3 Commits

Author	SHA1	Message	Date
Francisco Mónica	120a46b0d1	Merge pull request #27423 from miguel1099:feat-#25150-MST_init_poseGraph ... Feat #25150: Pose Graph MST initialization #27423 Implements an MST-based initialisation for pose graphs, as proposed in issue #25150. Both Prim’s and Kruskal’s algorithms were added to the 3D module. These receive a vector of node IDs and a vector of edges (each with source and target IDs and a weight), and return a vector with the resulting edges. These MST implementations treat edges as undirected internally, meaning users only need to provide one direction (A→B or B→A), and duplicates are handled automatically. Additionally, a new pose graph initialisation method using MST (Prim) was implemented. It constructs the MST over the pose graph, then traverses it to reconstruct node poses. With this, users can call `poseGraph->initializePosesWithMST()` to create an initial solution for the pose graph problem. A set of test cases validating the implementation was also included. #### Notes - The edge weight used in the MST for pose graphs is calculated as: `weight = || translation || + λ * rotation_angle`, where λ = 0.485 was determined empirically based on optimiser performance; - Validated on [Sphere-a](https://lucacarlone.mit.edu/datasets/) pose graph, showing similar convergence behaviour with or without MST initialisation; - Alternative weight formulas, such as the Mahalanobis distance formula, were also tested, but the current formula yielded better results. #### Future Work - Extend testing to more diverse pose graphs (currently limited to [Sphere-a](https://github.com/opencv/opencv_extra/blob/5.x/testdata/cv/rgbd/sphere_bignoise_vertex3.g2o) in opencv_extra) - Explore adaptive tuning of the λ parameter for broader applicability. Co-authored-by: @miguel1099 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] 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. - [x] The feature is well documented and sample code can be built with the project CMake	2025-08-12 08:22:02 +03:00
Rostislav Vasilikhin	9d6f388809	Merge pull request #21018 from savuor:levmarqfromscratch ... New LevMarq implementation * Hash TSDF fix: apply volume pose when fetching pose * DualQuat minor fix * Pose Graph: getEdgePose(), getEdgeInfo() * debugging code for pose graph * add edge to submap * pose averaging: DualQuats instead of matrix averaging * overlapping ratio: rise it up; minor comment * remove `Submap::addEdgeToSubmap` * test_pose_graph: minor * SparseBlockMatrix: support 1xN as well as Nx1 for residual vector * small changes to old LMSolver * new LevMarq impl * Pose Graph rewritten to use new impl * solvePnP(), findHomography() and findExtrinsicCameraParams2() use new impl * estimateAffine...2D() use new impl * calibration and stereo calibration use new impl * BundleAdjusterBase::estimate() uses new impl * new LevMarq interface * PoseGraph: changing opt interface * findExtrinsicCameraParams2(): opt interface updated * HomographyRefine: opt interface updated * solvePnPRefine opt interface fixed * Affine2DRefine opt interface fixed * BundleAdjuster::estimate() opt interface fixed * calibration: opt interface fixed + code refactored a little * minor warning fixes * geodesic acceleration, Impl -> Backend rename * calcFunc() always uses probe vars * solveDecomposed, fixing negation * fixing geodesic acceleration + minors * PoseGraph exposes its optimizer now + its tests updated to check better convegence * Rosenbrock test added for LevMarq * LevMarq params upgraded * Rosenbrock can do better * fixing stereo calibration * old implementation removed (as well as debug code) * more debugging code removed * fix warnings * fixing warnings * fixing Eigen dependency * trying to fix Eigen deps * debugging code for submat is now temporary * trying to fix Eigen dependency * relax sanity check for solvePnP * relaxing sanity check even more * trying to fix Eigen dependency * warning fix * Quat<T>: fixing warnings * more warning fixes * fixed warning * fixing *KinFu OCL tests * algo params -> struct Settings * Backend moved to details * BaseLevMarq -> LevMarqBase * detail/pose_graph.hpp -> detail/optimizer.hpp * fixing include stuff for details/optimizer.hpp * doc fix * LevMarqBase rework: Settings, pImpl, Backend * Impl::settings and ::backend fix * HashTSDFGPU fix * fixing compilation * warning fix for OdometryFrameImplTMat * docs fix + compile warnings * remake: new class LevMarq with pImpl and enums, LevMarqBase => detail, no Backend class, Settings() => .cpp, Settings==() removed, Settings.set...() inlines * fixing warnings & whitespace	2021-12-27 21:51:32 +00:00
