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Merge pull request #29224 from asmorkalov:as/ptcloud2
Dedicated pointcloud module #29224 OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134 ### 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 - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Alexander Smorkalov
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GitHub
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6a1a2754c8
commit
fc3803c67b
@@ -1,5 +1,3 @@
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Computational geometry module {#tutorial_table_of_content_geometry}
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==========================================================
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- @subpage tutorial_point_cloud
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Before Width: | Height: | Size: 45 KiB After Width: | Height: | Size: 45 KiB |
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Before Width: | Height: | Size: 16 KiB After Width: | Height: | Size: 16 KiB |
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Before Width: | Height: | Size: 26 KiB After Width: | Height: | Size: 26 KiB |
@@ -0,0 +1,5 @@
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Point cloud module {#tutorial_table_of_content_ptcloud}
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==========================================================
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- @subpage tutorial_point_cloud
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@@ -12,6 +12,7 @@ OpenCV Tutorials {#tutorial_root}
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- @subpage tutorial_table_of_content_other - other modules (stitching, video)
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- @subpage tutorial_table_of_content_ios - running OpenCV on an iDevice
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- @subpage tutorial_table_of_content_geometry - 2d and 3d geometry primitives and point clouds processing
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- @subpage tutorial_table_of_content_ptcloud - point cloud processing
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- @subpage tutorial_table_of_content_photo - photo module functions (hdr_image, ccm)
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@cond CUDA_MODULES
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- @subpage tutorial_table_of_content_gpu - utilizing power of video card to run CV algorithms
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@@ -6,17 +6,12 @@
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#define OPENCV_3D_HPP
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#include "opencv2/core.hpp"
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#include "opencv2/core/affine.hpp"
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#include "opencv2/core/utils/logger.hpp"
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#include "opencv2/geometry/depth.hpp"
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#include "opencv2/geometry/odometry.hpp"
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#include "opencv2/geometry/odometry_frame.hpp"
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#include "opencv2/geometry/odometry_settings.hpp"
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#include "opencv2/geometry/volume.hpp"
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#include "opencv2/geometry/ptcloud.hpp"
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#include "opencv2/geometry/segment.hpp"
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/**
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@defgroup _3d 3D vision functionality
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@defgroup 3d_projection 3D vision functionality
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Most of the functions in this section use a so-called pinhole camera model. The view of a scene
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is obtained by projecting a scene's 3D point \f$P_w\f$ into the image plane using a perspective
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@@ -370,7 +365,7 @@ R & t \\
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namespace cv {
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//! @addtogroup _3d
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//! @addtogroup 3d_projection
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//! @{
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//! type of the robust estimation algorithm
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@@ -2832,395 +2827,7 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
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} // namespace fisheye
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/** @brief Octree for 3D vision.
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*
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* In 3D vision filed, the Octree is used to process and accelerate the pointcloud data. The class Octree represents
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* the Octree data structure. Each Octree will have a fixed depth. The depth of Octree refers to the distance from
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* the root node to the leaf node.All OctreeNodes will not exceed this depth.Increasing the depth will increase
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* the amount of calculation exponentially. And the small number of depth refers low resolution of Octree.
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* Each node contains 8 children, which are used to divide the space cube into eight parts. Each octree node represents
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* a cube. And these eight children will have a fixed order, the order is described as follows:
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*
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* For illustration, assume,
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*
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* rootNode: origin == (0, 0, 0), size == 2
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*
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* Then,
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*
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* children[0]: origin == (0, 0, 0), size == 1
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*
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* children[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0
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*
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* children[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0
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*
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* children[3]: origin == (1, 1, 0), size == 1, in X-Y plane
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*
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* children[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0
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*
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* children[5]: origin == (1, 0, 1), size == 1, in X-Z plane
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*
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* children[6]: origin == (0, 1, 1), size == 1, in Y-Z plane
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*
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* children[7]: origin == (1, 1, 1), size == 1, furthest from child 0
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*/
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class CV_EXPORTS_W Octree
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{
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public:
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//! Default constructor.
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Octree();
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/** @overload
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* @brief Creates an empty Octree with given maximum depth
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*
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* @param maxDepth The max depth of the Octree
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* @param size bounding box size for the Octree
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* @param origin Initial center coordinate
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* @param withColors Whether to keep per-point colors or not
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* @return resulting Octree
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*/
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CV_WRAP static Ptr<Octree> createWithDepth(int maxDepth, double size, const Point3f& origin = { }, bool withColors = false);
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/** @overload
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* @brief Create an Octree from the PointCloud data with the specific maxDepth
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*
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* @param maxDepth Max depth of the octree
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* @param pointCloud point cloud data, should be 3-channel float array
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* @param colors color attribute of point cloud in the same 3-channel float format
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* @return resulting Octree
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*/
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CV_WRAP static Ptr<Octree> createWithDepth(int maxDepth, InputArray pointCloud, InputArray colors = noArray());
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/** @overload
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* @brief Creates an empty Octree with given resolution
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*
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* @param resolution The size of the octree leaf node
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* @param size bounding box size for the Octree
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* @param origin Initial center coordinate
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* @param withColors Whether to keep per-point colors or not
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* @return resulting Octree
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*/
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CV_WRAP static Ptr<Octree> createWithResolution(double resolution, double size, const Point3f& origin = { }, bool withColors = false);
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/** @overload
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* @brief Create an Octree from the PointCloud data with the specific resolution
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*
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* @param resolution The size of the octree leaf node
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* @param pointCloud point cloud data, should be 3-channel float array
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* @param colors color attribute of point cloud in the same 3-channel float format
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* @return resulting octree
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*/
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CV_WRAP static Ptr<Octree> createWithResolution(double resolution, InputArray pointCloud, InputArray colors = noArray());
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//! Default destructor
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~Octree();
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/** @overload
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* @brief Insert a point data with color to a OctreeNode.
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*
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* @param point The point data in Point3f format.
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* @param color The color attribute of point in Point3f format.
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* @return Returns whether the insertion is successful.
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*/
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CV_WRAP bool insertPoint(const Point3f& point, const Point3f& color = { });
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/** @brief Determine whether the point is within the space range of the specific cube.
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*
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* @param point The point coordinates.
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* @return If point is in bound, return ture. Otherwise, false.
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*/
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CV_WRAP bool isPointInBound(const Point3f& point) const;
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//! returns true if the rootnode is NULL.
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CV_WRAP bool empty() const;
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/** @brief Reset all octree parameter.
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*
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* Clear all the nodes of the octree and initialize the parameters.
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*/
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CV_WRAP void clear();
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/** @brief Delete a given point from the Octree.
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*
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* Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node
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* does not contain other points after deletion, this node will be deleted. In the same way,
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* its parent node may also be deleted if its last child is deleted.
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* @param point The point coordinates, comparison is epsilon-based
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* @return return ture if the point is deleted successfully.
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*/
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CV_WRAP bool deletePoint(const Point3f& point);
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/** @brief restore point cloud data from Octree.
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*
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* Restore the point cloud data from existing octree. The points in same leaf node will be seen as the same point.
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* This point is the center of the leaf node. If the resolution is small, it will work as a downSampling function.
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* @param restoredPointCloud The output point cloud data, can be replaced by noArray() if not needed
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* @param restoredColor The color attribute of point cloud data, can be omitted if not needed
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*/
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CV_WRAP void getPointCloudByOctree(OutputArray restoredPointCloud, OutputArray restoredColor = noArray());
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/** @brief Radius Nearest Neighbor Search in Octree.
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*
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* Search all points that are less than or equal to radius.
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* And return the number of searched points.
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* @param query Query point.
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* @param radius Retrieved radius value.
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* @param points Point output. Contains searched points in 3-float format, and output vector is not in order,
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* can be replaced by noArray() if not needed
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* @param squareDists Dist output. Contains searched squared distance in floats, and output vector is not in order,
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* can be omitted if not needed
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* @return the number of searched points.
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*/
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CV_WRAP int radiusNNSearch(const Point3f& query, float radius, OutputArray points, OutputArray squareDists = noArray()) const;
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/** @overload
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* @brief Radius Nearest Neighbor Search in Octree.
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*
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* Search all points that are less than or equal to radius.
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* And return the number of searched points.
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* @param query Query point.
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* @param radius Retrieved radius value.
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* @param points Point output. Contains searched points in 3-float format, and output vector is not in order,
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* can be replaced by noArray() if not needed
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* @param colors Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
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* @param squareDists Dist output. Contains searched squared distance in floats, and output vector is not in order,
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* can be replaced by noArray() if not needed
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* @return the number of searched points.
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*/
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CV_WRAP int radiusNNSearch(const Point3f& query, float radius, OutputArray points, OutputArray colors, OutputArray squareDists) const;
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/** @brief K Nearest Neighbor Search in Octree.
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*
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* Find the K nearest neighbors to the query point.
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* @param query Query point.
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* @param K amount of nearest neighbors to find
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* @param points Point output. Contains K points in 3-float format, arranged in order of distance from near to far,
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* can be replaced by noArray() if not needed
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* @param squareDists Dist output. Contains K squared distance in floats, arranged in order of distance from near to far,
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* can be omitted if not needed
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*/
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CV_WRAP void KNNSearch(const Point3f& query, const int K, OutputArray points, OutputArray squareDists = noArray()) const;
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/** @overload
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* @brief K Nearest Neighbor Search in Octree.
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*
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* Find the K nearest neighbors to the query point.
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* @param query Query point.
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* @param K amount of nearest neighbors to find
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* @param points Point output. Contains K points in 3-float format, arranged in order of distance from near to far,
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* can be replaced by noArray() if not needed
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* @param colors Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
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* @param squareDists Dist output. Contains K squared distance in floats, arranged in order of distance from near to far,
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* can be replaced by noArray() if not needed
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*/
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CV_WRAP void KNNSearch(const Point3f& query, const int K, OutputArray points, OutputArray colors, OutputArray squareDists) const;
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protected:
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struct Impl;
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Ptr<Impl> p;
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};
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/** @brief Loads a point cloud from a file.
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*
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* The function loads point cloud from the specified file and returns it.
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* If the cloud cannot be read, throws an error.
