Merge pull request #2936 from savuor:rgbd_to_3d

Moving RGBD parts to 3d

* KinFu reference removed

* include files removed

* test, perf and misc files for rgbd removed (placed in main repo)

* src files removed

* KinFu & family in contrib

* forgot to move test_colored_kinfu.cpp to contrib

* CMake: extra dependency removed

* test_precomp: namespace removed

* include headers list fixed

* namespaces fixed

* 2 demos moved to main repo

* volParams in demos: resolution and pose

* minors

* params.pose, resolution -> by elem

* %s%KinFu pipelines: ICP -> Odometry, pyramids -> OdometryFrame, submaps ->> namespace detail

* DynaFu TSDF: Intr -> Matx33f

* colored KinFu: keeping colors, proper caching

* all KinFus: proper caching

* ICP call: Affine3f -> Matx44d

* returning linemode back to contrib

* params.pose is Mat now

* adding forgotten file

* minor compilation fix

* VolumeType -> VolumeParams

* (temporarily) removing bindings from a field

* pyopencv_linemod -> contrib

* wrap Volume, VolumeType from enum to int

* fixing headers paths

* render...() fixed

* makeVolume(... resolution -> [X, Y, Z])

* *KinfuParams: fields wrapped

* trailing whitespaces

* adding LONG tags to tests

* OdometryFrame::create -> Odometry::makeOdometryFrame(); rerun builders

* VolumeType -> VolumeKind

* WillowGarage license removed

* Odometry: static const-mimicking functions to internal constants

* workarounds for ICP maxRotation and maxTranslation

* explicitly include 3d/detail headers

* minor (mostly to rerun buildbot)

Author: savuor

modules/aruco/src/apriltag_quad_thresh.cpp

@@ -394,7 +394,7 @@ int quad_segment_maxima(const Ptr<DetectorParameters> &td, int sz, struct line_f
     double params01[4], params12[4], params23[4], params30[4];
 
     // disallow quads where the angle is less than a critical value.
-    double max_dot = cos(td->aprilTagCriticalRad); //25*M_PI/180);
+    double max_dot = std::cos(td->aprilTagCriticalRad); //25*M_PI/180);
 
     for (int m0 = 0; m0 < nmaxima - 3; m0++) {
         int i0 = maxima[m0];

modules/rgbd/CMakeLists.txt

@@ -1,7 +1,3 @@
 set(the_description "RGBD algorithms")
 
-ocv_define_module(rgbd opencv_core opencv_calib3d opencv_imgproc OPTIONAL opencv_viz WRAP python)
-
-if(NOT HAVE_EIGEN)
-  message(STATUS "rgbd: Eigen support is disabled. Eigen is Required for Posegraph optimization")
-endif()
+ocv_define_module(rgbd opencv_core opencv_3d opencv_imgproc OPTIONAL opencv_viz WRAP python)

modules/rgbd/LICENSE_WillowGarage.md

@@ -1,21 +1,3 @@
-@inproceedings{kinectfusion,
-author = {Izadi, Shahram and Kim, David and Hilliges, Otmar and Molyneaux, David and Newcombe, Richard and Kohli, Pushmeet and Shotton, Jamie and Hodges, Steve and Freeman, Dustin and Davison, Andrew and Fitzgibbon, Andrew},
-title = {KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera},
-booktitle = {},
-year = {2011},
-month = {October},
-abstract = {
-KinectFusion enables a user holding and moving a standard Kinect camera to rapidly create detailed 3D reconstructions of an indoor scene. Only the depth data from Kinect is used to track the 3D pose of the sensor and reconstruct, geometrically precise, 3D models of the physical scene in real-time. The capabilities of KinectFusion, as well as the novel GPU-based pipeline are described in full. We show uses of the core system for low-cost handheld scanning, and geometry-aware augmented reality and physics-based interactions. Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction. These extensions are used to enable real-time multi-touch interactions anywhere, allowing any planar or non-planar reconstructed physical surface to be appropriated for touch.
-},
-publisher = {ACM},
-url = {https://www.microsoft.com/en-us/research/publication/kinectfusion-real-time-3d-reconstruction-and-interaction-using-a-moving-depth-camera/},
-address = {},
-pages = {559-568},
-journal = {},
-volume = {},
-chapter = {},
-isbn = {978-1-4503-0716-1},
-}
 @inproceedings{dynamicfusion,
 author = {Newcombe, Richard A. and Fox, Dieter and Seitz, Steven M.},
 title = {DynamicFusion: Reconstruction and Tracking of Non-Rigid Scenes in Real-Time},

modules/rgbd/doc/rgbd.bib

@@ -9,14 +9,11 @@
 #ifndef __OPENCV_RGBD_HPP__
 #define __OPENCV_RGBD_HPP__
 
-#include "opencv2/rgbd/linemod.hpp"
-#include "opencv2/rgbd/depth.hpp"
-#include "opencv2/rgbd/kinfu.hpp"
 #include "opencv2/rgbd/dynafu.hpp"
-#include "opencv2/rgbd/large_kinfu.hpp"
-#include "opencv2/rgbd/detail/pose_graph.hpp"
+#include "opencv2/rgbd/kinfu.hpp"
 #include "opencv2/rgbd/colored_kinfu.hpp"
-
+#include "opencv2/rgbd/large_kinfu.hpp"
+#include "opencv2/rgbd/linemod.hpp"
 
 /** @defgroup rgbd RGB-Depth Processing
 */

modules/rgbd/include/opencv2/rgbd.hpp

@@ -9,7 +9,7 @@
 
 #include "opencv2/core.hpp"
 #include "opencv2/core/affine.hpp"
-#include <opencv2/rgbd/volume.hpp>
+#include <opencv2/3d.hpp>
 
 namespace cv {
 namespace colored_kinfu {
@@ -18,8 +18,10 @@ namespace colored_kinfu {
 
 struct CV_EXPORTS_W Params
 {
-
-    CV_WRAP Params(){}
+    CV_WRAP Params()
+    {
+        setInitialVolumePose(Matx44f::eye());
+    }
 
     /**
      * @brief Constructor for Params
@@ -85,7 +87,7 @@ struct CV_EXPORTS_W Params
     /** @brief rgb frame size in pixels */
     CV_PROP_RW Size rgb_frameSize;
 
-    CV_PROP_RW kinfu::VolumeType volumeType;
+    CV_PROP_RW int volumeKind;
 
     /** @brief camera intrinsics */
     CV_PROP_RW Matx33f intr;
@@ -127,7 +129,7 @@ struct CV_EXPORTS_W Params
     CV_PROP_RW float tsdf_min_camera_movement;
 
     /** @brief initial volume pose in meters */
-    Affine3f volumePose;
+    CV_PROP_RW Matx44f volumePose;
 
     /** @brief distance to truncate in meters