KinectFusion: several updates (#2133)
* truncateThreshold added
* demo updated for RealSense
* first Kinect2, then RealSense
* more distance-based parameters
* KinFu demo: idle mode added
* undistort added
* KinFu demo: depth recorder added
* TSDFVolume gets voxelSize, voxelSizeInv, truncDist members; decorative fixes
* TSDFVolumeGPU::integrate(): host code compiles
* TSDFVolume: truncDist fixed
* TSDFVolume::integrate(): initial OCL version is done
* TSDFVolume::integrate(): OCL: minor fixes
* kinfu: small fixes
* TSDFVolume::raycast(): initial GPU version is done
* USE_INTRINSICS directive for centralized enable/disable opt. code
* TSDF Volume supports 3 different sizes/resolutions on each dimension
* TSDFVolume: serviceMembers moved to parent class
* TSDFVolumeGPU: mem order changed, gave perf boost 4x
* Frame: fixed UMat as InputArray; TSDF: comments, TODOs, minor fixes
* Frame::getPointsNormals(); minors
* FrameGPU: initial version (not working)
* minor
* FrameGPU: several fixes
* added OCL "fast" options
* ICP OCL: initial slow version is done (host-side reduce)
* ICP OCL: reduce is done, buggy
* KinFu Frame: more args fixes
* ICP OCL: small fixes to kernel
* ICP OCL reduce works
* OCL code refactored
* ICP OCL: less allocations, better speed
* ICP OCL: pose matrix made arg
* Render OCL: small fix
* Demo: using UMats everywhere
* TSDF integrate OCL: put const arg into kernel arg
* Platform parameter partially removed, implementation choice is done through OCL availability check
* Frame and FrameGenerator removed (other code is in following commits)
* CPU render: 4b instead of 3b
* ICP: no Frame class use, one class for both CPU and GPU code
* demo: fix for UMat chain
* TSDF: no Frame or FrameGenerator use
* KinFu: no Frame or FrameGenerator, parametrized for Mat or UMat based on OCL availability
* KinFu::setParams() removed since it has no effect anyway
* TSDF::raycast OCL: fixed normals rendering
* ScopeTime -> CV_TRACE
* 3-dims resolution and size passed to API
* fixed unexpected fails of ICP OCL
* voxels made cubic again
* args fixed a little
* fixed volSize calculation
* Tests: inequal, OCL, unified scene test function
* kinfu_frame: input types fixed
* fixed for Intel HD Graphics
* KinFu demo: setUseOptimized instead of setUseOpenCL
* tsdf: data types fixed
* TSDF OCL: fetch normals implemented
* roundDownPow2 -> utils.hpp
* TSDF OCL: fetch points+normals implemented
* TSDF OCL: NoSize, other fixes for kernel args
* Frame OCL: HAVE_OPENCL, NoSize, other kernel args fixed
* ICP OCL: HAVE_OPENCL, NoSize and other kernel fixes
* KinFu demo fixes: volume size and too long delay
* whitespace fix
* TSDF: allowed sizes not divisable by 32
* TSDF: fixed type traits; added optimization TODOs
* KinFu made non-free
* minor fixes: cast and whitespace
* fixed FastICP test
* warnings fixed: implicit type conversions
* OCL kernels: local args made through KernelArg::Local(lsz) call
* MSVC warnings fixed
* a workaround for broken OCV's bilateral
* KinFu tests made a bit faster
* build fixed until 3.4 isn't merged to master
* warnings fixed, test time shortened
* empty kinfu module created
* KinFu: skeleton is done
* some intermediate state fixed
* fixed normal calculation
* bilinear depth interp: fixing missing data
* TSDF integration optimized
* TSDF: adding constness
* utils: isNaN; Intr::Projector const reference fixed
* TSDF raycast: quality improvements
* TSDF fetchCloud is done
* render() added
* ICP implemented
* debug code moved to demo.cpp
* less TODOs
* partial refactoring
* TSDF: fetchPoints() and fetchNormals() rewritten in parallel manner
* platform choose added
* reordered
* data types isolated off the platform
* minor fixes
* ScopeTime added
* fixed iterations gathering
* volume::integrate() parallelized but works slow (big overhead for
* raycast is done in parallel
* got rid of kftype and p3type
* fetchNormals() fixed
* less code duplication
* nan check reduced, interpolate() refactored to fetchVoxel()
* ICP: optimizations
* TSDF: bilinear specialized
* TSDF: voxelSizeInv pushed away
* TSDF: interpolation optimized
* TSDF::integrate: parallel_for now works fast
* Frame::render: pow -> float ipow<int p>(x)
* ICP::getAb: parallel_for
* ICP::getAb: time print disabled
* ICP::getAb::bilinear: 2 calls joined
* refactored, extra functions removed
* optimized to use only 27 elems
* ICP::getAb: better optimized
* Points and Normals data type expanded to 4 channels
* ICP optimized (doesn't work)
* ICP::getAb is on intrinsics and it works
* NaN check is faster
* ICP::getAB: minors
* added non-SIMD code as fallback
* TSDF::fetchVoxel and interpolation: got rid of coord check
* TSDF::fetchVoxel: refactor
* TSDF::raycast: local copies of members
* TSDF::interpolate: refactored for simplier vectorization
* TSDF::getNormal: refactored for simplier vectorization
* minor
* include "intrin.hpp" moved to precomp.hpp
* TSDF::coords shifts moved to class body
* TSDF::getNormal vectorized
* TSDF::getNormal: little improvements
* TSDF::interpolate: little improvements
* TSDF::raycast vectorized
* more to precomp.hpp
* TSDF: minor optimizations
* TSDF::raycast cycles optimized
* TSDF::fetchPointsNormals instead of separate p and n
* TSDF::bilinearInterpolate: little speedup
* TSDF::interpolate: speed up
* TSDF::interpolate: more compact code
* TSDF::getNormal and raycast main cycle made faster
* ICP: few improvements
* Frame: a lot of parts parallelized
* TSDF::fetchPointsNormals minor improvements
* TSDF::integrate and bilinear vectorized
* TSDF::interpolate and getNormal: interpolation vectorized
* ICP: minor changes
* gradientDeltaFactor removed, coarseParams() added
* TSDF::raycast: fixed bug with tmin/tmax
* minors
* baseZ fixed
* ICP: interpolation fixed, non-parallelized code fixed
* TSDF::interpolate: bilinear fixed, less artifacts
* TSDF: minor refactoring
* TSDF: some members moved to parent class
* added tests for KinFu
* KinFu documented
* docs fixed
* warnings fixed
* license added, overrides added
* minors
* ScopeTime moved to separate file
* less memory allocations
* demo improved, java binding disabled
* viz module made optional
* fix to demo
* frameGenerator interface: got rid of refs to cv::Ptr
* demo made interactive
* trying to fix build
* trying to fix warnings
* warning fixed
* demo fixed
* raycast_step_factor tuned
* legal info added
* don't reset if ICP failed
* refactoring: KinFu::operator() => update()
* KinFu::KinFuParams => ::Params
* get/setParams
* fetch => get
* all src moved to cv::kinfu namespace
* struct Intr made internal
* kinfu_module merged into rgbd module
* License preambule updated
* minors
* frame.* renamed to kinfu_frame.*
* warnings fixed
* more warnings fixed
* RGBD normals: a fix against Inf/Nan values
* FastICP: fixed transformation direction
* RGBD Odometry tests: added epsilon for id transform; minors
* RGBD Odometry tests enabled
* modules list fixed
Rostislav Vasilikhin
soyer
Alexander Alekhin
Rostislav Vasilikhin
Pavel Rojtberg