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

Author	SHA1	Message	Date
Wanli Zhong	b06544bd54	Merge pull request #21918 from No-Plane-Cannot-Be-Detected:5.x-region_growing_3d Add normal estimation and region growing algorithm for point cloud * Add normal estimation and region growing algorithm for point cloud * 1.Modified documentation for normal estimation;2.Converted curvature in region growing to absolute values;3.Changed the data type of threshold from float to double;4.Fixed some bugs; * Finished documentation * Add tests for normal estimation. Test the normal and curvature of each point in the plane and sphere of the point cloud. * Fix some warnings caused by to small numbers in test * Change the test to calculate the average difference instead of comparing each normal and curvature * Fixed the bugs found by testing * Redesigned the interface and fixed problems: 1. Make the interface compatible with radius search. 2. Make region growing optionally sortable on results. 3. Modified the region growing interface. 4. Format reference. 5. Removed sphere test. * Fix warnings * Remove flann dependency * Move the flann dependency to the corresponding test	3 years ago
Ruan	80c5d18f9c	Merge pull request #21276 from No-Plane-Cannot-Be-Detected:5.x-ptcloud Add support for 3D point cloud segmentation, using the USAC framework. * Modify the RANSAC framework in usac such that RANSAC can be used in 3D point cloud segmentation. * 1. Add support for 3D point cloud segmentation, using the USAC framework. 2. Add solvers, error estimators for plane model and sphere model. * Added code samples to the comments of class SACSegmentation. * 1. Update the segment interface parameters of SACSegmentation. 2. Fix some errors in variable naming. * Add tests for plane detection. * 1. Add tests for sphere segmentation. 2. Fix some bugs found by tests. 3. Rename "segmentation" to "sac segmentation". 4. Rename "detect" to "segment". TODO: Too much duplicate code, the structure of the test needs to be rebuilt. * 1. Use SIMD acceleration for plane model and sphere model error estimation. 2. Optimize the RansacQualityImpl#getScore function to avoid multiple calls to the error#getError function. 3. Fix a warning in test_sac_segmentation.cpp. * 1. Fix the warning of ModelConstraintFunction ambiguity. 2. Fix warning: no previous declaration for'void cv::usac::modelParamsToUsacConfig(cv::Ptr<cv::usac::SimpleUsacConfig>&, const cv::Ptr<const cv::usac::Model>& ) * Fix a warning in test_sac_segmentation.cpp about direct comparison of different types of data. * Add code comments related to the interpretation of model coefficients. * Update the use of custom model constraint functions. * Simplified test code structure. * Update the method of checking plane models. * Delete test for cylinder. * Add some comments about UniversalRANSAC. * 1. The RANSAC paper in the code comments is referenced using the bibtex format. 2. The sample code in the code comments is replaced using @snippet. 3. Change the public API class SACSegmentation to interface. 4. Clean up the old useless code. * fix warning(no previous declaration) in 3d_sac_segmentation.cpp. * Fix compilation errors caused by 3d_sac_segmentation.cpp. * Move the function sacModelMinimumSampleSize() from ptcloud.hpp to sac_segmentation.cpp. * 1. Change the interface for setting the number of threads to the interface for setting whether to be parallel. 2. Move interface implementation code in ptcloud_utils.hpp to ptcloud_utils.cpp. * SACSegmentation no longer inherits Algorithm. * Add the constructor and destructor of SACSegmentation. * 1. For the declaration of the common API, the prefix and suffix of the parameter names no longer contain underscores. 2. Rename the function _getMatFromInputArray -> getPointsMatFromInputArray. 3. Change part of CV_CheckDepth to CV_CheckDepthEQ. 4. Remove the doxygen flag from the source code. 5. Update the loop termination condition of SIMD in the point cloud section of 3D module. * fix warning: passing 'bool' chooses 'int' over 'size_t {aka unsigned int}' . * fix warning: passing 'bool' chooses 'int' over 'size_t {aka unsigned int}' .	3 years ago
catree	9c61d80bc4	Summarize PnP pose computation on a single separate page.	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