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* Vertex coordinates, normals and colors are returned as they are saved in the file
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* even if these arrays have different sizes and their elements do not correspond to each other
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* (which is typical for OBJ files for example)
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*
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* Currently, the following file formats are supported:
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* - [Wavefront obj file *.obj](https://en.wikipedia.org/wiki/Wavefront_.obj_file)
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* - [Polygon File Format *.ply](https://en.wikipedia.org/wiki/PLY_(file_format))
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*
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* @param filename Name of the file
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* @param vertices vertex coordinates, each value contains 3 floats
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* @param normals per-vertex normals, each value contains 3 floats
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* @param rgb per-vertex colors, each value contains 3 floats
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*/
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CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray(), OutputArray rgb = noArray());
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/** @brief Saves a point cloud to a specified file.
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*
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* The function saves point cloud to the specified file.
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* File format is chosen based on the filename extension.
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*
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* @param filename Name of the file
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* @param vertices vertex coordinates, each value contains 3 floats
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* @param normals per-vertex normals, each value contains 3 floats
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* @param rgb per-vertex colors, each value contains 3 floats
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*/
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CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray(), InputArray rgb = noArray());
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/** @brief Loads a mesh from a file.
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*
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* The function loads mesh from the specified file and returns it.
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* If the mesh cannot be read, throws an error
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* Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized
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* arrays with corresponding elements having the same indices.
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* This means that if a face uses a vertex with a normal or a texture coordinate with different indices
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* (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.
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*
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* Currently, the following file formats are supported:
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* - [Wavefront obj file *.obj](https://en.wikipedia.org/wiki/Wavefront_.obj_file) (ONLY TRIANGULATED FACES)
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* - [Polygon File Format *.ply](https://en.wikipedia.org/wiki/PLY_(file_format))
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* @param filename Name of the file
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* @param vertices vertex coordinates, each value contains 3 floats
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* @param indices per-face list of vertices, each value is a vector of ints
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* @param normals per-vertex normals, each value contains 3 floats
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* @param colors per-vertex colors, each value contains 3 floats
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* @param texCoords per-vertex texture coordinates, each value contains 2 or 3 floats
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*/
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CV_EXPORTS_W void loadMesh(const String &filename, OutputArray vertices, OutputArrayOfArrays indices,
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OutputArray normals = noArray(), OutputArray colors = noArray(),
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OutputArray texCoords = noArray());
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/** @brief Saves a mesh to a specified file.
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*
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* The function saves mesh to the specified file.
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* File format is chosen based on the filename extension.
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*
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* @param filename Name of the file.
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* @param vertices vertex coordinates, each value contains 3 floats
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* @param indices per-face list of vertices, each value is a vector of ints
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* @param normals per-vertex normals, each value contains 3 floats
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* @param colors per-vertex colors, each value contains 3 floats
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* @param texCoords per-vertex texture coordinates, each value contains 2 or 3 floats
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*/
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CV_EXPORTS_W void saveMesh(const String &filename, InputArray vertices, InputArrayOfArrays indices,
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InputArray normals = noArray(), InputArray colors = noArray(), InputArray texCoords = noArray());
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//! Triangle fill settings
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enum TriangleShadingType
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{
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RASTERIZE_SHADING_WHITE = 0, //!< a white color is used for the whole triangle
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RASTERIZE_SHADING_FLAT = 1, //!< a color of 1st vertex of each triangle is used
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RASTERIZE_SHADING_SHADED = 2 //!< a color is interpolated between 3 vertices with perspective correction
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};
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//! Face culling settings: what faces are drawn after face culling
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enum TriangleCullingMode
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{
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RASTERIZE_CULLING_NONE = 0, //!< all faces are drawn, no culling is actually performed
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RASTERIZE_CULLING_CW = 1, //!< triangles which vertices are given in clockwork order are drawn
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RASTERIZE_CULLING_CCW = 2 //!< triangles which vertices are given in counterclockwork order are drawn
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};
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//! GL compatibility settings
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enum TriangleGlCompatibleMode
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{
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RASTERIZE_COMPAT_DISABLED = 0, //!< Color and depth have their natural values and converted to internal formats if needed
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RASTERIZE_COMPAT_INVDEPTH = 1 //!< Color is natural, Depth is transformed from [-zNear; -zFar] to [0; 1]
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//!< by the following formula: \f$ \frac{z_{far} \left(z + z_{near}\right)}{z \left(z_{far} - z_{near}\right)} \f$ \n
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//!< In this mode the input/output depthBuf is considered to be in this format,
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//!< therefore it's faster since there're no conversions performed
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};
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/**
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* @brief Structure to keep settings for rasterization
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*/
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struct CV_EXPORTS_W_SIMPLE TriangleRasterizeSettings
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{
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TriangleRasterizeSettings();
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CV_WRAP TriangleRasterizeSettings& setShadingType(TriangleShadingType st) { shadingType = st; return *this; }
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CV_WRAP TriangleRasterizeSettings& setCullingMode(TriangleCullingMode cm) { cullingMode = cm; return *this; }
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CV_WRAP TriangleRasterizeSettings& setGlCompatibleMode(TriangleGlCompatibleMode gm) { glCompatibleMode = gm; return *this; }
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TriangleShadingType shadingType;
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TriangleCullingMode cullingMode;
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TriangleGlCompatibleMode glCompatibleMode;
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};
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/** @brief Renders a set of triangles on a depth and color image
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Triangles can be drawn white (1.0, 1.0, 1.0), flat-shaded or with a color interpolation between vertices.
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In flat-shaded mode the 1st vertex color of each triangle is used to fill the whole triangle.
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The world2cam is an inverted camera pose matrix in fact. It transforms vertices from world to
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camera coordinate system.
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The camera coordinate system emulates the OpenGL's coordinate system having coordinate origin in a screen center,
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X axis pointing right, Y axis pointing up and Z axis pointing towards the viewer
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except that image is vertically flipped after the render.
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This means that all visible objects are placed in z-negative area, or exactly in -zNear > z > -zFar since
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zNear and zFar are positive.
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For example, at fovY = PI/2 the point (0, 1, -1) will be projected to (width/2, 0) screen point,
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(1, 0, -1) to (width/2 + height/2, height/2). Increasing fovY makes projection smaller and vice versa.
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The function does not create or clear output images before the rendering. This means that it can be used
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for drawing over an existing image or for rendering a model into a 3D scene using pre-filled Z-buffer.
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Empty scene results in a depth buffer filled by the maximum value since every pixel is infinitely far from the camera.
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Therefore, before rendering anything from scratch the depthBuf should be filled by zFar values (or by ones in INVDEPTH mode).
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There are special versions of this function named triangleRasterizeDepth and triangleRasterizeColor
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for cases if a user needs a color image or a depth image alone; they may run slightly faster.
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@param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
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@param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
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Should contain CV_32SC3 values or compatible
|
||||
@param colors per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array.
|
||||
If the values are out of [0; 1] range, the result correctness is not guaranteed
|
||||
@param colorBuf an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf.
|
||||
Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
@param depthBuf an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf.
|
||||
Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
|
||||
@param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
@param fovY field of view in vertical direction, given in radians
|
||||
@param zNear minimum Z value to render, everything closer is clipped
|
||||
@param zFar maximum Z value to render, everything farther is clipped
|
||||
@param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterize(InputArray vertices, InputArray indices, InputArray colors,
|
||||
InputOutputArray colorBuf, InputOutputArray depthBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
/** @brief Overloaded version of triangleRasterize() with depth-only rendering
|
||||
|
||||
@param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
|
||||
@param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
|
||||
Should contain CV_32SC3 values or compatible
|
||||
@param depthBuf an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf.
|
||||
Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
|
||||
@param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
@param fovY field of view in vertical direction, given in radians
|
||||
@param zNear minimum Z value to render, everything closer is clipped
|
||||
@param zFar maximum Z value to render, everything farther is clipped
|
||||
@param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterizeDepth(InputArray vertices, InputArray indices, InputOutputArray depthBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
/** @brief Overloaded version of triangleRasterize() with color-only rendering
|
||||
|
||||
@param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
|
||||
@param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
|
||||
Should contain CV_32SC3 values or compatible
|
||||
@param colors per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array.
|
||||
If the values are out of [0; 1] range, the result correctness is not guaranteed
|
||||
@param colorBuf an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf.
|
||||
Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
@param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
@param fovY field of view in vertical direction, given in radians
|
||||
@param zNear minimum Z value to render, everything closer is clipped
|
||||
@param zFar maximum Z value to render, everything farther is clipped
|
||||
@param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterizeColor(InputArray vertices, InputArray indices, InputArray colors, InputOutputArray colorBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
//! @} _3d
|
||||
//! @} 3d_projection
|
||||
} //end namespace cv
|
||||
|
||||
#endif
|
||||
|
||||
@@ -85,63 +85,6 @@ public:
|
||||
LevMarq::Settings settings;
|
||||
};
|
||||
|
||||
|
||||
// ATTENTION! This class is used internally in Large KinFu.
|
||||
// It has been pushed to publicly available headers for tests only.
|
||||
// Source compatibility of this API is not guaranteed in the future.
|
||||
|
||||
// This class provides tools to solve so-called pose graph problem often arisen in SLAM problems
|
||||
// The pose graph format, cost function and optimization techniques
|
||||
// repeat the ones used in Ceres 3D Pose Graph Optimization:
|
||||
// http://ceres-solver.org/nnls_tutorial.html#other-examples, pose_graph_3d.cc bullet
|
||||
class CV_EXPORTS_W PoseGraph
|
||||
{
|
||||
public:
|
||||
static Ptr<PoseGraph> create();
|
||||
virtual ~PoseGraph();
|
||||
|
||||
// Node may have any id >= 0
|
||||
virtual void addNode(size_t _nodeId, const Affine3d& _pose, bool fixed) = 0;
|
||||
virtual bool isNodeExist(size_t nodeId) const = 0;
|
||||
virtual bool setNodeFixed(size_t nodeId, bool fixed) = 0;
|
||||
virtual bool isNodeFixed(size_t nodeId) const = 0;
|
||||
virtual Affine3d getNodePose(size_t nodeId) const = 0;
|
||||
virtual std::vector<size_t> getNodesIds() const = 0;
|
||||
virtual size_t getNumNodes() const = 0;
|
||||
|
||||
// Edges have consequent indices starting from 0
|
||||
virtual void addEdge(size_t _sourceNodeId, size_t _targetNodeId, const Affine3f& _transformation,
|
||||
const Matx66f& _information = Matx66f::eye()) = 0;
|
||||
virtual size_t getEdgeStart(size_t i) const = 0;
|
||||
virtual size_t getEdgeEnd(size_t i) const = 0;
|
||||
virtual Affine3d getEdgePose(size_t i) const = 0;
|
||||
virtual Matx66f getEdgeInfo(size_t i) const = 0;
|
||||
virtual size_t getNumEdges() const = 0;
|
||||
|
||||
// checks if graph is connected and each edge connects exactly 2 nodes
|
||||
virtual bool isValid() const = 0;
|
||||
|
||||
// Calculates an initial pose estimate using the Minimum Spanning Tree (Prim's MST) algorithm.
