Commit Graph

83 Commits

Author SHA1 Message Date
Rostislav Vasilikhin
bee410c748 warpFrame() test draft + script generating test data 2022-06-23 23:18:59 +02:00
Saratovtsev
df490c6399 moving code from ICP+Scale 2022-06-14 13:40:14 +02:00
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
2022-05-23 14:47:57 +00:00
Alexander Alekhin
8b3d2a57ad Merge pull request #21968 from No-Plane-Cannot-Be-Detected:5.x-randomSampling_bug 2022-05-17 21:17:29 +00:00
Klepikov Dmitrii
a99b4071a2
Merge pull request #20471 from ibvfteh:pointcloudio
GSoC module to save and load point cloud

* Add functionality to read point cloud data from files

* address issues found on review, add tests for mesh, refactor

* enable fail-safe execution and empty arrays as output

* Some improvements for point cloud io module

Co-authored-by: Julie Bareeva <julia.bareeva@xperience.ai>
2022-05-13 18:10:39 +00:00
Wanli Zhong
627e6a0447
Modify randomSampling in point cloud 2022-05-11 15:30:58 +08:00
OpenCV Developers
0fbd58bef9 Merge branch 4.x 2022-04-23 22:07:14 +00:00
Artem Saratovtsev
3d12581798
Merge pull request #21741 from DumDereDum:odometry_prepareFrame_fix
Odometry prepareFrame fix

* fix issue; add tests

* img fix

* mask fix

* minor fix
2022-04-04 21:14:31 +00:00
Rostislav Vasilikhin
aa5055261f
Merge pull request #21652 from savuor:fix/hash_tsdf_normals_simd32_compilation
Fix HashTSDF compilation

* big SIMD compilation fix (try 1)

* fixing compilation, try 2
2022-02-24 10:29:28 +00:00
Alexander Alekhin
899b4d1452 Merge branch 4.x 2022-02-22 19:55:26 +00:00
Ruan
e5d648d2d0
Merge pull request #21615 from No-Plane-Cannot-Be-Detected:5.x-ptcloud_comments
Added 3D point cloud code comments and copyright

1. update the code comments.
2. add author information.
2022-02-18 20:43:08 +03:00
Artem Saratovtsev
9c87d8bf9c
Merge pull request #21189 from DumDereDum:new_volume
New Volume pipeline
2022-02-18 14:50:26 +00:00
Artem Saratovtsev
4ba2b05df8
Merge pull request #21439 from DumDereDum:python_odometry
Odometry python support
2022-02-07 16:16:17 +00:00
Alexander Alekhin
a0d5277e0d Merge branch 4.x 2021-12-30 21:43:45 +00:00
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}' .
2021-12-30 15:54:06 +00:00
Alexander Alekhin
7d05f92855 Merge pull request #21334 from catree:solvePnP_doc_page_5.x 2021-12-28 17:59:05 +00:00
Rostislav Vasilikhin
9d6f388809
Merge pull request #21018 from savuor:levmarqfromscratch
New LevMarq implementation

* Hash TSDF fix: apply volume pose when fetching pose

* DualQuat minor fix

* Pose Graph: getEdgePose(), getEdgeInfo()

* debugging code for pose graph

* add edge to submap

* pose averaging: DualQuats instead of matrix averaging

* overlapping ratio: rise it up; minor comment

* remove `Submap::addEdgeToSubmap`

* test_pose_graph: minor

* SparseBlockMatrix: support 1xN as well as Nx1 for residual vector

* small changes to old LMSolver

* new LevMarq impl

* Pose Graph rewritten to use new impl

* solvePnP(), findHomography() and findExtrinsicCameraParams2() use new impl

* estimateAffine...2D() use new impl

* calibration and stereo calibration use new impl

* BundleAdjusterBase::estimate() uses new impl

* new LevMarq interface

* PoseGraph: changing opt interface

* findExtrinsicCameraParams2(): opt interface updated

* HomographyRefine: opt interface updated

* solvePnPRefine opt interface fixed

* Affine2DRefine opt interface fixed

* BundleAdjuster::estimate() opt interface fixed

* calibration: opt interface fixed + code refactored a little

* minor warning fixes

* geodesic acceleration, Impl -> Backend rename

* calcFunc() always uses probe vars

* solveDecomposed, fixing negation

* fixing geodesic acceleration + minors

* PoseGraph exposes its optimizer now + its tests updated to check better convegence

* Rosenbrock test added for LevMarq

* LevMarq params upgraded

* Rosenbrock can do better

* fixing stereo calibration

* old implementation removed (as well as debug code)

