KinectFusion implemented (#1627)

* empty kinfu module created

* KinFu: skeleton is done

* some intermediate state fixed

* fixed normal calculation

* bilinear depth interp: fixing missing data

* TSDF integration optimized

* TSDF: adding constness

* utils: isNaN; Intr::Projector const reference fixed

* TSDF raycast: quality improvements

* TSDF fetchCloud is done

* render() added

* ICP implemented

* debug code moved to demo.cpp

* less TODOs

* partial refactoring

* TSDF: fetchPoints() and fetchNormals() rewritten in parallel manner

* platform choose added

* reordered

* data types isolated off the platform

* minor fixes

* ScopeTime added

* fixed iterations gathering

* volume::integrate() parallelized but works slow (big overhead for

* raycast is done in parallel

* got rid of kftype and p3type

* fetchNormals() fixed

* less code duplication

* nan check reduced, interpolate() refactored to fetchVoxel()

* ICP: optimizations

* TSDF: bilinear specialized

* TSDF: voxelSizeInv pushed away

* TSDF: interpolation optimized

* TSDF::integrate: parallel_for now works fast

* Frame::render: pow -> float ipow<int p>(x)

* ICP::getAb: parallel_for

* ICP::getAb: time print disabled

* ICP::getAb::bilinear: 2 calls joined

* refactored, extra functions removed

* optimized to use only 27 elems

* ICP::getAb: better optimized

* Points and Normals data type expanded to 4 channels

* ICP optimized (doesn't work)

* ICP::getAb is on intrinsics and it works

* NaN check is faster

* ICP::getAB: minors

* added non-SIMD code as fallback

* TSDF::fetchVoxel and interpolation: got rid of coord check

* TSDF::fetchVoxel: refactor

* TSDF::raycast: local copies of members

* TSDF::interpolate: refactored for simplier vectorization

* TSDF::getNormal: refactored for simplier vectorization

* minor

* include "intrin.hpp" moved to precomp.hpp

* TSDF::coords shifts moved to class body

* TSDF::getNormal vectorized

* TSDF::getNormal: little improvements

* TSDF::interpolate: little improvements

* TSDF::raycast vectorized

* more to precomp.hpp

* TSDF: minor optimizations

* TSDF::raycast cycles optimized

* TSDF::fetchPointsNormals instead of separate p and n

* TSDF::bilinearInterpolate: little speedup

* TSDF::interpolate: speed up

* TSDF::interpolate: more compact code

* TSDF::getNormal and raycast main cycle made faster

* ICP: few improvements

* Frame: a lot of parts parallelized

* TSDF::fetchPointsNormals minor improvements

* TSDF::integrate and bilinear vectorized

* TSDF::interpolate and getNormal: interpolation vectorized

* ICP: minor changes

* gradientDeltaFactor removed, coarseParams() added

* TSDF::raycast: fixed bug with tmin/tmax

* minors

* baseZ fixed

* ICP: interpolation fixed, non-parallelized code fixed

* TSDF::interpolate: bilinear fixed, less artifacts

* TSDF: minor refactoring

* TSDF: some members moved to parent class

* added tests for KinFu

* KinFu documented

* docs fixed

* warnings fixed

* license added, overrides added

* minors

* ScopeTime moved to separate file

* less memory allocations

* demo improved, java binding disabled

* viz module made optional

* fix to demo

* frameGenerator interface: got rid of refs to cv::Ptr

* demo made interactive

* trying to fix build

* trying to fix warnings

* warning fixed

* demo fixed

* raycast_step_factor tuned

* legal info added

* don't reset if ICP failed

* refactoring: KinFu::operator() => update()

* KinFu::KinFuParams => ::Params

* get/setParams

* fetch => get

* all src moved to cv::kinfu namespace

* struct Intr made internal

* kinfu_module merged into rgbd module

* License preambule updated

* minors

* frame.* renamed to kinfu_frame.*

* warnings fixed

* more warnings fixed

* RGBD normals: a fix against Inf/Nan values

* FastICP: fixed transformation direction

* RGBD Odometry tests: added epsilon for id transform; minors

* RGBD Odometry tests enabled

* modules list fixed

modules/rgbd/samples/odometry_evaluation.cpp

@@ -1,37 +1,8 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2009, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions 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.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may 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
- *  COPYRIGHT OWNER 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.
- *
- */
+// 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
+
+// This code is also subject to the license terms in the LICENSE_WillowGarage.md file found in this module's directory
 
 #include <opencv2/rgbd.hpp>
 
@@ -135,7 +106,7 @@ int main(int argc, char** argv)
 {
     if(argc != 4)
     {
-        cout << "Format: file_with_rgb_depth_pairs trajectory_file odometry_name [Rgbd or ICP or RgbdICP]" << endl;
+        cout << "Format: file_with_rgb_depth_pairs trajectory_file odometry_name [Rgbd or ICP or RgbdICP or FastICP]" << endl;
         return -1;
     }