|
||||
// The result serves as a starting point for further optimization.
|
||||
// Edge weights are calculated as:
|
||||
// weight = translationNorm + lambda * rotationAngle
|
||||
// The default lambda value (0.485) was empirically chosen based on its impact on optimizer performance,
|
||||
// but can/should be tuned for different datasets.
|
||||
virtual void initializePosesWithMST(double lambda = 0.485) = 0;
|
||||
|
||||
// creates an optimizer with user-defined settings and returns a pointer on it
|
||||
virtual Ptr<LevMarqBase> createOptimizer(const LevMarq::Settings& settings) = 0;
|
||||
// creates an optimizer with default settings and returns a pointer on it
|
||||
virtual Ptr<LevMarqBase> createOptimizer() = 0;
|
||||
|
||||
// Creates an optimizer (with default settings) if it wasn't created before and runs it
|
||||
// Returns number of iterations elapsed or -1 if failed to optimize
|
||||
virtual LevMarq::Report optimize() = 0;
|
||||
|
||||
// calculate cost function based on current nodes parameters
|
||||
virtual double calcEnergy() const = 0;
|
||||
};
|
||||
|
||||
} // namespace detail
|
||||
} // namespace cv
|
||||
|
||||
|
||||
Executable → Regular
@@ -1,334 +0,0 @@
|
||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
|
||||
// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors as is and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
////////////////////////////////////////// stereoBM //////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#define MAX_VAL 32767
|
||||
|
||||
#ifndef WSZ
|
||||
#define WSZ 2
|
||||
#endif
|
||||
|
||||
#define WSZ2 (WSZ / 2)
|
||||
|
||||
#ifdef DEFINE_KERNEL_STEREOBM
|
||||
|
||||
#define DISPARITY_SHIFT 4
|
||||
#define FILTERED ((MIN_DISP - 1) << DISPARITY_SHIFT)
|
||||
|
||||
void calcDisp(__local short * cost, __global short * disp, int uniquenessRatio,
|
||||
__local int * bestDisp, __local int * bestCost, int d, int x, int y, int cols, int rows)
|
||||
{
|
||||
int best_disp = *bestDisp, best_cost = *bestCost;
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
short c = cost[0];
|
||||
int thresh = best_cost + (best_cost * uniquenessRatio / 100);
|
||||
bool notUniq = ( (c <= thresh) && (d < (best_disp - 1) || d > (best_disp + 1) ) );
|
||||
|
||||
if (notUniq)
|
||||
*bestCost = FILTERED;
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
if( *bestCost != FILTERED && x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2 && d == best_disp)
|
||||
{
|
||||
int d_aprox = 0;
|
||||
int yp =0, yn = 0;
|
||||
if ((0 < best_disp) && (best_disp < NUM_DISP - 1))
|
||||
{
|
||||
yp = cost[-2 * BLOCK_SIZE_Y];
|
||||
yn = cost[2 * BLOCK_SIZE_Y];
|
||||
d_aprox = yp + yn - 2 * c + abs(yp - yn);
|
||||
}
|
||||
disp[0] = (short)(((best_disp + MIN_DISP)*256 + (d_aprox != 0 ? (yp - yn) * 256 / d_aprox : 0) + 15) >> 4);
|
||||
}
|
||||
}
|
||||
|
||||
short calcCostBorder(__global const uchar * leftptr, __global const uchar * rightptr, int x, int y, int nthread,
|
||||
short * costbuf, int *h, int cols, int d, short cost)
|
||||
{
|
||||
int head = (*h) % WSZ;
|
||||
__global const uchar * left, * right;
|
||||
int idx = mad24(y + WSZ2 * (2 * nthread - 1), cols, x + WSZ2 * (1 - 2 * nthread));
|
||||
left = leftptr + idx;
|
||||
right = rightptr + (idx - d);
|
||||
|
||||
short costdiff = 0;
|
||||
if (0 == nthread)
|
||||
{
|
||||
#pragma unroll
|
||||
for (int i = 0; i < WSZ; i++)
|
||||
{
|
||||
costdiff += abs( left[0] - right[0] );
|
||||
left += cols;
|
||||
right += cols;
|
||||
}
|
||||
}
|
||||
else // (1 == nthread)
|
||||
{
|
||||
#pragma unroll
|
||||
for (int i = 0; i < WSZ; i++)
|
||||
{
|
||||
costdiff += abs(left[i] - right[i]);
|
||||
}
|
||||
}
|
||||
cost += costdiff - costbuf[head];
|
||||
costbuf[head] = costdiff;
|
||||
*h = head + 1;
|
||||
return cost;
|
||||
}
|
||||
|
||||
short calcCostInside(__global const uchar * leftptr, __global const uchar * rightptr, int x, int y,
|
||||
int cols, int d, short cost_up_left, short cost_up, short cost_left)
|
||||
{
|
||||
__global const uchar * left, * right;
|
||||
int idx = mad24(y - WSZ2 - 1, cols, x - WSZ2 - 1);
|
||||
left = leftptr + idx;
|
||||
right = rightptr + (idx - d);
|
||||
int idx2 = WSZ*cols;
|
||||
|
||||
uchar corrner1 = abs(left[0] - right[0]),
|
||||
corrner2 = abs(left[WSZ] - right[WSZ]),
|
||||
corrner3 = abs(left[idx2] - right[idx2]),
|
||||
corrner4 = abs(left[idx2 + WSZ] - right[idx2 + WSZ]);
|
||||
|
||||
return cost_up + cost_left - cost_up_left + corrner1 -
|
||||
corrner2 - corrner3 + corrner4;
|
||||
}
|
||||
|
||||
__kernel void stereoBM(__global const uchar * leftptr,
|
||||
__global const uchar * rightptr,
|
||||
__global uchar * dispptr, int disp_step, int disp_offset,
|
||||
int rows, int cols, // rows, cols of left and right images, not disp
|
||||
int textureThreshold, int uniquenessRatio)
|
||||
{
|
||||
int lz = get_local_id(0);
|
||||
int gx = get_global_id(1) * BLOCK_SIZE_X;
|
||||
int gy = get_global_id(2) * BLOCK_SIZE_Y;
|
||||
|
||||
int nthread = lz / NUM_DISP;
|
||||
int disp_idx = lz % NUM_DISP;
|
||||
|
||||
__global short * disp;
|
||||
__global const uchar * left, * right;
|
||||
|
||||
__local short costFunc[2 * BLOCK_SIZE_Y * NUM_DISP];
|
||||
|
||||
__local short * cost;
|
||||
__local int best_disp[2];
|
||||
__local int best_cost[2];
|
||||
best_cost[nthread] = MAX_VAL;
|
||||
best_disp[nthread] = -1;
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
short costbuf[WSZ];
|
||||
int head = 0;
|
||||
|
||||
int shiftX = WSZ2 + NUM_DISP + MIN_DISP - 1;
|
||||
int shiftY = WSZ2;
|
||||
|
||||
int x = gx + shiftX, y = gy + shiftY, lx = 0, ly = 0;
|
||||
|
||||
int costIdx = disp_idx * 2 * BLOCK_SIZE_Y + (BLOCK_SIZE_Y - 1);
|
||||
cost = costFunc + costIdx;
|
||||
|
||||
int tempcost = 0;
|
||||
if (x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2)
|
||||
{
|
||||
if (0 == nthread)
|
||||
{
|
||||
#pragma unroll
|
||||
for (int i = 0; i < WSZ; i++)
|
||||
{
|
||||
int idx = mad24(y - WSZ2, cols, x - WSZ2 + i);
|
||||
left = leftptr + idx;
|
||||
right = rightptr + (idx - disp_idx);
|
||||
short costdiff = 0;
|
||||
for(int j = 0; j < WSZ; j++)
|
||||
{
|
||||
costdiff += abs( left[0] - right[0] );
|
||||
left += cols;
|
||||
right += cols;
|
||||
}
|
||||
costbuf[i] = costdiff;
|
||||
}
|
||||
}
|
||||
else // (1 == nthread)
|
||||
{
|
||||
#pragma unroll
|
||||
for (int i = 0; i < WSZ; i++)
|
||||
{
|
||||
int idx = mad24(y - WSZ2 + i, cols, x - WSZ2);
|
||||
left = leftptr + idx;
|
||||
right = rightptr + (idx - disp_idx);
|
||||
short costdiff = 0;
|
||||
for (int j = 0; j < WSZ; j++)
|
||||
{
|
||||
costdiff += abs( left[j] - right[j]);
|
||||
}
|
||||
tempcost += costdiff;
|
||||
costbuf[i] = costdiff;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (nthread == 1)
|
||||
{
|
||||
cost[0] = tempcost;
|
||||
atomic_min(best_cost + 1, tempcost);
|
||||
}
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
if (best_cost[1] == tempcost)
|
||||
atomic_max(best_disp + 1, disp_idx);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
int dispIdx = mad24(gy, disp_step, mad24((int)sizeof(short), gx, disp_offset));
|
||||
disp = (__global short *)(dispptr + dispIdx);
|
||||
calcDisp(cost, disp, uniquenessRatio, best_disp + 1, best_cost + 1, disp_idx, x, y, cols, rows);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
lx = 1 - nthread;
|
||||
ly = nthread;
|
||||
|
||||
for (int i = 0; i < BLOCK_SIZE_Y * BLOCK_SIZE_X / 2; i++)
|
||||
{
|
||||
x = (lx < BLOCK_SIZE_X) ? gx + shiftX + lx : cols;
|
||||
y = (ly < BLOCK_SIZE_Y) ? gy + shiftY + ly : rows;
|
||||
|
||||
best_cost[nthread] = MAX_VAL;
|
||||
best_disp[nthread] = -1;
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
costIdx = mad24(2 * BLOCK_SIZE_Y, disp_idx, (BLOCK_SIZE_Y - 1 - ly + lx));
|
||||
if (0 > costIdx)
|
||||
costIdx = BLOCK_SIZE_Y - 1;
|
||||
cost = costFunc + costIdx;
|
||||
if (x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2)
|
||||
{
|
||||
tempcost = (ly * (1 - nthread) + lx * nthread == 0) ?
