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
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odometry_evaluation.cpp	Merge pull request #22598 from savuor:icp_oframe_readonly	2022-10-24 16:34:01 +03:00