Rostislav Vasilikhin	bae9cef0b5	Merge pull request #20013 from savuor:rgbd_to_3d ... Moving RGBD parts to 3d * files moved from rgbd module in contrib repo * header paths fixed * perf file added * lapack compilation fixed * Rodrigues fixed in tests * rgbd namespace removed * headers fixed * initial: rgbd files moved to 3d module * rgbd updated from latest contrib master; less file duplication * "std::" for sin(), cos(), etc. * KinFu family -> back to contrib * paths & namespaces * removed duplicates, file version updated * namespace kinfu removed from 3d module * forgot to move test_colored_kinfu.cpp to contrib * tests fixed: Params removed * kinfu namespace removed * it works without objc bindings * include headers fixed * tests: data paths fixed * headers moved to/from public API * Intr -> Matx33f in public API * from kinfu_frame.hpp to utils.hpp * submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers * no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl * get/setPyramidAt() instead of lots of methods * Mat -> InputArray, TMat * prepareFrameCache: refactored * FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose * Mat/UMat choose * minor stuff related to headers * (un)signed int warnings; compilation minor issues * minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp * FastICPOdometry: caching, rgbCameraMatrix * OdometryFrame: pyramid%s% -> pyramids[] * drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls * makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp * minors * FastICPOdometry: caching updated, init fields * OdometryFrameImpl<UMat> fixed * matrix building fixed; minors * returning linemode back to contrib * params.pose is Mat now * precomp headers reorganized * minor fixes, header paths, extra header removed * minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed * moving declarations from/to headers * internal headers reorganized (once again) * fix include * extra var fix * fix include, fix (un)singed warning * calibration.cpp: reverting back * headers fix * workaround to fix bindings * temporary removed wrappers * VolumeType -> VolumeParams * (temporarily) removing wrappers for Volume and VolumeParams * pyopencv_linemod -> contrib * try to fix test_rgbd.py * headers fixed * fixing wrappers for rgbd * fixing docs * fixing rgbdPlane * RgbdNormals wrapped * wrap Volume and VolumeParams, VolumeType from enum to int * DepthCleaner wrapped * header folder "rgbd" -> "3d" * fixing header path * VolumeParams referenced by Ptr to support Python wrappers * render...() fixed * Ptr<VolumeParams> fixed * makeVolume(... resolution -> [X, Y, Z]) * fixing static declaration * try to fix ios objc bindings * OdometryFrame::release...() removed * fix for Odometry algos not supporting UMats: prepareFrameCache<>() * preparePyramidMask(): fix to compile with TMat = UMat * fixing debug guards * removing references back; adding makeOdometryFrame() instead * fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang) * try to fix objc wrapper warnings; rerun builders * VolumeType -> VolumeKind * try to fix OCL bug * prints removed * indentation fixed * headers fixed * license fix * WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already * KinFu license notion shortened * debugging code removed * include guards fixed * KinFu license left in contrib module * isValidDepth() moved to private header * indentation fix * indentation fix in src files * RgbdNormals rewritten to pImpl * minor * DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering * minors, indentation * no "private" in public headers * depthTo3d test moved from separate file * Normals: setDepth() is useless, removing it * RgbdPlane => findPlanes() * rescaleDepth(): minor * warpFrame: minor * minor TODO * all Odometries (except base abstract class) rewritten to pImpl * FastICPOdometry now supports maxRotation and maxTranslation * minor * Odometry's children: now checks are done in setters * get rid of protected members in Odometry class * get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl * cameraMatrix: from double to float * matrix exponentiation: Eigen -> dual quaternions * Odometry evaluation fixed to reuse existing code * "small" macro fixed by undef * pixNorm is calculated on CPU only now (and then uploads on GPU) * test registration: no cvtest classes * test RgbdNormals and findPlanes(): no cvtest classes * test_rgbd.py: minor fix * tests for Odometry: no cvtest classes; UMat tests; logging fixed * more CV_OVERRIDE to overriden functions * fixing nondependent names to dependent * more to prev commit * forgotten fixes: overriden functions, (non)dependent names * FastICPOdometry: fix UMat support when OpenCL is off * try to fix compilation: missing namespaces * Odometry: static const-mimicking functions to internal constants * forgotten change to prev commit * more forgotten fixes * do not expose "submap.hpp" by default * in-class enums: give names, CamelCase, int=>enums; minors * namespaces, underscores, String * std::map is used by pose graph, adding it * compute()'s signature fixed, computeImpl()'s too * RgbdNormals: Mat -> InputArray * depth.hpp: Mat -> InputArray * cameraMatrix: Matx33f -> InputArray + default value + checks * "details" headers are not visible by default * TSDF tests: rearranging checks * cameraMatrix: no (realistic) default value * renderPointsNormals*(): no wrappers for them * debug: assert on empty frame in TSDF tests * debugging code for TSDF GPU * debug from integrate to raycast * no (non-zero) default camera matrix anymore * drop debugging code (does not help) * try to fix TSDF GPU: constant -> global const ptr	2021-08-22 13:18:45 +00:00