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Author	SHA1	Message	Date
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
Vadim Pisarevsky	2ee9d21dae	Merge pull request #18571 from vpisarev:add_lapack Added clapack * bring a small subset of Lapack, automatically converted to C, into OpenCV * added missing lsame_ prototype * * small fix in make_clapack script * trying to fix remaining CI problems * fixed character arrays' initializers * get rid of F2C_STR_MAX * * added back single-precision versions for QR, LU and Cholesky decompositions. It adds very little extra overhead. * added stub version of sdesdd. * uncommented calls to all the single-precision Lapack functions from opencv/core/src/hal_internal.cpp. * fixed warning from Visual Studio + cleaned f2c runtime a bit * * regenerated Lapack w/o forward declarations of intrinsic functions (such as sqrt(), r_cnjg() etc.) * at once, trailing whitespaces are removed from the generated sources, just in case * since there is no declarations of intrinsic functions anymore, we could turn some of them into inline functions * trying to eliminate the crash on ARM * fixed API and semantics of s_copy * * CLapack has been tested successfully. It's now time to restore the standard LAPACK detection procedure * removed some more trailing whitespaces * * retained only the essential stuff in CLapack * added checks to lapack calls to gracefully return "not implemented" instead of returning invalid results with "ok" status * disabled warning when building lapack * cmake: update LAPACK detection Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>	4 years ago

Author

SHA1

Message

Date

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

Vadim Pisarevsky

2ee9d21dae

Merge pull request #18571 from vpisarev:add_lapack

Added clapack

* bring a small subset of Lapack, automatically converted to C, into OpenCV

* added missing lsame_ prototype

* * small fix in make_clapack script
* trying to fix remaining CI problems

* fixed character arrays' initializers

* get rid of F2C_STR_MAX

* * added back single-precision versions for QR, LU and Cholesky decompositions. It adds very little extra overhead.
* added stub version of sdesdd.
* uncommented calls to all the single-precision Lapack functions from opencv/core/src/hal_internal.cpp.

* fixed warning from Visual Studio + cleaned f2c runtime a bit

* * regenerated Lapack w/o forward declarations of intrinsic functions (such as sqrt(), r_cnjg() etc.)
* at once, trailing whitespaces are removed from the generated sources, just in case
* since there is no declarations of intrinsic functions anymore, we could turn some of them into inline functions

* trying to eliminate the crash on ARM

* fixed API and semantics of s_copy

* * CLapack has been tested successfully. It's now time to restore the standard LAPACK detection procedure
* removed some more trailing whitespaces

* * retained only the essential stuff in CLapack
* added checks to lapack calls to gracefully return "not implemented" instead of returning invalid results with "ok" status

* disabled warning when building lapack

* cmake: update LAPACK detection

Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>

4 years ago

2 Commits (c5ff405d940b47d7c0fa4b25c1e618843e1c9521)