|
||||
calcCostBorder(leftptr, rightptr, x, y, nthread, costbuf, &head, cols, disp_idx, cost[2*nthread-1]) :
|
||||
calcCostInside(leftptr, rightptr, x, y, cols, disp_idx, cost[0], cost[1], cost[-1]);
|
||||
}
|
||||
cost[0] = tempcost;
|
||||
atomic_min(best_cost + nthread, tempcost);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
if (best_cost[nthread] == tempcost)
|
||||
atomic_max(best_disp + nthread, disp_idx);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
dispIdx = mad24(gy + ly, disp_step, mad24((int)sizeof(short), (gx + lx), disp_offset));
|
||||
disp = (__global short *)(dispptr + dispIdx);
|
||||
calcDisp(cost, disp, uniquenessRatio, best_disp + nthread, best_cost + nthread, disp_idx, x, y, cols, rows);
|
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
if (lx + nthread - 1 == ly)
|
||||
{
|
||||
lx = (lx + nthread + 1) * (1 - nthread);
|
||||
ly = (ly + 1) * nthread;
|
||||
}
|
||||
else
|
||||
{
|
||||
lx += nthread;
|
||||
ly = ly - nthread + 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif //DEFINE_KERNEL_STEREOBM
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////// Norm Prefiler ////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
__kernel void prefilter_norm(__global unsigned char *input, __global unsigned char *output,
|
||||
int rows, int cols, int prefilterCap, int scale_g, int scale_s)
|
||||
{
|
||||
// prefilterCap in range 1..63, checked in StereoBMImpl::compute
|
||||
|
||||
int x = get_global_id(0);
|
||||
int y = get_global_id(1);
|
||||
|
||||
if(x < cols && y < rows)
|
||||
{
|
||||
int cov1 = input[ max(y-1, 0) * cols + x] * 1 +
|
||||
input[y * cols + max(x-1,0)] * 1 + input[ y * cols + x] * 4 + input[y * cols + min(x+1, cols-1)] * 1 +
|
||||
input[min(y+1, rows-1) * cols + x] * 1;
|
||||
int cov2 = 0;
|
||||
for(int i = -WSZ2; i < WSZ2+1; i++)
|
||||
for(int j = -WSZ2; j < WSZ2+1; j++)
|
||||
cov2 += input[clamp(y+i, 0, rows-1) * cols + clamp(x+j, 0, cols-1)];
|
||||
|
||||
int res = (cov1*scale_g - cov2*scale_s)>>10;
|
||||
res = clamp(res, -prefilterCap, prefilterCap) + prefilterCap;
|
||||
output[y * cols + x] = res;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
////////////////////////////////////// Sobel Prefiler ////////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
__kernel void prefilter_xsobel(__global unsigned char *input, __global unsigned char *output,
|
||||
int rows, int cols, int prefilterCap)
|
||||
{
|
||||
// prefilterCap in range 1..63, checked in StereoBMImpl::compute
|
||||
int x = get_global_id(0);
|
||||
int y = get_global_id(1);
|
||||
if(x < cols && y < rows)
|
||||
{
|
||||
if (0 < x && !((y == rows-1) & (rows%2==1) ) )
|
||||
{
|
||||
int cov = input[ ((y > 0) ? y-1 : y+1) * cols + (x-1)] * (-1) + input[ ((y > 0) ? y-1 : y+1) * cols + ((x<cols-1) ? x+1 : x-1)] * (1) +
|
||||
input[ (y) * cols + (x-1)] * (-2) + input[ (y) * cols + ((x<cols-1) ? x+1 : x-1)] * (2) +
|
||||
input[((y<rows-1)?(y+1):(y-1))* cols + (x-1)] * (-1) + input[((y<rows-1)?(y+1):(y-1))* cols + ((x<cols-1) ? x+1 : x-1)] * (1);
|
||||
|
||||
cov = clamp(cov, -prefilterCap, prefilterCap) + prefilterCap;
|
||||
output[y * cols + x] = cov;
|
||||
}
|
||||
else
|
||||
output[y * cols + x] = prefilterCap;
|
||||
}
|
||||
}
|
||||
@@ -1,66 +0,0 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
#ifndef _CODERS_UTILS_H_
|
||||
#define _CODERS_UTILS_H_
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <sstream>
|
||||
#include <array>
|
||||
#include <algorithm>
|
||||
#include <cstdint>
|
||||
|
||||
|
||||
namespace cv {
|
||||
|
||||
std::vector<std::string> split(const std::string &s, char delimiter);
|
||||
|
||||
inline bool startsWith(const std::string &s1, const std::string &s2)
|
||||
{
|
||||
return s1.compare(0, s2.length(), s2) == 0;
|
||||
}
|
||||
|
||||
inline std::string trimSpaces(const std::string &input)
|
||||
{
|
||||
size_t start = 0;
|
||||
while (start < input.size() && input[start] == ' ')
|
||||
{
|
||||
start++;
|
||||
}
|
||||
size_t end = input.size();
|
||||
while (end > start && (input[end - 1] == ' ' || input[end - 1] == '\n' || input[end - 1] == '\r'))
|
||||
{
|
||||
end--;
|
||||
}
|
||||
return input.substr(start, end - start);
|
||||
}
|
||||
|
||||
inline std::string getExtension(const std::string& filename)
|
||||
{
|
||||
auto pos = filename.find_last_of('.');
|
||||
if (pos == std::string::npos)
|
||||
{
|
||||
return "";
|
||||
}
|
||||
return filename.substr( pos + 1);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void swapEndian(T &val)
|
||||
{
|
||||
union U
|
||||
{
|
||||
T val;
|
||||
std::array<std::uint8_t, sizeof(T)> raw;
|
||||
} src, dst;
|
||||
|
||||
src.val = val;
|
||||
std::reverse_copy(src.raw.begin(), src.raw.end(), dst.raw.begin());
|
||||
val = dst.val;
|
||||
}
|
||||
|
||||
} /* namespace cv */
|
||||
|
||||
#endif
|
||||
Executable → Regular
-1
@@ -69,7 +69,6 @@
|
||||
#include "opencv2/core/hal/intrin.hpp"
|
||||
|
||||
#include "opencv2/geometry/detail/optimizer.hpp"
|
||||
#include "opencv2/geometry/detail/kinfu_frame.hpp"
|
||||
|
||||
#include <atomic>
|
||||
#include <algorithm>
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#ifndef OPENCV_REGION_ROWING_3D_HPP
|
||||
#define OPENCV_REGION_ROWING_3D_HPP
|
||||
|
||||
#include "opencv2/geometry/ptcloud.hpp"
|
||||
#include "opencv2/geometry/segment.hpp"
|
||||
#include "ptcloud_utils.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "sac_segmentation.hpp"
|
||||
#include "opencv2/geometry/ptcloud.hpp"
|
||||
#include "opencv2/geometry/segment.hpp"
|
||||
#include "ptcloud_utils.hpp"
|
||||
#include "../usac.hpp"
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#ifndef OPENCV_3D_SAC_SEGMENTATION_HPP
|
||||
#define OPENCV_3D_SAC_SEGMENTATION_HPP
|
||||
|
||||
#include "opencv2/geometry/ptcloud.hpp"
|
||||
#include "opencv2/geometry/segment.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "opencv2/geometry/ptcloud.hpp"
|
||||
#include "opencv2/geometry/segment.hpp"
|
||||
#include "ptcloud_utils.hpp"
|
||||
#include <unordered_map>
|
||||
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
set(the_description "High level point cloud and mesh operations")
|
||||
|
||||
set(debug_modules "")
|
||||
if(DEBUG_opencv_ptcloud)
|
||||
list(APPEND debug_modules opencv_highgui)
|
||||
endif()
|
||||
ocv_define_module(ptcloud opencv_geometry opencv_imgproc opencv_flann ${debug_modules}
|
||||
WRAP java objc python js
|
||||
)
|
||||
ocv_target_link_libraries(${the_module} ${LAPACK_LIBRARIES})
|
||||
|
||||
if(NOT HAVE_EIGEN)
|
||||
message(STATUS "Geometry: Eigen support is disabled. Eigen is Required for Posegraph optimization")
|
||||
endif()
|
||||
@@ -0,0 +1,415 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#ifndef POINT_CLOUD_MODULE_HPP
|
||||
#define POINT_CLOUD_MODULE_HPP
|
||||
|
||||
#include "opencv2/core.hpp"
|
||||
#include "opencv2/ptcloud/depth.hpp"
|
||||
#include "opencv2/ptcloud/volume.hpp"
|
||||
#include "opencv2/ptcloud/odometry.hpp"
|
||||
#include "opencv2/ptcloud/odometry_frame.hpp"
|
||||
#include "opencv2/ptcloud/odometry_settings.hpp"
|
||||
|
||||
/**
|
||||
@defgroup ptcloud Point Clound Processing
|
||||
*/
|
||||
|
||||
//! @addtogroup ptcloud
|
||||
//! @{
|
||||
|
||||
namespace cv {
|
||||
|
||||
/** @brief Loads a point cloud from a file.
|
||||
*
|
||||
* The function loads point cloud from the specified file and returns it.
|
||||
* If the cloud cannot be read, throws an error.
