Commit Graph

53 Commits

Author SHA1 Message Date
Maksim Shabunin
26ea34c4cb Merge branch '4.x' into '5.x' 2024-06-26 19:01:34 +03:00
Rostislav Vasilikhin
82038be4cd
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221

### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
  - This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
  - Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
  - At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
  - Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
  - Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`

### 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
2024-04-04 11:04:52 +03:00
Zhangjie Chen
0e47b05106
Merge pull request #23985 from starga2er777:pcc
[GSoC] Update octree methods and create frames for PCC #23985

## PR for GSoC Point Cloud Compression
[Issue for GSoC 2023](https://github.com/opencv/opencv/issues/23624)

* We are **updating the Octree method create() by using OctreeKey**: Through voxelization, directly calculate the leaf nodes that the point cloud belongs to, and omit the judgment whether the point cloud is in the range when inserted. The index of the child node is calculated by bit operation.
* We are also **introducing a new header file pcc.h (Point Cloud Compression) with API framework**.
* We added tests for restoring point clouds from an octree.
* Currently, the features related to octree creation and point cloud compression are part of the internal API, which means they are not directly accessible to users. However, our plan for the future is to **include only the 'PointCloudCompression' class in the 'opencv2/3d.hpp' header file**. This will provide an interface for utilizing the point cloud compression functionality.

The previous PR of this was closed due to repo name conflicts, therefore we resubmitted in this PR.

### 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
2024-02-29 14:02:44 +03:00
Rostislav Vasilikhin
fa745553bf
Merge pull request #24459 from savuor:tri_rasterize
Triangle rasterization function #24459

#24065 reopened since the previous one was automatically closed after rebase
Connected PR with ground truth data: [#1113@extra](https://github.com/opencv/opencv_extra/pull/1113)

### 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
2024-02-19 12:23:05 +03:00
Alexander Smorkalov
f084a229b4 Merge branch 4.x 2024-02-19 09:06:26 +03:00
Rostislav Vasilikhin
f96111ef05
Merge pull request #24961 from savuor:rv/ply_mesh
PLY mesh support #24961

**Warning:** The PR changes exising API.

Fixes #24960
Connected PR: [#1145@extra](https://github.com/opencv/opencv_extra/pull/1145)

### Changes
* Adds faces loading from and saving to PLY files
* Fixes incorrect PLY loading (see issue)
* Adds per-vertex color loading / saving

### 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
2024-02-12 15:34:54 +03:00
Alexander Smorkalov
c739117a7c Merge branch 4.x 2024-01-19 17:32:22 +03:00
Alexander Smorkalov
285108e2e1 Finalize calib3d module split for fisheye part. 2023-08-03 09:21:05 +03:00
Maksym Ivashechkin
0e8748746f
Merge pull request #24005 from ivashmak:merge_usac_5.x
Merge usac to 5.x #24005

### 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


Base branch is PR #23979. Merging PR #23078, 23900 and PR #23806  to 5.x
2023-07-27 17:51:16 +03:00
Zhangjie Chen
4d695cd2f4
Merge pull request #23805 from starga2er777:5.x
GSoC: Modified PLY reader to support color attribute read/write #23805

* Modified PLY reader to support color attribute read/write
* Fix bugs & Modified OBJ reader for color IO
* Replace with correct test file
* Fix I/O of property [w] in OBJ files

### Pull Request Readiness Checklist

**Merged with https://github.com/opencv/opencv_extra/pull/1075**

[Issue for GSoC 2023](https://github.com/opencv/opencv/issues/23624)
The ply loader in 3D module doesn't support color attribute reading. I modified that to support color attribute reading & writing for the color attribute compression as described in proposal.

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
2023-07-25 16:05:56 +03:00
Alexander Smorkalov
5af40a0269 Merge branch 4.x 2023-07-05 15:51:10 +03:00
Alexander Alekhin
593a376566 Merge branch 4.x 2023-01-09 11:08:02 +00:00
Rostislav Vasilikhin
d49958141e
Merge pull request #22925 from savuor:pytsdf_from_scratch
Fixes #22799

Replaces #21559 which was taken as a base

Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388)

### Changes
OK, now this is more Odometry-related PR than Volume-related. Anyway,
* `Volume` class gets wrapped
* The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings`
* `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd.
This works better for depth-only `Odometry` algorithms.
* `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()`
* `Odometry` was fully wrapped + more docs added
* Added Python tests for `Odometry`, `OdometryFrame` and `Volume`
* Added Python sample for `Volume`
* Minor fixes including better var names

### 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
2022-12-12 09:40:12 +03:00
Rostislav Vasilikhin
86c6e07326
Merge pull request #22863 from savuor:tsdf_tests_join
### Changes
* Duplicated code removal in TSDF tests by implementing them with fixtures and GTest params
  * e.g. separate OCL tests file removed
  * as a result, more test cases are covered
  * the same's done for perf tests

### 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
2022-12-06 12:15:39 +03:00
Rostislav Vasilikhin
a423b07149
Merge pull request #22845 from savuor:volume_interface_etc
Corresponding contrib PR: #3382@contrib

Changes

- Volume::raycast(): camera intrinsics can be explicitly passed to the function. If not, the ones from current volume settings are used
- getVolumeDimensions() renamed to getVolumeStrides() because they are strides actually
- TSDF tests: OpenCLStatusRevert and parametrized fixture
- ColorTSDF::integrate(): extra RGB projector is redundant, removed
- Minor changes
2022-11-24 17:16:18 +03:00
Rostislav Vasilikhin
2407ab4e61
Merge pull request #22178 from savuor:hash_tsdf_fixes
This PR contains:

