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

Author: alalek

modules/rgbd/src/odometry.cpp

@@ -983,28 +983,6 @@ Ptr<DepthCleaner> DepthCleaner::create(int depth_in, int window_size_in, int met
   return makePtr<DepthCleaner>(depth_in, window_size_in, method_in);
 }
 
-RgbdPlane::RgbdPlane(int method, int block_size,
-                     int min_size, double threshold, double sensor_error_a,
-                     double sensor_error_b, double sensor_error_c) :
-                     method_(method),
-                     block_size_(block_size),
-                     min_size_(min_size),
-                     threshold_(threshold),
-                     sensor_error_a_(sensor_error_a),
-                     sensor_error_b_(sensor_error_b),
-                     sensor_error_c_(sensor_error_c)
-{}
-
-Ptr<RgbdPlane> RgbdPlane::create(int method, int block_size, int min_size, double threshold,
-                                 double sensor_error_a, double sensor_error_b,
-                                 double sensor_error_c ) {
-    return makePtr<RgbdPlane>(method, block_size, min_size, threshold,
-                              sensor_error_a, sensor_error_b, sensor_error_c);
-}
-
-RgbdPlane::~RgbdPlane()
-{}
-
 RgbdFrame::RgbdFrame() : ID(-1)
 {}
 

modules/rgbd/src/plane.cpp

@@ -501,6 +501,28 @@ class InlierFinder
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
+  RgbdPlane::RgbdPlane(int method, int block_size,
+                     int min_size, double threshold, double sensor_error_a,
+                     double sensor_error_b, double sensor_error_c) :
+                     method_(method),
+                     block_size_(block_size),
+                     min_size_(min_size),
+                     threshold_(threshold),
+                     sensor_error_a_(sensor_error_a),
+                     sensor_error_b_(sensor_error_b),
+                     sensor_error_c_(sensor_error_c)
+  {}
+
+  Ptr<RgbdPlane> RgbdPlane::create(int method, int block_size, int min_size, double threshold,
+                                 double sensor_error_a, double sensor_error_b,
+                                 double sensor_error_c ) {
+    return makePtr<RgbdPlane>(method, block_size, min_size, threshold,
+                              sensor_error_a, sensor_error_b, sensor_error_c);
+  }
+
+  RgbdPlane::~RgbdPlane()
+  {}
+
   void
   RgbdPlane::operator()(InputArray points3d_in, OutputArray mask_out, OutputArray plane_coefficients)
   {