|
||||
* Vertex coordinates, normals and colors are returned as they are saved in the file
|
||||
* even if these arrays have different sizes and their elements do not correspond to each other
|
||||
* (which is typical for OBJ files for example)
|
||||
*
|
||||
* Currently, the following file formats are supported:
|
||||
* - [Wavefront obj file *.obj](https://en.wikipedia.org/wiki/Wavefront_.obj_file)
|
||||
* - [Polygon File Format *.ply](https://en.wikipedia.org/wiki/PLY_(file_format))
|
||||
*
|
||||
* @param filename Name of the file
|
||||
* @param vertices vertex coordinates, each value contains 3 floats
|
||||
* @param normals per-vertex normals, each value contains 3 floats
|
||||
* @param rgb per-vertex colors, each value contains 3 floats
|
||||
*/
|
||||
CV_EXPORTS_W void loadPointCloud(const String &filename, OutputArray vertices, OutputArray normals = noArray(), OutputArray rgb = noArray());
|
||||
|
||||
/** @brief Saves a point cloud to a specified file.
|
||||
*
|
||||
* The function saves point cloud to the specified file.
|
||||
* File format is chosen based on the filename extension.
|
||||
*
|
||||
* @param filename Name of the file
|
||||
* @param vertices vertex coordinates, each value contains 3 floats
|
||||
* @param normals per-vertex normals, each value contains 3 floats
|
||||
* @param rgb per-vertex colors, each value contains 3 floats
|
||||
*/
|
||||
CV_EXPORTS_W void savePointCloud(const String &filename, InputArray vertices, InputArray normals = noArray(), InputArray rgb = noArray());
|
||||
|
||||
/** @brief Loads a mesh from a file.
|
||||
*
|
||||
* The function loads mesh from the specified file and returns it.
|
||||
* If the mesh cannot be read, throws an error
|
||||
* Vertex attributes (i.e. space and texture coodinates, normals and colors) are returned in same-sized
|
||||
* arrays with corresponding elements having the same indices.
|
||||
* This means that if a face uses a vertex with a normal or a texture coordinate with different indices
|
||||
* (which is typical for OBJ files for example), this vertex will be duplicated for each face it uses.
|
||||
*
|
||||
* Currently, the following file formats are supported:
|
||||
* - [Wavefront obj file *.obj](https://en.wikipedia.org/wiki/Wavefront_.obj_file) (ONLY TRIANGULATED FACES)
|
||||
* - [Polygon File Format *.ply](https://en.wikipedia.org/wiki/PLY_(file_format))
|
||||
* @param filename Name of the file
|
||||
* @param vertices vertex coordinates, each value contains 3 floats
|
||||
* @param indices per-face list of vertices, each value is a vector of ints
|
||||
* @param normals per-vertex normals, each value contains 3 floats
|
||||
* @param colors per-vertex colors, each value contains 3 floats
|
||||
* @param texCoords per-vertex texture coordinates, each value contains 2 or 3 floats
|
||||
*/
|
||||
CV_EXPORTS_W void loadMesh(const String &filename, OutputArray vertices, OutputArrayOfArrays indices,
|
||||
OutputArray normals = noArray(), OutputArray colors = noArray(),
|
||||
OutputArray texCoords = noArray());
|
||||
|
||||
/** @brief Saves a mesh to a specified file.
|
||||
*
|
||||
* The function saves mesh to the specified file.
|
||||
* File format is chosen based on the filename extension.
|
||||
*
|
||||
* @param filename Name of the file.
|
||||
* @param vertices vertex coordinates, each value contains 3 floats
|
||||
* @param indices per-face list of vertices, each value is a vector of ints
|
||||
* @param normals per-vertex normals, each value contains 3 floats
|
||||
* @param colors per-vertex colors, each value contains 3 floats
|
||||
* @param texCoords per-vertex texture coordinates, each value contains 2 or 3 floats
|
||||
*/
|
||||
CV_EXPORTS_W void saveMesh(const String &filename, InputArray vertices, InputArrayOfArrays indices,
|
||||
InputArray normals = noArray(), InputArray colors = noArray(), InputArray texCoords = noArray());
|
||||
|
||||
|
||||
//! Triangle fill settings
|
||||
enum TriangleShadingType
|
||||
{
|
||||
RASTERIZE_SHADING_WHITE = 0, //!< a white color is used for the whole triangle
|
||||
RASTERIZE_SHADING_FLAT = 1, //!< a color of 1st vertex of each triangle is used
|
||||
RASTERIZE_SHADING_SHADED = 2 //!< a color is interpolated between 3 vertices with perspective correction
|
||||
};
|
||||
|
||||
//! Face culling settings: what faces are drawn after face culling
|
||||
enum TriangleCullingMode
|
||||
{
|
||||
RASTERIZE_CULLING_NONE = 0, //!< all faces are drawn, no culling is actually performed
|
||||
RASTERIZE_CULLING_CW = 1, //!< triangles which vertices are given in clockwork order are drawn
|
||||
RASTERIZE_CULLING_CCW = 2 //!< triangles which vertices are given in counterclockwork order are drawn
|
||||
};
|
||||
|
||||
//! GL compatibility settings
|
||||
enum TriangleGlCompatibleMode
|
||||
{
|
||||
RASTERIZE_COMPAT_DISABLED = 0, //!< Color and depth have their natural values and converted to internal formats if needed
|
||||
RASTERIZE_COMPAT_INVDEPTH = 1 //!< Color is natural, Depth is transformed from [-zNear; -zFar] to [0; 1]
|
||||
//!< by the following formula: \f$ \frac{z_{far} \left(z + z_{near}\right)}{z \left(z_{far} - z_{near}\right)} \f$ \n
|
||||
//!< In this mode the input/output depthBuf is considered to be in this format,
|
||||
//!< therefore it's faster since there're no conversions performed
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Structure to keep settings for rasterization
|
||||
*/
|
||||
struct CV_EXPORTS_W_SIMPLE TriangleRasterizeSettings
|
||||
{
|
||||
TriangleRasterizeSettings();
|
||||
|
||||
CV_WRAP TriangleRasterizeSettings& setShadingType(TriangleShadingType st) { shadingType = st; return *this; }
|
||||
CV_WRAP TriangleRasterizeSettings& setCullingMode(TriangleCullingMode cm) { cullingMode = cm; return *this; }
|
||||
CV_WRAP TriangleRasterizeSettings& setGlCompatibleMode(TriangleGlCompatibleMode gm) { glCompatibleMode = gm; return *this; }
|
||||
|
||||
TriangleShadingType shadingType;
|
||||
TriangleCullingMode cullingMode;
|
||||
TriangleGlCompatibleMode glCompatibleMode;
|
||||
};
|
||||
|
||||
|
||||
/** @brief Renders a set of triangles on a depth and color image
|
||||
*
|
||||
* Triangles can be drawn white (1.0, 1.0, 1.0), flat-shaded or with a color interpolation between vertices.
|
||||
* In flat-shaded mode the 1st vertex color of each triangle is used to fill the whole triangle.
|
||||
*
|
||||
* The world2cam is an inverted camera pose matrix in fact. It transforms vertices from world to
|
||||
* camera coordinate system.
|
||||
*
|
||||
* The camera coordinate system emulates the OpenGL's coordinate system having coordinate origin in a screen center,
|
||||
* X axis pointing right, Y axis pointing up and Z axis pointing towards the viewer
|
||||
* except that image is vertically flipped after the render.
|
||||
* This means that all visible objects are placed in z-negative area, or exactly in -zNear > z > -zFar since
|
||||
* zNear and zFar are positive.
|
||||
* For example, at fovY = PI/2 the point (0, 1, -1) will be projected to (width/2, 0) screen point,
|
||||
* (1, 0, -1) to (width/2 + height/2, height/2). Increasing fovY makes projection smaller and vice versa.
|
||||
*
|
||||
* The function does not create or clear output images before the rendering. This means that it can be used
|
||||
* for drawing over an existing image or for rendering a model into a 3D scene using pre-filled Z-buffer.
|
||||
*
|
||||
* Empty scene results in a depth buffer filled by the maximum value since every pixel is infinitely far from the camera.
|
||||
* Therefore, before rendering anything from scratch the depthBuf should be filled by zFar values (or by ones in INVDEPTH mode).
|
||||
*
|
||||
* There are special versions of this function named triangleRasterizeDepth and triangleRasterizeColor
|
||||
* for cases if a user needs a color image or a depth image alone; they may run slightly faster.
|
||||
*
|
||||
* @param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
|
||||
* @param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
|
||||
* Should contain CV_32SC3 values or compatible
|
||||
* @param colors per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array.
|
||||
* If the values are out of [0; 1] range, the result correctness is not guaranteed
|
||||
* @param colorBuf an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf.
|
||||
* Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
* @param depthBuf an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf.
|
||||
* Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
* Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
|
||||
* @param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
* @param fovY field of view in vertical direction, given in radians
|
||||
* @param zNear minimum Z value to render, everything closer is clipped
|
||||
* @param zFar maximum Z value to render, everything farther is clipped
|
||||
* @param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
* with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterize(InputArray vertices, InputArray indices, InputArray colors,
|
||||
InputOutputArray colorBuf, InputOutputArray depthBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
/** @brief Overloaded version of triangleRasterize() with depth-only rendering
|
||||
*
|
||||
* @param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
|
||||
* @param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
|
||||
* Should contain CV_32SC3 values or compatible
|
||||
* @param depthBuf an array of floats containing resulting Z buffer. Should contain float values and be the same size as colorBuf.
|
||||
* Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
* Empty scene corresponds to all values set to zFar (or to 1.0 in INVDEPTH mode)
|
||||
* @param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
* @param fovY field of view in vertical direction, given in radians
|
||||
* @param zNear minimum Z value to render, everything closer is clipped
|
||||
* @param zFar maximum Z value to render, everything farther is clipped
|
||||
* @param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
* with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterizeDepth(InputArray vertices, InputArray indices, InputOutputArray depthBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
/** @brief Overloaded version of triangleRasterize() with color-only rendering
|
||||
*
|
||||
* @param vertices vertices coordinates array. Should contain values of CV_32FC3 type or a compatible one (e.g. cv::Vec3f, etc.)
|
||||
* @param indices triangle vertices index array, 3 per triangle. Each index indicates a vertex in a vertices array.
|
||||
* Should contain CV_32SC3 values or compatible
|
||||
* @param colors per-vertex colors of CV_32FC3 type or compatible. Can be empty or the same size as vertices array.
|
||||
* If the values are out of [0; 1] range, the result correctness is not guaranteed
|
||||
* @param colorBuf an array representing the final rendered image. Should containt CV_32FC3 values and be the same size as depthBuf.