- a new property enableGrowth which controls should the HashTSDF be extended during integration by adding new volume units or not
- a new method getBoundingBox which calculates the size of currently occupied data
- a set of tests to check that new functionality
- a fix for TSDF GPU reset (data is correctly zeroed now using floatToTsdf() function)
    minor changes
2022-11-22 09:24:41 +03:00
Rostislav Vasilikhin
a9d98bfb34
Merge pull request #22741 from savuor:hashtsdf_volposerot_fix
There's a bug which appears when volume pose contains non-trivial rotation.
It results in wrong depth integration which can be observed during raycasting 
or points/normals export.

- This PR fixes the bug for both CPU and OpenCL
- There is a reproducer for the bug
- The copy behavior of VolumeSettings fixed (now copy constructor creates a deep copy)
- Minor changes (e.g. unused vars removed)
2022-11-17 09:10:35 +03:00
Yuhang Wang
d976272d23
Merge pull request #22682 from TsingYiPainter:5.x
3D: Handle cases where the depth of Octree setting is too large

* Handle cases where the depth setting is too large
2022-11-03 07:15:17 +00:00
Rostislav Vasilikhin
a09bb3c2f6 doc fixes 2022-10-25 22:37:38 +02:00
Rostislav Vasilikhin
95ab8517ae trailing whitespaces 2022-10-25 02:58:55 +02:00
Rostislav Vasilikhin
097b0245da getScaledDepth -> getProcessedDepth 2022-10-25 02:45:28 +02:00
Rostislav Vasilikhin
52d82bb44a docs for Odometry+Frame 2022-10-25 02:44:12 +02:00
Rostislav Vasilikhin
8b7e586faa
Merge pull request #22598 from savuor:icp_oframe_readonly
Complement PR: #3366@contrib
Changes

    OdometryFrame losts its getters: a user can provide data at construction stage only, pyramids and other generated data is read-only now
    OdometryFrame is based on UMats: no TMat templates inside, CPU operations are done with UMat::getMat() method, chaining issues are solved ad-hoc
    No more Odometry::createOdometryFrame() method, frames are compatible with all odometry algorithms
    Normals computer is cached inside Odometry and exposed to API as well as its settings
    Volume::raycast() won't return the result in OdometryFrame anymore
    Added test for Odometry::prepareFrame*() & other test fixes
    Minor code improvements

TODOs:

    fix TODOs in code
    lower acceptable accuracy errors
2022-10-24 16:34:01 +03:00
Alexander Smorkalov
335d7bd16e
Merge pull request #22241 from savuor:normals_scale_test
More tests for normals
2022-08-24 10:25:55 +03:00
Alexander Alekhin
c25f776151 Merge branch 4.x 2022-08-21 15:27:31 +00:00
Rostislav Vasilikhin
48c10620cb depthTo3d: fixed bug, added regression test
RgbdNormals: setMethod() removed as useless

RgbdNormals: tests + cross product, to be fixed

+ cross product

LINEMOD: diffThreshold param added + tests fixed

minor

diffThreshold fix

points3dToDepth16U fix

normals computer diffThreshold fix

random plane generation fixed + diffThreshold fix

Rendered normals test rewritten to GTest Params

random plane generation: scale

RGBD_Normals tests: thresholds tuned

Rendered normals tests: 64F support added

Random planes normal tests rewritten to GTest Params

LINEMOD and CrossProduct fix

SRI threshold raised

NormalsRandomPlanes: thresholds raised

assert on unknown alg; minor

fix

frame size reduced

TIFF replaced by YAML.GZ

depthTo3d test changed

cv::transform is used

fix warning

nanMask()

flipAxes()

absDotPixel() + forgotten code

helper functions removed

RGBDNormals: checkNormals() and compare LINEMOD's pts3d to depth input

Rendered: another criteria; thresholds; LINEMOD's pts3d to depth input comparison

thresholds raised a bit

SRI slightly optimized

assert change

normal tests refactored, parametrized, split

trailing namespace, thresholds raised

SRI caching optimized a lot

normal tests rewritten to fixture, no loop

minor

runCase() joined with testIt()

thresholds were put into GTest params

ternary operator

RgbdNormalsTest merged into NormalsRandomPlanes; RgbdPlanes moved closer to tests

normal test minor refactoring

plane finder tests refactored to GTest Params

skip tests

thresholds raised

plane test minor

plane tests: timers dropped, nPlanes put into GTest Params; refactoring

generated normals tests: minor refactoring

flipAxes() templated

rendered normals tests refactored: thresholds to GTest Params

CV_Error -> ASSERT_FALSE
2022-08-19 20:16:08 +02:00
Rostislav Vasilikhin
fd14b959cf warpFrame() rewritten, interface changed 2022-06-29 23:55:07 +02:00
Rostislav Vasilikhin
162bd5be4c distCoeffs removed from warpFrame() signature 2022-06-27 01:23:07 +02:00
Rostislav Vasilikhin
770c0d1416 1. removed (almost all) additional scale parameter mentions
2. refactored funcptrs to switch/cases & more
2022-06-23 23:47:08 +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
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
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
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
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