Commit Graph

100 Commits

Author SHA1 Message Date
Rostislav Vasilikhin
f96111ef05
Merge pull request from savuor:rv/ply_mesh
PLY mesh support 

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

Fixes 
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
Maksym Ivashechkin
607d92858f Port of Replace double atomic in USAC
Port of solution for:
- https://github.com/opencv/opencv/issues/24482
- https://github.com/opencv/opencv/issues/24281

Original PR: https://github.com/opencv/opencv/pull/24499
2023-11-20 16:42:00 +03:00
Maksim Shabunin
fefbcfeb0b 3d: fix static init in test 2023-11-09 22:07:59 +03:00
Rostislav Vasilikhin
53aad98a1a
Merge pull request from savuor:nanMask
finiteMask() and doubles for patchNaNs() 

Related to 
Connected PR in extra: [#1037@extra](https://github.com/opencv/opencv_extra/pull/1037)

### TODOs:
- [ ] Vectorize `finiteMask()` for 64FC3 and 64FC4

### Changes

This PR:
* adds a new function `finiteMask()`
* extends `patchNaNs()` by CV_64F support
* moves `patchNaNs()` and `finiteMask()` to a separate file

**NOTE:** now the function is called `finiteMask()` as discussed with the OpenCV core team

### 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
2023-11-09 10:32:47 +03:00
Alexander Smorkalov
34f34f6227 Merge branch 4.x 2023-11-08 14:39:48 +03:00
Alexander Smorkalov
97620c053f Merge branch 4.x 2023-10-23 11:53:04 +03:00
Maksim Shabunin
c3a37d0fcb RISC-V: fix compilation in RVV scalable mode 2023-09-22 21:08:33 +03:00
Vadim Pisarevsky
416bf3253d
attempt to add 0d/1d mat support to OpenCV ()
* attempt to add 0d/1d mat support to OpenCV

* revised the patch; now 1D mat is treated as 1xN 2D mat rather than Nx1.

* a step towards 'green' tests

* another little step towards 'green' tests

* calib test failures seem to be fixed now

* more fixes _core & _dnn

* another step towards green ci; even 0D mat's (a.k.a. scalars) are now partly supported!

* * fixed strange bug in aruco/charuco detector, not sure why it did not work
* also fixed a few remaining failures (hopefully) in dnn & core

* disabled failing GAPI tests - too complex to dig into this compiler pipeline

* hopefully fixed java tests

* trying to fix some more tests

* quick followup fix

* continue to fix test failures and warnings

* quick followup fix

* trying to fix some more tests

* partly fixed support for 0D/scalar UMat's

* use updated parseReduce() from upstream

* trying to fix the remaining test failures

* fixed [ch]aruco tests in Python

* still trying to fix tests

* revert "fix" in dnn's CUDA tensor

* trying to fix dnn+CUDA test failures

* fixed 1D umat creation

* hopefully fixed remaining cuda test failures

* removed training whitespaces
2023-09-21 18:24:38 +03:00
Alexander Smorkalov
fdab565711 Merge branch 4.x 2023-09-13 14:49:25 +03:00
Vadim Pisarevsky
518486ed3d
Added new data types to cv::Mat & UMat ()
* started working on adding 32u, 64u, 64s, bool and 16bf types to OpenCV

* core & imgproc tests seem to pass

* fixed a few compile errors and test failures on macOS x86

* hopefully fixed some compile problems and test failures

* fixed some more warnings and test failures

* trying to fix small deviations in perf_core & perf_imgproc by revering randf_64f to exact version used before

* trying to fix behavior of the new OpenCV with old plugins; there is (quite strong) assumption that video capture would give us frames with depth == CV_8U (0) or CV_16U (2). If depth is > 7 then it means that the plugin is built with the old OpenCV. It needs to be recompiled, of course and then this hack can be removed.

* try to repair the case when target arch does not have FP64 SIMD

* 1. fixed bug in itoa() found by alalek
2. restored ==, !=, > and < univ. intrinsics on ARM32/ARM64.
2023-08-04 10:50:03 +03:00
Alexander Smorkalov
285108e2e1 Finalize calib3d module split for fisheye part. 2023-08-03 09:21:05 +03:00
Alexander Smorkalov
47188b7c7e Merge branch 4.x 2023-07-28 13:05:36 +03:00
Maksym Ivashechkin
0e8748746f
Merge pull request from ivashmak:merge_usac_5.x
Merge usac to 5.x 