|
||||
* Not cleared before rendering, i.e. the content is reused as there is some pre-rendered scene.
|
||||
* @param world2cam a 4x3 or 4x4 float or double matrix containing inverted (sic!) camera pose
|
||||
* @param fovY field of view in vertical direction, given in radians
|
||||
* @param zNear minimum Z value to render, everything closer is clipped
|
||||
* @param zFar maximum Z value to render, everything farther is clipped
|
||||
* @param settings see TriangleRasterizeSettings. By default the smooth shading is on,
|
||||
* with CW culling and with disabled GL compatibility
|
||||
*/
|
||||
CV_EXPORTS_W void triangleRasterizeColor(InputArray vertices, InputArray indices, InputArray colors, InputOutputArray colorBuf,
|
||||
InputArray world2cam, double fovY, double zNear, double zFar,
|
||||
const TriangleRasterizeSettings& settings = TriangleRasterizeSettings());
|
||||
|
||||
/** @brief Octree for 3D vision.
|
||||
*
|
||||
* In 3D vision filed, the Octree is used to process and accelerate the pointcloud data. The class Octree represents
|
||||
* the Octree data structure. Each Octree will have a fixed depth. The depth of Octree refers to the distance from
|
||||
* the root node to the leaf node.All OctreeNodes will not exceed this depth.Increasing the depth will increase
|
||||
* the amount of calculation exponentially. And the small number of depth refers low resolution of Octree.
|
||||
* Each node contains 8 children, which are used to divide the space cube into eight parts. Each octree node represents
|
||||
* a cube. And these eight children will have a fixed order, the order is described as follows:
|
||||
*
|
||||
* For illustration, assume,
|
||||
*
|
||||
* rootNode: origin == (0, 0, 0), size == 2
|
||||
*
|
||||
* Then,
|
||||
*
|
||||
* children[0]: origin == (0, 0, 0), size == 1
|
||||
*
|
||||
* children[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0
|
||||
*
|
||||
* children[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0
|
||||
*
|
||||
* children[3]: origin == (1, 1, 0), size == 1, in X-Y plane
|
||||
*
|
||||
* children[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0
|
||||
*
|
||||
* children[5]: origin == (1, 0, 1), size == 1, in X-Z plane
|
||||
*
|
||||
* children[6]: origin == (0, 1, 1), size == 1, in Y-Z plane
|
||||
*
|
||||
* children[7]: origin == (1, 1, 1), size == 1, furthest from child 0
|
||||
*/
|
||||
|
||||
class CV_EXPORTS_W Octree
|
||||
{
|
||||
public:
|
||||
//! Default constructor.
|
||||
Octree();
|
||||
|
||||
/** @overload
|
||||
* @brief Creates an empty Octree with given maximum depth
|
||||
*
|
||||
* @param maxDepth The max depth of the Octree
|
||||
* @param size bounding box size for the Octree
|
||||
* @param origin Initial center coordinate
|
||||
* @param withColors Whether to keep per-point colors or not
|
||||
* @return resulting Octree
|
||||
*/
|
||||
CV_WRAP static Ptr<Octree> createWithDepth(int maxDepth, double size, const Point3f& origin = { }, bool withColors = false);
|
||||
|
||||
/** @overload
|
||||
* @brief Create an Octree from the PointCloud data with the specific maxDepth
|
||||
*
|
||||
* @param maxDepth Max depth of the octree
|
||||
* @param pointCloud point cloud data, should be 3-channel float array
|
||||
* @param colors color attribute of point cloud in the same 3-channel float format
|
||||
* @return resulting Octree
|
||||
*/
|
||||
CV_WRAP static Ptr<Octree> createWithDepth(int maxDepth, InputArray pointCloud, InputArray colors = noArray());
|
||||
|
||||
/** @overload
|
||||
* @brief Creates an empty Octree with given resolution
|
||||
*
|
||||
* @param resolution The size of the octree leaf node
|
||||
* @param size bounding box size for the Octree
|
||||
* @param origin Initial center coordinate
|
||||
* @param withColors Whether to keep per-point colors or not
|
||||
* @return resulting Octree
|
||||
*/
|
||||
CV_WRAP static Ptr<Octree> createWithResolution(double resolution, double size, const Point3f& origin = { }, bool withColors = false);
|
||||
|
||||
/** @overload
|
||||
* @brief Create an Octree from the PointCloud data with the specific resolution
|
||||
*
|
||||
* @param resolution The size of the octree leaf node
|
||||
* @param pointCloud point cloud data, should be 3-channel float array
|
||||
* @param colors color attribute of point cloud in the same 3-channel float format
|
||||
* @return resulting octree
|
||||
*/
|
||||
CV_WRAP static Ptr<Octree> createWithResolution(double resolution, InputArray pointCloud, InputArray colors = noArray());
|
||||
|
||||
//! Default destructor
|
||||
~Octree();
|
||||
|
||||
/** @overload
|
||||
* @brief Insert a point data with color to a OctreeNode.
|
||||
*
|
||||
* @param point The point data in Point3f format.
|
||||
* @param color The color attribute of point in Point3f format.
|
||||
* @return Returns whether the insertion is successful.
|
||||
*/
|
||||
CV_WRAP bool insertPoint(const Point3f& point, const Point3f& color = { });
|
||||
|
||||
/** @brief Determine whether the point is within the space range of the specific cube.
|
||||
*
|
||||
* @param point The point coordinates.
|
||||
* @return If point is in bound, return ture. Otherwise, false.
|
||||
*/
|
||||
CV_WRAP bool isPointInBound(const Point3f& point) const;
|
||||
|
||||
//! returns true if the rootnode is NULL.
|
||||
CV_WRAP bool empty() const;
|
||||
|
||||
/** @brief Reset all octree parameter.
|
||||
*
|
||||
* Clear all the nodes of the octree and initialize the parameters.
|
||||
*/
|
||||
CV_WRAP void clear();
|
||||
|
||||
/** @brief Delete a given point from the Octree.
|
||||
*
|
||||
* Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node
|
||||
* does not contain other points after deletion, this node will be deleted. In the same way,
|
||||
* its parent node may also be deleted if its last child is deleted.
|
||||
* @param point The point coordinates, comparison is epsilon-based
|
||||
* @return return ture if the point is deleted successfully.
|
||||
*/
|
||||
CV_WRAP bool deletePoint(const Point3f& point);
|
||||
|
||||
/** @brief restore point cloud data from Octree.
|
||||
*
|
||||
* Restore the point cloud data from existing octree. The points in same leaf node will be seen as the same point.
|
||||
* This point is the center of the leaf node. If the resolution is small, it will work as a downSampling function.
|
||||
* @param restoredPointCloud The output point cloud data, can be replaced by noArray() if not needed
|
||||
* @param restoredColor The color attribute of point cloud data, can be omitted if not needed
|
||||
*/
|
||||
CV_WRAP void getPointCloudByOctree(OutputArray restoredPointCloud, OutputArray restoredColor = noArray());
|
||||
|
||||
/** @brief Radius Nearest Neighbor Search in Octree.
|
||||
*
|
||||
* Search all points that are less than or equal to radius.
|
||||
* And return the number of searched points.
|
||||
* @param query Query point.
|
||||
* @param radius Retrieved radius value.
|
||||
* @param points Point output. Contains searched points in 3-float format, and output vector is not in order,
|
||||
* can be replaced by noArray() if not needed
|
||||
* @param squareDists Dist output. Contains searched squared distance in floats, and output vector is not in order,
|
||||
* can be omitted if not needed
|
||||
* @return the number of searched points.
|
||||
*/
|
||||
CV_WRAP int radiusNNSearch(const Point3f& query, float radius, OutputArray points, OutputArray squareDists = noArray()) const;
|
||||
|
||||
/** @overload
|
||||
* @brief Radius Nearest Neighbor Search in Octree.
|
||||
*
|
||||
* Search all points that are less than or equal to radius.
|
||||
* And return the number of searched points.
|
||||
* @param query Query point.
|
||||
* @param radius Retrieved radius value.
|
||||
* @param points Point output. Contains searched points in 3-float format, and output vector is not in order,
|
||||
* can be replaced by noArray() if not needed
|
||||
* @param colors Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
|
||||
* @param squareDists Dist output. Contains searched squared distance in floats, and output vector is not in order,
|
||||
* can be replaced by noArray() if not needed
|
||||
* @return the number of searched points.
|
||||
*/
|
||||
CV_WRAP int radiusNNSearch(const Point3f& query, float radius, OutputArray points, OutputArray colors, OutputArray squareDists) const;
|
||||
|
||||
/** @brief K Nearest Neighbor Search in Octree.
|
||||
*
|
||||
* Find the K nearest neighbors to the query point.
|
||||
* @param query Query point.
|
||||
* @param K amount of nearest neighbors to find
|
||||
* @param points Point output. Contains K points in 3-float format, arranged in order of distance from near to far,
|
||||
* can be replaced by noArray() if not needed
|
||||
* @param squareDists Dist output. Contains K squared distance in floats, arranged in order of distance from near to far,
|
||||
* can be omitted if not needed
|
||||
*/
|
||||
CV_WRAP void KNNSearch(const Point3f& query, const int K, OutputArray points, OutputArray squareDists = noArray()) const;
|
||||
|
||||
/** @overload
|
||||
* @brief K Nearest Neighbor Search in Octree.
|
||||
*
|
||||
* Find the K nearest neighbors to the query point.
|
||||
* @param query Query point.
|
||||
* @param K amount of nearest neighbors to find
|
||||
* @param points Point output. Contains K points in 3-float format, arranged in order of distance from near to far,
|
||||
* can be replaced by noArray() if not needed
|
||||
* @param colors Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
|
||||
* @param squareDists Dist output. Contains K squared distance in floats, arranged in order of distance from near to far,
|
||||
* can be replaced by noArray() if not needed
|
||||
*/
|
||||
CV_WRAP void KNNSearch(const Point3f& query, const int K, OutputArray points, OutputArray colors, OutputArray squareDists) const;
|
||||
|
||||
protected:
|
||||
struct Impl;
|
||||
Ptr<Impl> p;
|
||||
};
|
||||
|
||||
} // namespace cv
|
||||
|
||||
//! @} ptcloud
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,77 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#ifndef POINTCLOUD_POSE_GRAPTH_HPP
|
||||
#define POINTCLOUD_POSE_GRAPTH_HPP
|
||||
|
||||
#include "opencv2/core/affine.hpp"
|
||||
#include "opencv2/core/quaternion.hpp"
|
||||
#include "opencv2/geometry/3d.hpp"
|
||||
#include "opencv2/geometry/detail/optimizer.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
namespace detail
|
||||
{
|
||||
|
||||
// ATTENTION! This class is used internally in Large KinFu.
