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

Author	SHA1	Message	Date
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	3 years ago
Rostislav Vasilikhin	232a83ecb8	check mask values	3 years ago
Rostislav Vasilikhin	48c10620cb	depthTo3d: fixed bug, added regression test RgbdNormals: setMethod() removed as useless RgbdNormals: tests + cross product, to be fixed + cross product LINEMOD: diffThreshold param added + tests fixed minor diffThreshold fix points3dToDepth16U fix normals computer diffThreshold fix random plane generation fixed + diffThreshold fix Rendered normals test rewritten to GTest Params random plane generation: scale RGBD_Normals tests: thresholds tuned Rendered normals tests: 64F support added Random planes normal tests rewritten to GTest Params LINEMOD and CrossProduct fix SRI threshold raised NormalsRandomPlanes: thresholds raised assert on unknown alg; minor fix frame size reduced TIFF replaced by YAML.GZ depthTo3d test changed cv::transform is used fix warning nanMask() flipAxes() absDotPixel() + forgotten code helper functions removed RGBDNormals: checkNormals() and compare LINEMOD's pts3d to depth input Rendered: another criteria; thresholds; LINEMOD's pts3d to depth input comparison thresholds raised a bit SRI slightly optimized assert change normal tests refactored, parametrized, split trailing namespace, thresholds raised SRI caching optimized a lot normal tests rewritten to fixture, no loop minor runCase() joined with testIt() thresholds were put into GTest params ternary operator RgbdNormalsTest merged into NormalsRandomPlanes; RgbdPlanes moved closer to tests normal test minor refactoring plane finder tests refactored to GTest Params skip tests thresholds raised plane test minor plane tests: timers dropped, nPlanes put into GTest Params; refactoring generated normals tests: minor refactoring flipAxes() templated rendered normals tests refactored: thresholds to GTest Params CV_Error -> ASSERT_FALSE	3 years ago
Artem Saratovtsev	6ab4659840	Merge pull request #20755 from DumDereDum:new_odometry New odometry Pipeline * first intergation * tests run, but not pass * add previous version of sigma calc * add minor comment * strange fixes * fix fast ICP * test changes; fast icp still not work correctly * finaly, it works * algtype fix * change affine comparison * boolean return * fix bug with angle and cos * test pass correctly * fix for kinfu pipeline * add compute points normals * update for new odometry * change odometry_evaluation * odometry_evaluation works * change debug logs * minor changes * change depth setting in odometryFrame * fastICP works with 4num points * all odometries work with 4mun points * odometry full works on 4num points and normals * replace ICP with DEPTH; comments replacements * create prepareFrame; add docs for Odometry * change getPyramids() * delete extra code * add intrinsics; but dont works * bugfix with nan checking * add gpu impl * change createOdometryFrame func * remove old fastICP code * comments fix * add comments * minor fixes * other minor fixes * add channels assert * add impl for odometry settings * add pimpl to odometry * linux warning fix * linux warning fix 1 * linux warning fix 2 * linux error fix * linux warning fix 3 * linux warning fix 4 * linux error fix 2 * fix test warnings * python build fix * doxygen fix * docs fix * change normal tests for 4channel point * all Normal tests pass * plane works * add warp frame body * minor fix * warning fixes * try to fix * try to fix 1 * review fix * lvls fix * createOdometryFrame fix * add comment * const reference * OPENCV_3D_ prefix * const methods * OdometryFramePyramidType ifx * add assert * precomp moved upper * delete types_c * add assert for get and set functions * minor fixes * remove core.hpp from header * ocl_run add * warning fix * delete extra comment * minor fix * setDepth fix * delete underscore * odometry settings fix * show debug image fix * build error fix * other minor fix * add const to signatures * fix * conflict fix * getter fix	4 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	4 years ago