Commit Graph

73 Commits

Author SHA1 Message Date
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
Alexander Smorkalov
cb6d295f15 Merge branch 4.x 2024-04-02 16:39:54 +03:00
Maksim Shabunin
8cbdd0c833
Merge pull request #25075 from mshabunin:cleanup-imgproc-1
C-API cleanup: apps, imgproc_c and some constants #25075

Merge with https://github.com/opencv/opencv_contrib/pull/3642

* Removed obsolete apps - traincascade and createsamples (please use older OpenCV versions if you need them). These apps relied heavily on C-API
* removed all mentions of imgproc C-API headers (imgproc_c.h, types_c.h) - they were empty, included core C-API headers
* replaced usage of several C constants with C++ ones (error codes, norm modes, RNG modes, PCA modes, ...) - most part of this PR (split into two parts - all modules and calib+3d - for easier backporting)
* removed imgproc C-API headers (as separate commit, so that other changes could be backported to 4.x)

Most of these changes can be backported to 4.x.
2024-03-05 12:18:31 +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
Alexander Smorkalov
a22130fbfa Merge branch 4.x 2024-02-28 18:49:05 +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
Maksim Shabunin
fefbcfeb0b 3d: fix static init in test 2023-11-09 22:07:59 +03:00
Rostislav Vasilikhin
53aad98a1a
Merge pull request #23098 from savuor:nanMask
finiteMask() and doubles for patchNaNs() #23098

Related to #22826
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
fdab565711 Merge branch 4.x 2023-09-13 14:49:25 +03:00
Vadim Pisarevsky
518486ed3d
Added new data types to cv::Mat & UMat (#23865)
* 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 #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
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 #23186 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 #22754 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 #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
097b0245da getScaledDepth -> getProcessedDepth 2022-10-25 02:45:28 +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
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
Rostislav Vasilikhin
0b34d90dfa minor 2022-07-24 18:28:26 +02:00
Rostislav Vasilikhin
7bdacb8098 threshold comparison made more obvious 2022-07-24 18:27:35 +02:00
Rostislav Vasilikhin
d4e28f27b7 warpFrame test parametrized 2022-07-24 18:22:48 +02:00
Rostislav Vasilikhin
75a8e3e956 minor 2022-06-30 21:32:41 +02:00
Rostislav Vasilikhin
3c3eba868a floatL2 threshold raised a bit 2022-06-30 17:22:58 +02:00
Rostislav Vasilikhin
2ae7438c6b odometry tests fixed 2022-06-30 17:10:26 +02:00
Rostislav Vasilikhin
492d9dba1e warpFrame() tests big update 2022-06-29 23:51:07 +02:00
Rostislav Vasilikhin
6b2d1033bd warpFrame() test: more test cases 2022-06-27 01:24:39 +02:00
Rostislav Vasilikhin
bf8f7b4e57 more scale stuff removed 2022-06-23 23:53:57 +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
Rostislav Vasilikhin
bee410c748 warpFrame() test draft + script generating test data 2022-06-23 23:18:59 +02:00