|
||||
// It has been pushed to publicly available headers for tests only.
|
||||
// Source compatibility of this API is not guaranteed in the future.
|
||||
|
||||
// This class provides tools to solve so-called pose graph problem often arisen in SLAM problems
|
||||
// The pose graph format, cost function and optimization techniques
|
||||
// repeat the ones used in Ceres 3D Pose Graph Optimization:
|
||||
// http://ceres-solver.org/nnls_tutorial.html#other-examples, pose_graph_3d.cc bullet
|
||||
class CV_EXPORTS_W PoseGraph
|
||||
{
|
||||
public:
|
||||
static Ptr<PoseGraph> create();
|
||||
virtual ~PoseGraph();
|
||||
|
||||
// Node may have any id >= 0
|
||||
virtual void addNode(size_t _nodeId, const Affine3d& _pose, bool fixed) = 0;
|
||||
virtual bool isNodeExist(size_t nodeId) const = 0;
|
||||
virtual bool setNodeFixed(size_t nodeId, bool fixed) = 0;
|
||||
virtual bool isNodeFixed(size_t nodeId) const = 0;
|
||||
virtual Affine3d getNodePose(size_t nodeId) const = 0;
|
||||
virtual std::vector<size_t> getNodesIds() const = 0;
|
||||
virtual size_t getNumNodes() const = 0;
|
||||
|
||||
// Edges have consequent indices starting from 0
|
||||
virtual void addEdge(size_t _sourceNodeId, size_t _targetNodeId, const Affine3f& _transformation,
|
||||
const Matx66f& _information = Matx66f::eye()) = 0;
|
||||
virtual size_t getEdgeStart(size_t i) const = 0;
|
||||
virtual size_t getEdgeEnd(size_t i) const = 0;
|
||||
virtual Affine3d getEdgePose(size_t i) const = 0;
|
||||
virtual Matx66f getEdgeInfo(size_t i) const = 0;
|
||||
virtual size_t getNumEdges() const = 0;
|
||||
|
||||
// checks if graph is connected and each edge connects exactly 2 nodes
|
||||
virtual bool isValid() const = 0;
|
||||
|
||||
// Calculates an initial pose estimate using the Minimum Spanning Tree (Prim's MST) algorithm.
|
||||
// The result serves as a starting point for further optimization.
|
||||
// Edge weights are calculated as:
|
||||
// weight = translationNorm + lambda * rotationAngle
|
||||
// The default lambda value (0.485) was empirically chosen based on its impact on optimizer performance,
|
||||
// but can/should be tuned for different datasets.
|
||||
virtual void initializePosesWithMST(double lambda = 0.485) = 0;
|
||||
|
||||
// creates an optimizer with user-defined settings and returns a pointer on it
|
||||
virtual Ptr<cv::detail::LevMarqBase> createOptimizer(const LevMarq::Settings& settings) = 0;
|
||||
// creates an optimizer with default settings and returns a pointer on it
|
||||
virtual Ptr<cv::detail::LevMarqBase> createOptimizer() = 0;
|
||||
|
||||
// Creates an optimizer (with default settings) if it wasn't created before and runs it
|
||||
// Returns number of iterations elapsed or -1 if failed to optimize
|
||||
virtual LevMarq::Report optimize() = 0;
|
||||
|
||||
// calculate cost function based on current nodes parameters
|
||||
virtual double calcEnergy() const = 0;
|
||||
};
|
||||
|
||||
} // namespace detail
|
||||
} // namespace cv
|
||||
|
||||
#endif // include guard
|
||||
+1
@@ -7,6 +7,7 @@
|
||||
|
||||
#include "volume_settings.hpp"
|
||||
|
||||
#include "opencv2/ptcloud/odometry_frame.hpp"
|
||||
#include "opencv2/core/affine.hpp"
|
||||
|
||||
namespace cv
|
||||
+1
-1
@@ -7,7 +7,7 @@
|
||||
#define OPENCV_3D_VOLUME_SETTINGS_HPP
|
||||
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/geometry/volume.hpp>
|
||||
#include <opencv2/ptcloud/volume.hpp>
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@@ -0,0 +1,7 @@
|
||||
#include "perf_precomp.hpp"
|
||||
|
||||
#if defined(HAVE_HPX)
|
||||
#include <hpx/hpx_main.hpp>
|
||||
#endif
|
||||
|
||||
CV_PERF_TEST_MAIN(calib3d)
|
||||
@@ -0,0 +1,14 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
#ifndef __OPENCV_PERF_PRECOMP_HPP__
|
||||
#define __OPENCV_PERF_PRECOMP_HPP__
|
||||
|
||||
#include "opencv2/ts.hpp"
|
||||
#include "opencv2/ptcloud.hpp"
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
#include <opencv2/core/ocl.hpp>
|
||||
#endif
|
||||
|
||||
#endif
|
||||
+1
-1
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include <opencv2/geometry.hpp>
|
||||
#include <opencv2/ptcloud.hpp>
|
||||
|
||||
#include <opencv2/highgui.hpp>
|
||||
#include <opencv2/imgproc.hpp>
|
||||
+2
-2
@@ -5,9 +5,9 @@
|
||||
// Partially rewritten from https://github.com/Nerei/kinfu_remake
|
||||
// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "color_tsdf_functions.hpp"
|
||||
#include "opencl_kernels_geometry.hpp"
|
||||
#include "opencl_kernels_ptcloud.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
+1
-1
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "depth_to_3d.hpp"
|
||||
|
||||
namespace cv
|
||||
@@ -5,7 +5,7 @@
|
||||
#ifndef OPENCV_3D_DEPTH_TO_3D_HPP
|
||||
#define OPENCV_3D_DEPTH_TO_3D_HPP
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "utils.hpp"
|
||||
|
||||
namespace cv
|
||||
+5
-5
@@ -5,9 +5,9 @@
|
||||
// Partially rewritten from https://github.com/Nerei/kinfu_remake
|
||||
// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "hash_tsdf_functions.hpp"
|
||||
#include "opencl_kernels_geometry.hpp"
|
||||
#include "opencl_kernels_ptcloud.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
@@ -445,7 +445,7 @@ void markActive(
|
||||
//! Mark volumes in the camera frustum as active
|
||||
String errorStr;
|
||||
String name = "markActive";
|
||||
ocl::ProgramSource source = ocl::geometry::hash_tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::hash_tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -567,7 +567,7 @@ void ocl_integrateHashTsdfVolumeUnit(
|
||||
//! Integrate the correct volumeUnits
|
||||
String errorStr;
|
||||
String name = "integrateAllVolumeUnits";
|
||||
ocl::ProgramSource source = ocl::geometry::hash_tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::hash_tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -1140,7 +1140,7 @@ void ocl_raycastHashTsdfVolumeUnit(
|
||||
|
||||
String errorStr;
|
||||
String name = "raycast";
|
||||
ocl::ProgramSource source = ocl::geometry::hash_tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::hash_tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "io_base.hpp"
|
||||
|
||||
namespace cv {
|
||||
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "io_obj.hpp"
|
||||
#include <fstream>
|
||||
#include <opencv2/core/utils/logger.hpp>
|
||||
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "io_ply.hpp"
|
||||
#include "utils.hpp"
|
||||
#include <opencv2/core/utils/logger.hpp>
|
||||
@@ -5,9 +5,10 @@
|
||||
// Partially rewritten from https://github.com/Nerei/kinfu_remake
|
||||
// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "opencv2/ptcloud/detail/kinfu_frame.hpp"
|
||||
#include "utils.hpp"
|
||||
#include "opencl_kernels_geometry.hpp"
|
||||
#include "opencl_kernels_ptcloud.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
@@ -383,7 +384,7 @@ bool computePointsNormalsGpu(const Intr intr, float depthFactor, const UMat& dep
|
||||
|
||||
cv::String errorStr;
|
||||
cv::String name = "computePointsNormals";
|
||||
ocl::ProgramSource source = ocl::geometry::kinfu_frame_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::kinfu_frame_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -416,7 +417,7 @@ bool pyrDownBilateralGpu(const UMat& depth, UMat& depthDown, float sigma)
|
||||
|
||||
cv::String errorStr;
|
||||
cv::String name = "pyrDownBilateral";
|
||||
ocl::ProgramSource source = ocl::geometry::kinfu_frame_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::kinfu_frame_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -450,7 +451,7 @@ bool customBilateralFilterGpu(const UMat src /* udepth */, UMat& dst /* smooth *
|
||||
|
||||
cv::String errorStr;
|
||||
cv::String name = "customBilateral";
|
||||
ocl::ProgramSource source = ocl::geometry::kinfu_frame_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::kinfu_frame_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -479,7 +480,7 @@ bool pyrDownPointsNormalsGpu(const UMat p, const UMat n, UMat &pdown, UMat &ndow
|
||||
|
||||
cv::String errorStr;
|
||||
cv::String name = "pyrDownPointsNormals";
|
||||
ocl::ProgramSource source = ocl::geometry::kinfu_frame_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::kinfu_frame_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -510,7 +511,7 @@ static bool ocl_renderPointsNormals(const UMat points, const UMat normals,
|
||||
|
||||
cv::String errorStr;
|
||||
cv::String name = "render";
|
||||
ocl::ProgramSource source = ocl::geometry::kinfu_frame_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::kinfu_frame_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
+1
-1
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
#include "io_base.hpp"
|
||||
#include "io_obj.hpp"
|
||||
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@@ -2,9 +2,9 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "utils.hpp"
