9 Commits

Author	SHA1	Message	Date
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