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

* 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
cea26341a5 Merge branch 4.x 2023-07-13 09:28:36 +03:00
Alexander Smorkalov
5af40a0269 Merge branch 4.x 2023-07-05 15:51:10 +03:00
Alexander Smorkalov
29dc07b1f3
Merge pull request from savuor:warnings_3d
MSVC warnings fixed in 3d module
2023-01-30 10:09:01 +03:00
Alexander Alekhin
3c8e97ff6a 3d(test): change tolerance of Volume/VolumeTestFixture.valid_points 2023-01-30 05:27:02 +00:00
Alexander Alekhin
4500a5369c 3d(test): don't use RNG in SetUp() 2023-01-29 17:14:25 +00:00
Alexander Alekhin
f33598f55e Merge branch 4.x 2023-01-28 17:31:32 +00:00
Rostislav Vasilikhin
285218915c msvc cast warnings 2023-01-27 17:20:12 +01:00
Alexander Alekhin
593a376566 Merge branch 4.x 2023-01-09 11:08:02 +00:00
Maksim Shabunin
8a62b03761
Merge pull request from mshabunin:c-cleanup
C-API cleanup for OpenCV 5.x (imgproc, highgui)

* imgproc: C-API cleanup

* imgproc: increase cvtColor test diff threshold

* imgproc: C-API cleanup pt.2

* imgproc: C-API cleanup pt.3

* imgproc: C-API cleanup pt.4

* imgproc: C-API cleanup pt.5

* imgproc: C-API cleanup pt.5

* imgproc: C-API cleanup pt.6

* highgui: C-API cleanup

* highgui: C-API cleanup pt.2

* highgui: C-API cleanup pt.3

* highgui: C-API cleanup pt.3

* imgproc: C-API cleanup pt.7

* fixup! highgui: C-API cleanup pt.3

* fixup! imgproc: C-API cleanup pt.6

* imgproc: C-API cleanup pt.8

* imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9

* fixup! imgproc: C-API cleanup pt.9
2022-12-14 18:57:08 +00:00
Rostislav Vasilikhin
d49958141e
Merge pull request from savuor:pytsdf_from_scratch
Fixes 

Replaces  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 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 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 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 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 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
a1820ff3d4 unused function removed 2022-10-25 02:45:42 +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 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
3857173845
Merge pull request from asenyaev:asen/disabled_compiling_warnings_5.x
Disabled compiling warnings in case of symbols in cmake for 5.x
2022-09-20 16:19:08 +03:00
Andrey Senyaev
752e5fdc26 Disabled compiling warnings in case of symbols in cmake for 5.x 2022-09-20 13:36:59 +03:00
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
9ba4bb7355 initIntrisicParams2D() refactored
variables refactoring

levmarq fix

initIntrinsicParams2D() refactoring

undo LM fix

cameraCalcJErr: made a lambda; warnings fixed; vars rearranged & renamed, jacobian buffers, perViewErrors and allErrors fix, etc.

stereoCalibrate: internal vars in callback

stereoCalibrate: capture only useful variables

stereoCalibrate: perViewError fix + minors

rvecs and tvecs are not pointers anymore

no extra lambda

newObjPoints: no pointers

stdDevs: no pointers

_Jo removed: not used

Range::all() -> rowRange, colRange

param and mask are std::vectors now

indices shortened

tabs

less func-scoped vars; TODOs

less formatting & renaming changes

trailing whitespaces

less diff

less changes

less changes

Range::all() back

perViewErr ptr fix

NINTRINSIC captured

try to fix warning

trying to fix a warning

fix warnings, another attempt
2022-09-15 22:55:40 +02:00
Alexander Smorkalov
335d7bd16e
Merge pull request from savuor:normals_scale_test
More tests for normals
2022-08-24 10:25:55 +03:00
Alexander Smorkalov
3a02561c40 Merge pull request from savuor:levmarq_log_level_fix 2022-08-24 07:17:22 +00:00
Rostislav Vasilikhin
eb571b500b fixes warnings 2022-08-23 10:22:28 +02:00
Alexander Smorkalov
505bbab75b
Merge pull request from savuor:levmarq_log_level
LevMarq: log level lowered
2022-08-23 09:22:39 +03:00
Rostislav Vasilikhin
3cf3e3f6f7 LevMarq: log level lowered 2022-08-22 23:53:49 +02:00
Rostislav Vasilikhin
232a83ecb8 check mask values 2022-08-22 16:07:07 +02:00
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
869123d6f9 "FAIL() <<" replaced by "ASSERT_*() <<" 2022-07-24 18:40:55 +02:00
Rostislav Vasilikhin
02d864070a minor 2022-07-24 18:29:34 +02:00