Merge pull request #2566 from akashsharma02:master

[GSoC] Add new Hashtable based TSDF volume to RGBD module

* - Add HashTSDF class
    - Implement Integrate function (untested)

* Integration seems to be working, raycasting does not

* Update integration code

* Integration and Raycasting fixes, (both work now)

* - Format code
- Clean up comments and few fixes

* Add Kinect Fusion backup file

* - Add interpolation for vertices and normals (slow and unreliable!)
- Format code
- Delete kinfu_back.cpp

* Bug fix for integration and noisy odometry

* - Create volume abstract class
- Address Review comments

* - Add getPoints and getNormals function
- Fix formatting according to comments
- Move volume abstract class to include/opencv2/rgbd/
- Write factory method for creating TSDFVolumes
- Small bug fixes
- Minor fixes according to comments

* - Add tests for hashTSDF
- Fix raycasting bug causing to loop forever
- Suppress warnings by explicit conversion
- Disable hashTsdf test until we figure out memory leak
- style changes
- Add missing license in a few files, correct precomp.hpp usage

modules/rgbd/samples/kinfu_demo.cpp

@@ -312,6 +312,7 @@ static const char* keys =
     "{camera |0| Index of depth camera to be used as a depth source }"
     "{coarse | | Run on coarse settings (fast but ugly) or on default (slow but looks better),"
         " in coarse mode points and normals are displayed }"
+    "{useHashTSDF | | Use the newer hashtable based TSDFVolume (relatively fast) and for larger reconstructions}"
     "{idle   | | Do not run KinFu, just display depth frames }"
     "{record | | Write depth frames to specified file list"
         " (the same format as for the 'depth' key) }"
@@ -327,6 +328,7 @@ int main(int argc, char **argv)
 {
     bool coarse = false;
     bool idle = false;
+    bool useHashTSDF = false;
     string recordPath;
 
     CommandLineParser parser(argc, argv, keys);
@@ -352,6 +354,10 @@ int main(int argc, char **argv)
     {
         recordPath = parser.get<String>("record");
     }
+    if(parser.has("useHashTSDF"))
+    {
+        useHashTSDF = true;
+    }
     if(parser.has("idle"))
     {
         idle = true;
@@ -382,6 +388,9 @@ int main(int argc, char **argv)
     else
         params = Params::defaultParams();
 
+    if(useHashTSDF)
+        params = Params::hashTSDFParams(coarse);
+
     // These params can be different for each depth sensor
     ds->updateParams(*params);