opencv/modules/3d/perf
Rostislav Vasilikhin bae9cef0b5
Merge pull request #20013 from savuor:rgbd_to_3d
Moving RGBD parts to 3d

* files moved from rgbd module in contrib repo

* header paths fixed

* perf file added

* lapack compilation fixed

* Rodrigues fixed in tests

* rgbd namespace removed

* headers fixed

* initial: rgbd files moved to 3d module

* rgbd updated from latest contrib master; less file duplication

* "std::" for sin(), cos(), etc.

* KinFu family -> back to contrib

* paths & namespaces

* removed duplicates, file version updated

* namespace kinfu removed from 3d module

* forgot to move test_colored_kinfu.cpp to contrib

* tests fixed: Params removed

* kinfu namespace removed

* it works without objc bindings

* include headers fixed

* tests: data paths fixed

* headers moved to/from public API

* Intr -> Matx33f in public API

* from kinfu_frame.hpp to utils.hpp

* submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers

* no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl

* get/setPyramidAt() instead of lots of methods

* Mat -> InputArray, TMat

* prepareFrameCache: refactored

* FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose

* Mat/UMat choose

* minor stuff related to headers

* (un)signed int warnings; compilation minor issues

* minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp

* FastICPOdometry: caching, rgbCameraMatrix

* OdometryFrame: pyramid%s% -> pyramids[]

* drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls

* makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp

* minors

* FastICPOdometry: caching updated, init fields

* OdometryFrameImpl<UMat> fixed

* matrix building fixed; minors

* returning linemode back to contrib

* params.pose is Mat now

* precomp headers reorganized

* minor fixes, header paths, extra header removed

* minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed

* moving declarations from/to headers

* internal headers reorganized (once again)

* fix include

* extra var fix

* fix include, fix (un)singed warning

* calibration.cpp: reverting back

* headers fix

* workaround to fix bindings

* temporary removed wrappers

* VolumeType -> VolumeParams

* (temporarily) removing wrappers for Volume and VolumeParams

* pyopencv_linemod -> contrib

* try to fix test_rgbd.py

* headers fixed

* fixing wrappers for rgbd

* fixing docs

* fixing rgbdPlane

* RgbdNormals wrapped

* wrap Volume and VolumeParams, VolumeType from enum to int

* DepthCleaner wrapped

* header folder "rgbd" -> "3d"

* fixing header path

* VolumeParams referenced by Ptr to support Python wrappers

* render...() fixed

* Ptr<VolumeParams> fixed

* makeVolume(... resolution -> [X, Y, Z])

* fixing static declaration

* try to fix ios objc bindings

* OdometryFrame::release...() removed

* fix for Odometry algos not supporting UMats: prepareFrameCache<>()

* preparePyramidMask(): fix to compile with TMat = UMat

* fixing debug guards

* removing references back; adding makeOdometryFrame() instead

* fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang)

* try to fix objc wrapper warnings; rerun builders

* VolumeType -> VolumeKind

* try to fix OCL bug

* prints removed

* indentation fixed

* headers fixed

* license fix

* WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already

* KinFu license notion shortened

* debugging code removed

* include guards fixed

* KinFu license left in contrib module

* isValidDepth() moved to private header

* indentation fix

* indentation fix in src files

* RgbdNormals rewritten to pImpl

* minor

* DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering

* minors, indentation

* no "private" in public headers

* depthTo3d test moved from separate file

* Normals: setDepth() is useless, removing it

* RgbdPlane => findPlanes()

* rescaleDepth(): minor

* warpFrame: minor

* minor TODO

* all Odometries (except base abstract class) rewritten to pImpl

* FastICPOdometry now supports maxRotation and maxTranslation

* minor

* Odometry's children: now checks are done in setters

* get rid of protected members in Odometry class

* get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl

* cameraMatrix: from double to float

* matrix exponentiation: Eigen -> dual quaternions

* Odometry evaluation fixed to reuse existing code

* "small" macro fixed by undef

* pixNorm is calculated on CPU only now (and then uploads on GPU)

* test registration: no cvtest classes

* test RgbdNormals and findPlanes(): no cvtest classes

* test_rgbd.py: minor fix

* tests for Odometry: no cvtest classes; UMat tests; logging fixed

* more CV_OVERRIDE to overriden functions

* fixing nondependent names to dependent

* more to prev commit

* forgotten fixes: overriden functions, (non)dependent names

* FastICPOdometry: fix UMat support when OpenCL is off

* try to fix compilation: missing namespaces

* Odometry: static const-mimicking functions to internal constants

* forgotten change to prev commit

* more forgotten fixes

* do not expose "submap.hpp" by default

* in-class enums: give names, CamelCase, int=>enums; minors

* namespaces, underscores, String

* std::map is used by pose graph, adding it

* compute()'s signature fixed, computeImpl()'s too

* RgbdNormals: Mat -> InputArray

* depth.hpp: Mat -> InputArray

* cameraMatrix: Matx33f -> InputArray + default value + checks

* "details" headers are not visible by default

* TSDF tests: rearranging checks

* cameraMatrix: no (realistic) default value

* renderPointsNormals*(): no wrappers for them

* debug: assert on empty frame in TSDF tests

* debugging code for TSDF GPU

* debug from integrate to raycast

* no (non-zero) default camera matrix anymore

* drop debugging code (does not help)

* try to fix TSDF GPU: constant -> global const ptr
2021-08-22 13:18:45 +00:00
..
perf_affine2d.cpp calib3d module in opencv is split into 3 modules: 3d, calib and stereo. 2020-12-01 23:42:15 +03:00
perf_main.cpp calib3d module in opencv is split into 3 modules: 3d, calib and stereo. 2020-12-01 23:42:15 +03:00
perf_pnp.cpp calib3d module in opencv is split into 3 modules: 3d, calib and stereo. 2020-12-01 23:42:15 +03:00
perf_precomp.hpp Merge pull request #20013 from savuor:rgbd_to_3d 2021-08-22 13:18:45 +00:00
perf_tsdf.cpp Merge pull request #20013 from savuor:rgbd_to_3d 2021-08-22 13:18:45 +00:00
perf_undistort.cpp Merge branch 4.x 2021-06-13 10:27:44 +00:00