|
||||
#include "opencv2/geometry/odometry.hpp"
|
||||
#include "opencv2/ptcloud/odometry.hpp"
|
||||
#include "odometry_functions.hpp"
|
||||
|
||||
namespace cv
|
||||
+1
-1
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
#include <opencv2/core/ocl.hpp>
|
||||
|
||||
+3
-3
@@ -3,9 +3,9 @@
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "odometry_functions.hpp"
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "utils.hpp"
|
||||
#include "opencl_kernels_geometry.hpp"
|
||||
#include "opencl_kernels_ptcloud.hpp"
|
||||
|
||||
#include "opencv2/imgproc.hpp"
|
||||
#include <opencv2/core/hal/intrin.hpp>
|
||||
@@ -1394,7 +1394,7 @@ bool ocl_calcICPLsmMatricesFast(Matx33f cameraMatrix, const UMat& oldPts, const
|
||||
UMat groupedSumBuffer;
|
||||
cv::String errorStr;
|
||||
String name = "getAb";
|
||||
ocl::ProgramSource source = ocl::geometry::icp_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::icp_oclsrc;
|
||||
cv::String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
+1
-1
@@ -2,7 +2,7 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "utils.hpp"
|
||||
|
||||
namespace cv
|
||||
@@ -12,7 +12,7 @@
|
||||
* Houxiang Zhang and Hans Petter Hildre
|
||||
*/
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@@ -2,8 +2,9 @@
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "opencv2/geometry/detail/optimizer.hpp"
|
||||
#include "opencv2/ptcloud/detail/pose_graph.hpp"
|
||||
#include <opencv2/geometry/mst.hpp>
|
||||
#include "sparse_block_matrix.hpp"
|
||||
|
||||
@@ -115,7 +116,7 @@ public:
|
||||
};
|
||||
|
||||
|
||||
class PoseGraphImpl : public detail::PoseGraph
|
||||
class PoseGraphImpl : public cv::detail::PoseGraph
|
||||
{
|
||||
public:
|
||||
struct Pose3d
|
||||
@@ -0,0 +1,28 @@
|
||||
#ifndef __OPENCV_PRECOMP_H__
|
||||
#define __OPENCV_PRECOMP_H__
|
||||
|
||||
#ifdef _MSC_VER
|
||||
# define _SILENCE_CXX17_C_HEADER_DEPRECATION_WARNING
|
||||
# define _SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING
|
||||
#endif
|
||||
|
||||
#include <vector>
|
||||
#include <set>
|
||||
#include <map>
|
||||
#include <list>
|
||||
#include <unordered_set>
|
||||
#include <unordered_map>
|
||||
#include <stack>
|
||||
|
||||
#include "opencv2/core.hpp"
|
||||
#include "opencv2/core/types.hpp"
|
||||
#include "opencv2/core/base.hpp"
|
||||
#include "opencv2/core/utils/logger.hpp"
|
||||
#include "opencv2/core/utils/trace.hpp"
|
||||
#include "opencv2/core/ocl.hpp"
|
||||
#include "opencv2/core/hal/intrin.hpp"
|
||||
#include "opencv2/ptcloud.hpp"
|
||||
#include "opencv2/geometry.hpp"
|
||||
#include "opencv2/imgproc.hpp"
|
||||
|
||||
#endif
|
||||
+1
-1
@@ -5,7 +5,7 @@
|
||||
#ifndef OPENCV_3D_SPARSE_BLOCK_MATRIX_HPP
|
||||
#define OPENCV_3D_SPARSE_BLOCK_MATRIX_HPP
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
#if defined(HAVE_EIGEN)
|
||||
#include <Eigen/Core>
|
||||
+6
-6
@@ -5,9 +5,9 @@
|
||||
// Partially rewritten from https://github.com/Nerei/kinfu_remake
|
||||
// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "tsdf_functions.hpp"
|
||||
#include "opencl_kernels_geometry.hpp"
|
||||
#include "opencl_kernels_ptcloud.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
@@ -341,7 +341,7 @@ void ocl_integrateTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f&
|
||||
|
||||
String errorStr;
|
||||
String name = "integrate";
|
||||
ocl::ProgramSource source = ocl::geometry::tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -932,7 +932,7 @@ void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& ca
|
||||
|
||||
String errorStr;
|
||||
String name = "raycast";
|
||||
ocl::ProgramSource source = ocl::geometry::tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -1112,7 +1112,7 @@ void ocl_fetchNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputArr
|
||||
|
||||
String errorStr;
|
||||
String name = "getNormals";
|
||||
ocl::ProgramSource source = ocl::geometry::tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
ocl::Kernel k;
|
||||
k.create(name.c_str(), source, options, &errorStr);
|
||||
@@ -1337,7 +1337,7 @@ void ocl_fetchPointsNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, In
|
||||
ocl::Kernel kscan;
|
||||
|
||||
String errorStr;
|
||||
ocl::ProgramSource source = ocl::geometry::tsdf_oclsrc;
|
||||
ocl::ProgramSource source = ocl::ptcloud::tsdf_oclsrc;
|
||||
String options = "-cl-mad-enable";
|
||||
|
||||
kscan.create("scanSize", source, options, &errorStr);
|
||||
+1
-1
@@ -8,7 +8,7 @@
|
||||
#ifndef OPENCV_3D_TSDF_FUNCTIONS_HPP
|
||||
#define OPENCV_3D_TSDF_FUNCTIONS_HPP
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "utils.hpp"
|
||||
|
||||
namespace cv
|
||||
@@ -1,17 +1,66 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
|
||||
// Partially rewritten from https://github.com/Nerei/kinfu_remake
|
||||
// Copyright(c) 2012, Anatoly Baksheev. All rights reserved.
|
||||
#ifndef _CODERS_UTILS_H_
|
||||
#define _CODERS_UTILS_H_
|
||||
|
||||
#ifndef OPENCV_3D_UTILS_HPP
|
||||
#define OPENCV_3D_UTILS_HPP
|
||||
#include "precomp.hpp"
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <sstream>
|
||||
#include <array>
|
||||
#include <algorithm>
|
||||
#include <cstdint>
|
||||
|
||||
namespace cv
|
||||
namespace cv {
|
||||
|
||||
std::vector<std::string> split(const std::string &s, char delimiter);
|
||||
|
||||
inline bool startsWith(const std::string &s1, const std::string &s2)
|
||||
{
|
||||
return s1.compare(0, s2.length(), s2) == 0;
|
||||
}
|
||||
|
||||
inline std::string trimSpaces(const std::string &input)
|
||||
{
|
||||
size_t start = 0;
|
||||
while (start < input.size() && input[start] == ' ')
|
||||
{
|
||||
start++;
|
||||
}
|
||||
size_t end = input.size();
|
||||
while (end > start && (input[end - 1] == ' ' || input[end - 1] == '\n' || input[end - 1] == '\r'))
|
||||
{
|
||||
end--;
|
||||
}
|
||||
return input.substr(start, end - start);
|
||||
}
|
||||
|
||||
inline std::string getExtension(const std::string& filename)
|
||||
{
|
||||
auto pos = filename.find_last_of('.');
|
||||
if (pos == std::string::npos)
|
||||
{
|
||||
return "";
|
||||
}
|
||||
return filename.substr( pos + 1);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void swapEndian(T &val)
|
||||
{
|
||||
union U
|
||||
{
|
||||
T val;
|
||||
std::array<std::uint8_t, sizeof(T)> raw;
|
||||
} src, dst;
|
||||
|
||||
src.val = val;
|
||||
std::reverse_copy(src.raw.begin(), src.raw.end(), dst.raw.begin());
|
||||
val = dst.val;
|
||||
}
|
||||
|
||||
/** Checks if the value is a valid depth. For CV_16U or CV_16S, the convention is to be invalid if it is
|
||||
* a limit. For a float/double, we just check if it is a NaN
|
||||
@@ -265,7 +314,6 @@ public:
|
||||
std::vector< std::vector<UMat> > pyramids;
|
||||
};
|
||||
|
||||
} // namespace cv
|
||||
} /* namespace cv */
|
||||
|
||||
|
||||
#endif // include guard
|
||||
#endif
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
#include "hash_tsdf_functions.hpp"
|
||||
|
||||
namespace cv
|
||||
+1
-1
@@ -3,7 +3,7 @@
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
|
||||
#include "../precomp.hpp"
|
||||
#include "precomp.hpp"
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@@ -0,0 +1,10 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
#include "test_precomp.hpp"
|
||||
|
||||
#if defined(HAVE_HPX)
|
||||
#include <hpx/hpx_main.hpp>
|
||||
#endif
|
||||
|
||||
CV_TEST_MAIN("")
|
||||
@@ -6,6 +6,8 @@
|
||||
#include <opencv2/geometry.hpp>
|
||||
#include <opencv2/core/quaternion.hpp>
|
||||
|
||||
using namespace cv;
|
||||
|
||||
namespace opencv_test { namespace {
|
||||
|
||||
const int W = 640;
|
||||
+1
-1
@@ -3,7 +3,7 @@
|
||||
// of this distribution and at http://opencv.org/license.html
|
||||
|
||||
#include "test_precomp.hpp"
|
||||
#include <opencv2/geometry/detail/optimizer.hpp>
|
||||
#include <opencv2/ptcloud/detail/pose_graph.hpp>
|
||||
|
||||
#include <opencv2/core/dualquaternion.hpp>
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
#ifndef __OPENCV_TEST_PRECOMP_HPP__
|
||||
#define __OPENCV_TEST_PRECOMP_HPP__
|
||||
|
||||
#include <functional>
|
||||
#include <numeric>
|
||||
|
||||
#include "opencv2/ts.hpp"
|
||||
#include "opencv2/geometry.hpp"
|
||||
#include "opencv2/ptcloud.hpp"
|
||||
#include <opencv2/core/utils/logger.hpp>
|
||||
#include "opencv2/ptcloud/depth.hpp"
|
||||
#include "opencv2/ptcloud/odometry.hpp"
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
#include <opencv2/core/ocl.hpp>
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -6,7 +6,7 @@
|
||||
*/
|
||||
|
||||
#include "Mesh.h"
|
||||
#include <opencv2/geometry.hpp>
|
||||
#include <opencv2/ptcloud.hpp>
|
||||
|
||||
// --------------------------------------------------- //
|
||||
// TRIANGLE CLASS //
|
||||
|
||||
Reference in New Issue
Block a user