Commit Graph

10 Commits

Author SHA1 Message Date
Alexander Alekhin
593a376566 Merge branch 4.x 2023-01-09 11:08:02 +00:00
Rostislav Vasilikhin
f92a1aa07d trying to fix MSVC compilation
double -> float warning

fix warnings in the rest 3d module files

extra var removed

try to fix warnings
2022-09-19 00:27:26 +02:00
Rostislav Vasilikhin
bfc4bdd9d0 regression test added
test data moved to opencv_extra, loads from yaml.gz file now
2022-09-05 18:42:12 +02:00
Alexander Alekhin
c25f776151 Merge branch 4.x 2022-08-21 15:27:31 +00:00
Alexander Alekhin
a0d5277e0d Merge branch 4.x 2021-12-30 21:43:45 +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
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
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
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