Chiebot-Mirror/opencv - opencv - Gitea: Git with a cup of tea

Author	SHA1	Message	Date
Rostislav Vasilikhin	82038be4cd	Merge pull request #25221 from savuor:rv/bench_3d OBJ and PLY loaders extention to support texture coordinates and difused colors #25221 ### This PR changes * Texture coordinates support added to `loadMesh()` and `saveMesh()` * `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce - This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces - Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature - At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file * PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue` * `std::vector<cv::Vec3i>` supported as an index array type * Colors are loaded as [0, 1] floats instead of uchars - Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy - Performing uchar conversion does not always makes sense and can be performed by a user if they needs it * PLY loading fixed: wrong offset ruined x coordinate * Python tests added for `loadPointCloud` and `loadMesh` ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake	9 months ago
Zhangjie Chen	0e47b05106	Merge pull request #23985 from starga2er777:pcc [GSoC] Update octree methods and create frames for PCC #23985 ## PR for GSoC Point Cloud Compression [Issue for GSoC 2023](https://github.com/opencv/opencv/issues/23624) * We are updating the Octree method create() by using OctreeKey: Through voxelization, directly calculate the leaf nodes that the point cloud belongs to, and omit the judgment whether the point cloud is in the range when inserted. The index of the child node is calculated by bit operation. * We are also introducing a new header file pcc.h (Point Cloud Compression) with API framework. * We added tests for restoring point clouds from an octree. * Currently, the features related to octree creation and point cloud compression are part of the internal API, which means they are not directly accessible to users. However, our plan for the future is to include only the 'PointCloudCompression' class in the 'opencv2/3d.hpp' header file. This will provide an interface for utilizing the point cloud compression functionality. The previous PR of this was closed due to repo name conflicts, therefore we resubmitted in this PR. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake	10 months ago
Rostislav Vasilikhin	fa745553bf	Merge pull request #24459 from savuor:tri_rasterize Triangle rasterization function #24459 #24065 reopened since the previous one was automatically closed after rebase Connected PR with ground truth data: [#1113@extra](https://github.com/opencv/opencv_extra/pull/1113) ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake	11 months ago
Rostislav Vasilikhin	d49958141e	Merge pull request #22925 from savuor:pytsdf_from_scratch Fixes #22799 Replaces #21559 which was taken as a base Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388) ### Changes OK, now this is more Odometry-related PR than Volume-related. Anyway, * `Volume` class gets wrapped * The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings` * `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd. This works better for depth-only `Odometry` algorithms. * `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()` * `Odometry` was fully wrapped + more docs added * Added Python tests for `Odometry`, `OdometryFrame` and `Volume` * Added Python sample for `Volume` * Minor fixes including better var names ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake	2 years ago
Rostislav Vasilikhin	8b7e586faa	Merge pull request #22598 from savuor:icp_oframe_readonly Complement PR: #3366@contrib Changes OdometryFrame losts its getters: a user can provide data at construction stage only, pyramids and other generated data is read-only now OdometryFrame is based on UMats: no TMat templates inside, CPU operations are done with UMat::getMat() method, chaining issues are solved ad-hoc No more Odometry::createOdometryFrame() method, frames are compatible with all odometry algorithms Normals computer is cached inside Odometry and exposed to API as well as its settings Volume::raycast() won't return the result in OdometryFrame anymore Added test for Odometry::prepareFrame*() & other test fixes Minor code improvements TODOs: fix TODOs in code lower acceptable accuracy errors	2 years ago
Rostislav Vasilikhin	c12d4c82df	python Odometry scale test removed	3 years ago
Saratovtsev	df490c6399	moving code from ICP+Scale	3 years ago
Artem Saratovtsev	4ba2b05df8	Merge pull request #21439 from DumDereDum:python_odometry Odometry python support	3 years ago
