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Merge pull request #22925 from savuor:pytsdf_from_scratch

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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
This commit is contained in:
Rostislav Vasilikhin
2022-12-12 07:40:12 +01:00
committed by GitHub
parent 86c6e07326
commit d49958141e
22 changed files with 581 additions and 227 deletions
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modules/3d/test/test_tsdf.cpp
+9 -5
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@@ -502,7 +502,8 @@ void staticBoundingBoxTest(VolumeType volumeType)
vs.getVolumePose(pose);
Vec3f end = voxelSize * Vec3f(res);
Vec6f truebb(0, 0, 0, end[0], end[1], end[2]);
Vec6f bb = volume.getBoundingBox(Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f bb;
volume.getBoundingBox(bb, Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f diff = bb - truebb;
double normdiff = std::sqrt(diff.ddot(diff));
ASSERT_LE(normdiff, std::numeric_limits<double>::epsilon());
@@ -534,7 +535,8 @@ void boundingBoxGrowthTest(bool enableGrowth)
for (int i = 0; i < nIntegrations; i++)
volume.integrate(udepth, poses[0].matrix);
Vec6f bb = volume.getBoundingBox(Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f bb;
volume.getBoundingBox(bb, Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f truebb(-0.9375f, 1.3125f, -0.8906f, 3.9375f, 2.6133f, 1.4004f);
Vec6f diff = bb - truebb;
double bbnorm = std::sqrt(diff.ddot(diff));
@@ -562,7 +564,8 @@ void boundingBoxGrowthTest(bool enableGrowth)
for (int i = 0; i < nIntegrations; i++)
volume.integrate(udepth2, poses[0].matrix);
Vec6f bb2 = volume.getBoundingBox(Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f bb2;
volume.getBoundingBox(bb2, Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f truebb2 = truebb + Vec6f(0, -(1.3125f - 1.0723f), -(-0.8906f - (-1.4238f)), 0, 0, 0);
Vec6f diff2 = enableGrowth ? bb2 - truebb2 : bb2 - bb;
@@ -577,7 +580,8 @@ void boundingBoxGrowthTest(bool enableGrowth)
// Reset check
volume.reset();
Vec6f bb3 = volume.getBoundingBox(Volume::BoundingBoxPrecision::VOLUME_UNIT);
Vec6f bb3;
volume.getBoundingBox(bb3, Volume::BoundingBoxPrecision::VOLUME_UNIT);
double bbnorm3 = std::sqrt(bb3.ddot(bb3));
EXPECT_LE(bbnorm3, std::numeric_limits<double>::epsilon());
}
@@ -909,7 +913,7 @@ protected:
depth.copyTo(udepth);
rgb.copyTo(urgb);
OdometryFrame odf(urgb, udepth);
OdometryFrame odf(udepth, urgb);
if (testSrcType == VolumeTestSrcType::MAT)
{