* more debugging code removed

* fix warnings

* fixing warnings

* fixing Eigen dependency

* trying to fix Eigen deps

* debugging code for submat is now temporary

* trying to fix Eigen dependency

* relax sanity check for solvePnP

* relaxing sanity check even more

* trying to fix Eigen dependency

* warning fix

* Quat<T>: fixing warnings

* more warning fixes

* fixed warning

* fixing *KinFu OCL tests

* algo params -> struct Settings

* Backend moved to details

* BaseLevMarq -> LevMarqBase

* detail/pose_graph.hpp -> detail/optimizer.hpp

* fixing include stuff for details/optimizer.hpp

* doc fix

* LevMarqBase rework: Settings, pImpl, Backend

* Impl::settings and ::backend fix

* HashTSDFGPU fix

* fixing compilation

* warning fix for OdometryFrameImplTMat

* docs fix + compile warnings

* remake: new class LevMarq with pImpl and enums, LevMarqBase => detail, no Backend class, Settings() => .cpp, Settings==() removed, Settings.set...() inlines

* fixing warnings & whitespace
2021-12-27 21:51:32 +00:00
catree
9c61d80bc4 Summarize PnP pose computation on a single separate page. 2021-12-23 19:43:27 +01:00
Saratovtsev
5714868726 odometry warnings fix 2021-12-16 13:52:00 +03:00
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
2021-12-02 20:53:44 +03:00
Ruan
0cf0a5e9d4
Merge pull request #21095 from No-Plane-Cannot-Be-Detected:next_SIMD
Accelerated 3D point cloud Farthest Point Sampling calculation using SIMD.

* Add several 3D point cloud sampling functions: Random, VoxelGrid, FarthestPoint.

* Made some code detail changes and exposed the random number generator parameters at the interface.

* Add simple tests for sampling.

* Modify interface output parameters.

* Modify interface return value.

* The sampling test is modified for the new changes of function interface.

* Improved test of VoxelGridFilterSampling

* Improved test of VoxelGridFilterSampling and FPS.

* Add test for the dist_lower_limit arguments of FPS function.

* Optimization function _getMatFromInputArray.

* Optimize the code style and some details according to the suggestions.

* Clear prefix cv: in the source code.

* Change the initialization of Mat in the sampling test.

* 1. Unified code style
2. Optimize randomSampling method

* 1. Optimize code comments.
2. Remove unused local variables.

* Rebuild the structure of the test, make the test case more reliable, and change the code style.

* Update test_sampling.cpp

Fix a warning.

* Use SIMD to optimize the farthest point sampling.

* Optimize the farthest point sampling SIMD code.

* 1. remove `\n` from the ptcloud.hpp comment.
2. updated the default value of the argument arrangement_of_points in the _getMatFromInputArray function in ptcloud_utils.hpp from 0 to 1, since the latter is more commonly used (such arrangement is easier for SIMD acceleration).
3. removed two functions in ptcloud_utils.hpp that were not used.

* Remove the <br> in the comment.

* Fix whitespace issues.
2021-11-30 12:33:44 +00:00
Ruan
1470f90c2a
Merge pull request #20784 from No-Plane-Cannot-Be-Detected:next
Add 3D point cloud sampling functions to branch next

* Add several 3D point cloud sampling functions: Random, VoxelGrid, FarthestPoint.

* Made some code detail changes and exposed the random number generator parameters at the interface.

* Add simple tests for sampling.

* Modify interface output parameters.

* Modify interface return value.

* The sampling test is modified for the new changes of function interface.

* Improved test of VoxelGridFilterSampling

* Improved test of VoxelGridFilterSampling and FPS.

* Add test for the dist_lower_limit arguments of FPS function.

* Optimization function _getMatFromInputArray.

* Optimize the code style and some details according to the suggestions.

* Clear prefix cv: in the source code.

* Change the initialization of Mat in the sampling test.

* 1. Unified code style
2. Optimize randomSampling method

* 1. Optimize code comments.
2. Remove unused local variables.

* Rebuild the structure of the test, make the test case more reliable, and change the code style.

* Update test_sampling.cpp

Fix a warning.
2021-10-29 01:41:21 +03:00
Alexander Alekhin
fce4a19d0d 5.x: cleanup compatibility code (2021-10) 2021-10-20 17:40:04 +00:00
Alexander Alekhin
7ba26ada12 Merge branch 4.x 2021-10-15 21:53:39 +00:00
Zihao Mu
19116471fe submap for loop closure detection in 3d 2021-08-26 11:26:12 +08:00
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
2021-08-22 13:18:45 +00:00
Alexander Alekhin
7a5f554bc4 Merge branch 4.x 2021-06-13 10:27:44 +00:00
zihaomu
5c0ac37163 add Octree to 3d module of next branch. 2021-06-08 11:19:01 +08:00
Vadim Pisarevsky
958d3e8c60 Merge pull request #20225 from vpisarev:remove_c_3d 2021-06-07 16:55:15 +00:00
Vadim Pisarevsky
eff6d32337 * refactored the remaining old-style functions in 3d and calib modules to use the new C++ API.
* 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
2021-06-07 20:55:25 +08:00
Alexander Alekhin
b91e0dca90 Merge branch 4.x 2021-06-04 15:18:51 +00:00
Alexander Alekhin
fc628014bb Merge branch 4.x 2021-04-10 18:03:01 +00:00
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
2020-12-01 23:42:15 +03:00