getNormalsComputer() const
+    {
+        return normalsComputer;
+    }
+
+  protected:
+    virtual void
+    checkParams() const;
+
+    virtual bool
+    computeImpl(const Ptr<OdometryFrame>& srcFrame, const Ptr<OdometryFrame>& dstFrame, Mat& Rt,
+                const Mat& initRt) const;
+
+    // Some params have commented desired type. It's due to AlgorithmInfo::addParams does not support it now.
+    /*float*/
+    double minDepth, maxDepth, maxDepthDiff;
+    /*float*/
+    double maxPointsPart;
+    /*vector<int>*/
+    Mat iterCounts;
+
+    Mat cameraMatrix;
+    int transformType;
+
+    double maxTranslation, maxRotation;
+
+    mutable Ptr<RgbdNormals> normalsComputer;
+  };
+
+  /** Odometry that merges RgbdOdometry and ICPOdometry by minimize sum of their energy functions.
+   */
+
+  class RgbdICPOdometry: public Odometry
+  {
+  public:
+    RgbdICPOdometry();
+    /** Constructor.
+     * @param cameraMatrix Camera matrix
+     * @param minDepth Pixels with depth less than minDepth will not be used
+     * @param maxDepth Pixels with depth larger than maxDepth will not be used
+     * @param maxDepthDiff Correspondences between pixels of two given frames will be filtered out
+     *                     if their depth difference is larger than maxDepthDiff
+     * @param maxPointsPart The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart
+     * @param iterCounts Count of iterations on each pyramid level.
+     * @param minGradientMagnitudes For each pyramid level the pixels will be filtered out
+     *                              if they have gradient magnitude less than minGradientMagnitudes[level].
+     * @param transformType Class of trasformation
+     */
+    RgbdICPOdometry(const Mat& cameraMatrix, float minDepth = DEFAULT_MIN_DEPTH(), float maxDepth = DEFAULT_MAX_DEPTH(),
+                    float maxDepthDiff = DEFAULT_MAX_DEPTH_DIFF(), float maxPointsPart = DEFAULT_MAX_POINTS_PART(),
+                    const std::vector<int>& iterCounts = std::vector<int>(),
+                    const std::vector<float>& minGradientMagnitudes = std::vector<float>(),
+                    int transformType = RIGID_BODY_MOTION);
+
+    virtual Size prepareFrameCache(Ptr<OdometryFrame>& frame, int cacheType) const;
+
+    cv::Mat getCameraMatrix() const
+    {
+        return cameraMatrix;
+    }
+    void setCameraMatrix(const cv::Mat &val)
+    {
+        cameraMatrix = val;
+    }
+    double getMinDepth() const
+    {
+        return minDepth;
+    }
+    void setMinDepth(double val)
+    {
+        minDepth = val;
+    }
+    double getMaxDepth() const
+    {
+        return maxDepth;
+    }
+    void setMaxDepth(double val)
+    {
+        maxDepth = val;
+    }
+    double getMaxDepthDiff() const
+    {
+        return maxDepthDiff;
+    }
+    void setMaxDepthDiff(double val)
+    {
+        maxDepthDiff = val;
+    }
+    double getMaxPointsPart() const
+    {
+        return maxPointsPart;
+    }
+    void setMaxPointsPart(double val)
+    {
+        maxPointsPart = val;
+    }
+    cv::Mat getIterationCounts() const
+    {
+        return iterCounts;
+    }
+    void setIterationCounts(const cv::Mat &val)
+    {
+        iterCounts = val;
+    }
+    cv::Mat getMinGradientMagnitudes() const
+    {
+        return minGradientMagnitudes;
+    }
+    void setMinGradientMagnitudes(const cv::Mat &val)
+    {
+        minGradientMagnitudes = val;
+    }
+    int getTransformType() const
+    {
+        return transformType;
+    }
+    void setTransformType(int val)
+    {
+        transformType = val;
+    }
+    double getMaxTranslation() const
+    {
+        return maxTranslation;
+    }
+    void setMaxTranslation(double val)
+    {
+        maxTranslation = val;
+    }
+    double getMaxRotation() const
+    {
+        return maxRotation;
+    }
+    void setMaxRotation(double val)
+    {
+        maxRotation = val;
+    }
+    Ptr<RgbdNormals> getNormalsComputer() const
+    {
+        return normalsComputer;
+    }
+
+  protected:
+    virtual void
+    checkParams() const;
+
+    virtual bool
+    computeImpl(const Ptr<OdometryFrame>& srcFrame, const Ptr<OdometryFrame>& dstFrame, Mat& Rt,
+                const Mat& initRt) const;
+
+    // Some params have commented desired type. It's due to AlgorithmInfo::addParams does not support it now.
+    /*float*/
+    double minDepth, maxDepth, maxDepthDiff;
+    /*float*/
+    double maxPointsPart;
+    /*vector<int>*/
+    Mat iterCounts;
+    /*vector<float>*/
+    Mat minGradientMagnitudes;
+
+    Mat cameraMatrix;
+    int transformType;
+
+    double maxTranslation, maxRotation;
+
+    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.
+   * 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)
+   * @param mask The mask of used pixels (of CV_8UC1), it can be empty
+   * @param Rt The transformation that will be applied to the 3d points computed from the depth
+   * @param cameraMatrix Camera matrix
+   * @param distCoeff Distortion coefficients
+   * @param warpedImage The warped image.
+   * @param warpedDepth The warped depth.
+   * @param warpedMask The warped mask.
+   */
+  CV_EXPORTS
+  void
+  warpFrame(const Mat& image, const Mat& depth, const Mat& mask, const Mat& Rt, const Mat& cameraMatrix,
+            const Mat& distCoeff, Mat& warpedImage, Mat* warpedDepth = 0, Mat* warpedMask = 0);
+
+// TODO Depth interpolation
+// Curvature
+// Get rescaleDepth return dubles if asked for
+
+//! @}
+
+} /* namespace rgbd */
+} /* namespace cv */
+
+#include "opencv2/rgbd/linemod.hpp"
+
+#endif /* __cplusplus */
+#endif
+
+/* End of file. */
+