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Merge pull request #22598 from savuor:icp_oframe_readonly

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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
This commit is contained in:
Rostislav Vasilikhin
2022-10-24 15:34:01 +02:00
committed by GitHub
parent 8358efaca1
commit 8b7e586faa
24 changed files with 994 additions and 1857 deletions
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modules/3d/test/test_normal.cpp
+1 -1
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@@ -625,7 +625,7 @@ TEST_P(RenderedNormals, check)
INSTANTIATE_TEST_CASE_P(RGBD_Normals, RenderedNormals, ::testing::Combine(::testing::Values(CV_32F, CV_64F),
::testing::Values(
NormalComputerThresholds { RgbdNormals::RGBD_NORMALS_METHOD_FALS, { 81.8210, 0}},
NormalComputerThresholds { RgbdNormals::RGBD_NORMALS_METHOD_FALS, { 81.8213, 0}},
NormalComputerThresholds { RgbdNormals::RGBD_NORMALS_METHOD_LINEMOD, { 107.2710, 29168}},
NormalComputerThresholds { RgbdNormals::RGBD_NORMALS_METHOD_SRI, { 73.2027, 17693}},
NormalComputerThresholds { RgbdNormals::RGBD_NORMALS_METHOD_CROSS_PRODUCT, { 57.9832, 2531}}),