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

Author: alalek

modules/rgbd/include/opencv2/rgbd/linemod.hpp

@@ -163,7 +163,7 @@ class CV_EXPORTS_W Modality
 /**
  * \brief Modality that computes quantized gradient orientations from a color image.
  */
-class CV_EXPORTS ColorGradient : public Modality
+class CV_EXPORTS_W ColorGradient : public Modality
 {
 public:
   /**
@@ -181,14 +181,16 @@ class CV_EXPORTS ColorGradient : public Modality
    */
   ColorGradient(float weak_threshold, size_t num_features, float strong_threshold);
 
+  CV_WRAP static Ptr<ColorGradient> create(float weak_threshold, size_t num_features, float strong_threshold);
+
   virtual String name() const CV_OVERRIDE;
 
   virtual void read(const FileNode& fn) CV_OVERRIDE;
   virtual void write(FileStorage& fs) const CV_OVERRIDE;
 
-  float weak_threshold;
-  size_t num_features;
-  float strong_threshold;
+  CV_PROP float weak_threshold;
+  CV_PROP size_t num_features;
+  CV_PROP float strong_threshold;
 
 protected:
   virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
@@ -198,7 +200,7 @@ class CV_EXPORTS ColorGradient : public Modality
 /**
  * \brief Modality that computes quantized surface normals from a dense depth map.
  */
-class CV_EXPORTS DepthNormal : public Modality
+class CV_EXPORTS_W DepthNormal : public Modality
 {
 public:
   /**
@@ -219,15 +221,18 @@ class CV_EXPORTS DepthNormal : public Modality
   DepthNormal(int distance_threshold, int difference_threshold, size_t num_features,
               int extract_threshold);
 
+  CV_WRAP static Ptr<DepthNormal> create(int distance_threshold, int difference_threshold,
+                                         size_t num_features, int extract_threshold);
+
   virtual String name() const CV_OVERRIDE;
 
   virtual void read(const FileNode& fn) CV_OVERRIDE;
   virtual void write(FileStorage& fs) const CV_OVERRIDE;
 
-  int distance_threshold;
-  int difference_threshold;
-  size_t num_features;
-  int extract_threshold;
+  CV_PROP int distance_threshold;
+  CV_PROP int difference_threshold;
+  CV_PROP size_t num_features;
+  CV_PROP int extract_threshold;
 
 protected:
   virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,

modules/rgbd/src/linemod.cpp

@@ -549,6 +549,11 @@ ColorGradient::ColorGradient(float _weak_threshold, size_t _num_features, float
 {
 }
 
+Ptr<ColorGradient> ColorGradient::create(float weak_threshold, size_t num_features, float strong_threshold)
+{
+    return makePtr<ColorGradient>(weak_threshold, num_features, strong_threshold);
+}
+
 static const char CG_NAME[] = "ColorGradient";
 
 String ColorGradient::name() const
@@ -864,6 +869,12 @@ DepthNormal::DepthNormal(int _distance_threshold, int _difference_threshold, siz
 {
 }
 
+Ptr<DepthNormal> DepthNormal::create(int distance_threshold, int difference_threshold, size_t num_features,
+                                     int extract_threshold)
+{
+    return makePtr<DepthNormal>(distance_threshold, difference_threshold, num_features, extract_threshold);
+}
+
 static const char DN_NAME[] = "DepthNormal";
 
 String DepthNormal::name() const