Rostislav Vasilikhin	bae9cef0b5	Merge pull request #20013 from savuor:rgbd_to_3d Moving RGBD parts to 3d * files moved from rgbd module in contrib repo * header paths fixed * perf file added * lapack compilation fixed * Rodrigues fixed in tests * rgbd namespace removed * headers fixed * initial: rgbd files moved to 3d module * rgbd updated from latest contrib master; less file duplication * "std::" for sin(), cos(), etc. * KinFu family -> back to contrib * paths & namespaces * removed duplicates, file version updated * namespace kinfu removed from 3d module * forgot to move test_colored_kinfu.cpp to contrib * tests fixed: Params removed * kinfu namespace removed * it works without objc bindings * include headers fixed * tests: data paths fixed * headers moved to/from public API * Intr -> Matx33f in public API * from kinfu_frame.hpp to utils.hpp * submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers * no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl * get/setPyramidAt() instead of lots of methods * Mat -> InputArray, TMat * prepareFrameCache: refactored * FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose * Mat/UMat choose * minor stuff related to headers * (un)signed int warnings; compilation minor issues * minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp * FastICPOdometry: caching, rgbCameraMatrix * OdometryFrame: pyramid%s% -> pyramids[] * drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls * makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp * minors * FastICPOdometry: caching updated, init fields * OdometryFrameImpl<UMat> fixed * matrix building fixed; minors * returning linemode back to contrib * params.pose is Mat now * precomp headers reorganized * minor fixes, header paths, extra header removed * minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed * moving declarations from/to headers * internal headers reorganized (once again) * fix include * extra var fix * fix include, fix (un)singed warning * calibration.cpp: reverting back * headers fix * workaround to fix bindings * temporary removed wrappers * VolumeType -> VolumeParams * (temporarily) removing wrappers for Volume and VolumeParams * pyopencv_linemod -> contrib * try to fix test_rgbd.py * headers fixed * fixing wrappers for rgbd * fixing docs * fixing rgbdPlane * RgbdNormals wrapped * wrap Volume and VolumeParams, VolumeType from enum to int * DepthCleaner wrapped * header folder "rgbd" -> "3d" * fixing header path * VolumeParams referenced by Ptr to support Python wrappers * render...() fixed * Ptr<VolumeParams> fixed * makeVolume(... resolution -> [X, Y, Z]) * fixing static declaration * try to fix ios objc bindings * OdometryFrame::release...() removed * fix for Odometry algos not supporting UMats: prepareFrameCache<>() * preparePyramidMask(): fix to compile with TMat = UMat * fixing debug guards * removing references back; adding makeOdometryFrame() instead * fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang) * try to fix objc wrapper warnings; rerun builders * VolumeType -> VolumeKind * try to fix OCL bug * prints removed * indentation fixed * headers fixed * license fix * WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already * KinFu license notion shortened * debugging code removed * include guards fixed * KinFu license left in contrib module * isValidDepth() moved to private header * indentation fix * indentation fix in src files * RgbdNormals rewritten to pImpl * minor * DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering * minors, indentation * no "private" in public headers * depthTo3d test moved from separate file * Normals: setDepth() is useless, removing it * RgbdPlane => findPlanes() * rescaleDepth(): minor * warpFrame: minor * minor TODO * all Odometries (except base abstract class) rewritten to pImpl * FastICPOdometry now supports maxRotation and maxTranslation * minor * Odometry's children: now checks are done in setters * get rid of protected members in Odometry class * get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl * cameraMatrix: from double to float * matrix exponentiation: Eigen -> dual quaternions * Odometry evaluation fixed to reuse existing code * "small" macro fixed by undef * pixNorm is calculated on CPU only now (and then uploads on GPU) * test registration: no cvtest classes * test RgbdNormals and findPlanes(): no cvtest classes * test_rgbd.py: minor fix * tests for Odometry: no cvtest classes; UMat tests; logging fixed * more CV_OVERRIDE to overriden functions * fixing nondependent names to dependent * more to prev commit * forgotten fixes: overriden functions, (non)dependent names * FastICPOdometry: fix UMat support when OpenCL is off * try to fix compilation: missing namespaces * Odometry: static const-mimicking functions to internal constants * forgotten change to prev commit * more forgotten fixes * do not expose "submap.hpp" by default * in-class enums: give names, CamelCase, int=>enums; minors * namespaces, underscores, String * std::map is used by pose graph, adding it * compute()'s signature fixed, computeImpl()'s too * RgbdNormals: Mat -> InputArray * depth.hpp: Mat -> InputArray * cameraMatrix: Matx33f -> InputArray + default value + checks * "details" headers are not visible by default * TSDF tests: rearranging checks * cameraMatrix: no (realistic) default value * renderPointsNormals(): no wrappers for them debug: assert on empty frame in TSDF tests * debugging code for TSDF GPU * debug from integrate to raycast * no (non-zero) default camera matrix anymore * drop debugging code (does not help) * try to fix TSDF GPU: constant -> global const ptr	3 years ago
Vadim Pisarevsky	d6c699c014	calib3d module in opencv is split into 3 modules: 3d, calib and stereo. stereo module in opencv_contrib is renamed to xstereo	4 years ago