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
[teset data in opencv_extra](https://github.com/opencv/opencv_extra/pull/1016)
NanoTrack is an extremely lightweight and fast object-tracking model.
The total size is **1.1 MB**.
And the FPS on M1 chip is **150**, on Raspberry Pi 4 is about **30**. (Float32 CPU only)
With this model, many users can run object tracking on the edge device.
The author of NanoTrack is @HonglinChu.
The original repo is https://github.com/HonglinChu/NanoTrack.
### 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
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
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>
### Critical bugs fixed:
- `seam_finder.find()` returns None and overwrites `masks_warped`
- `indices` is only 1-dimensional
### Nice-to-have bugs fixed:
- avoid invalid value in sqrt and subsequent runtime warning
- avoid printing help string on each run (use argparse builtin behavior)
### New features:
- added graphcut seam finder support
### Test Summary:
Tested on Ubuntu 20.04 with python 3.8.10 and opencv-python-contrib 4.5.5.62
fix cvtColor-error
* fix gray image channel error
* fix gray image channel error
* fix cvtColor error after the video end
* fix cvtColor error after the video end and change next variable
* fix cvtColor error after the video end
* reset next variable
* fix cvtColor error after the video end
* fix cvtColor error after the video end
without rounding the composed image sizes (variable "sz") they will be odly fractions of a pixel (e.g. (5300.965, 3772.897)) and therefore cause a "TypeError: integer argument expected, got float" in line
456 roi = warper.warpRoi(sz, K, cameras[i].R)
Stitching Detailed Tutorial Improvements
* Add Vertical Wave Correction
The user has the possibility to pass "vert" as wave_correct parameter. However, in the code "cv.detail.WAVE_CORRECT_HORIZ" ist fixed. This change proposes changes so that the wave correction is done vertically if the user passes "vert" as wave_correct parameter. The variable "do_wave_correct" is replaced by None which is passed to the variable "wave_correct" if the user chooses "no" for wave correction.
* Correct fixed conf_thresh
According to the documentation, [cv.detail.leaveBiggestComponent](https://docs.opencv.org/4.5.1/d7/d74/group__stitching__rotation.html#ga855d2fccbcfc3b3477b34d415be5e786) takes features, the pairwise_matches and the conf_threshold as input.
In the tutorial, however, conf_threshold is fixed at 0.3 even though the user can pass conf_thresh as parameter which is 1 by default. Fixing this parameter at 0.3 causes the script to include images into the panorama which are not part of it.
* Error Message for SURF if not implemented
In OpenCV 4.5.1
import cv2 as cv
cv.xfeatures2d_SURF.create
will not create an AttributeError, even if the function is excluded (no nonfree option)
In Line 305 (now 306) however ´finder = FEATURES_FIND_CHOICES[args.features]()´ will raise an
error: OpenCV(4.5.1) ..\opencv_contrib\modules\xfeatures2d\src\surf.cpp:1029: error: (-213:The function/feature is not implemented) This algorithm is patented and is excluded in this configuration; Set OPENCV_ENABLE_NONFREE CMake option and rebuild the library in function 'cv::xfeatures2d::SURF::create'
So we should check with cv.xfeatures2d_SURF.create() correctly if SURF is available
Instead of being a copy of line 76, line 79 instead correctly indicates that it will show a histogram for a gray image in curve mode, as given by the code block at line 103 referencing image "gray" instead of image "im".
