C-API cleanup: apps, imgproc_c and some constants #25075
Merge with https://github.com/opencv/opencv_contrib/pull/3642
* Removed obsolete apps - traincascade and createsamples (please use older OpenCV versions if you need them). These apps relied heavily on C-API
* removed all mentions of imgproc C-API headers (imgproc_c.h, types_c.h) - they were empty, included core C-API headers
* replaced usage of several C constants with C++ ones (error codes, norm modes, RNG modes, PCA modes, ...) - most part of this PR (split into two parts - all modules and calib+3d - for easier backporting)
* removed imgproc C-API headers (as separate commit, so that other changes could be backported to 4.x)
Most of these changes can be backported to 4.x.
RegisterCameras function for heterogenious cameras pair #25061
Credits to Linfei Pan
Extracted from https://github.com/opencv/opencv/pull/24052
### 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
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
---------
Co-authored-by: lpanaf <linpan@student.ethz.ch>
* attempt to add 0d/1d mat support to OpenCV
* revised the patch; now 1D mat is treated as 1xN 2D mat rather than Nx1.
* a step towards 'green' tests
* another little step towards 'green' tests
* calib test failures seem to be fixed now
* more fixes _core & _dnn
* another step towards green ci; even 0D mat's (a.k.a. scalars) are now partly supported!
* * fixed strange bug in aruco/charuco detector, not sure why it did not work
* also fixed a few remaining failures (hopefully) in dnn & core
* disabled failing GAPI tests - too complex to dig into this compiler pipeline
* hopefully fixed java tests
* trying to fix some more tests
* quick followup fix
* continue to fix test failures and warnings
* quick followup fix
* trying to fix some more tests
* partly fixed support for 0D/scalar UMat's
* use updated parseReduce() from upstream
* trying to fix the remaining test failures
* fixed [ch]aruco tests in Python
* still trying to fix tests
* revert "fix" in dnn's CUDA tensor
* trying to fix dnn+CUDA test failures
* fixed 1D umat creation
* hopefully fixed remaining cuda test failures
* removed training whitespaces
* started working on adding 32u, 64u, 64s, bool and 16bf types to OpenCV
* core & imgproc tests seem to pass
* fixed a few compile errors and test failures on macOS x86
* hopefully fixed some compile problems and test failures
* fixed some more warnings and test failures
* trying to fix small deviations in perf_core & perf_imgproc by revering randf_64f to exact version used before
* trying to fix behavior of the new OpenCV with old plugins; there is (quite strong) assumption that video capture would give us frames with depth == CV_8U (0) or CV_16U (2). If depth is > 7 then it means that the plugin is built with the old OpenCV. It needs to be recompiled, of course and then this hack can be removed.
* try to repair the case when target arch does not have FP64 SIMD
* 1. fixed bug in itoa() found by alalek
2. restored ==, !=, > and < univ. intrinsics on ARM32/ARM64.
Add multiview calibration [GSOC 2022]
### Pull Request Readiness Checklist
- [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
The usage tutorial is on Google Docs following this link: https://docs.google.com/document/d/1k6YpD0tpSVqnVnvU2nzE34K3cp_Po6mLWqXV06CUHwQ/edit?usp=sharing
### Changes
* Port of #22519 to 5.x
* Distortion coefficients were not copied properly, fixed
* Minor coding style chages
### 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
Fixes#23057
Parameter uncertainty fixed + ground truth test data fixed
### 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
variables refactoring
levmarq fix
initIntrinsicParams2D() refactoring
undo LM fix
cameraCalcJErr: made a lambda; warnings fixed; vars rearranged & renamed, jacobian buffers, perViewErrors and allErrors fix, etc.
stereoCalibrate: internal vars in callback
stereoCalibrate: capture only useful variables
stereoCalibrate: perViewError fix + minors
rvecs and tvecs are not pointers anymore
no extra lambda
newObjPoints: no pointers
stdDevs: no pointers
_Jo removed: not used
Range::all() -> rowRange, colRange
param and mask are std::vectors now
indices shortened
tabs
less func-scoped vars; TODOs
less formatting & renaming changes
trailing whitespaces
less diff
less changes
less changes
Range::all() back
perViewErr ptr fix
NINTRINSIC captured
try to fix warning
trying to fix a warning
fix warnings, another attempt
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
* extended C++ version of Levenberg-Marquardt (LM) solver to accommodate all features of the C counterpart.
* removed C version of LM solver
* made a few other little changes to make the code compile and run smoothly
Maksim Shabunin
Alexander Smorkalov
Vadim Pisarevsky
Alexander Smorkalov
lpanaf
Maksym Ivashechkin
Rostislav Vasilikhin
Andrey Senyaev
Rostislav Vasilikhin
Suleyman TURKMEN
Alexander Alekhin
Vadim Pisarevsky