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)

modules/rgbd/misc/python/test/test_rgbd.py

@@ -1,45 +0,0 @@
-#!/usr/bin/env python
-
-# Python 2/3 compatibility
-from __future__ import print_function
-
-import os, numpy
-
-import cv2 as cv
-
-from tests_common import NewOpenCVTests
-
-class rgbd_test(NewOpenCVTests):
-
-    def test_computeRgbdPlane(self):
-
-        depth_image = self.get_sample('/cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)
-        if depth_image is None:
-            raise unittest.SkipTest("Missing files with test data")
-
-        K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])
-        points3d = cv.rgbd.depthTo3d(depth_image, K)
-        normals_computer = normals_computer = cv.rgbd.RgbdNormals_create(480, 640, 5, K)
-        normals = normals_computer.apply(points3d)
-        rgbd_plane = cv.rgbd.RgbdPlane_create(cv.rgbd.RgbdPlane_RGBD_PLANE_METHOD_DEFAULT, 40, 1600, 0.01, 0, 0, 0)
-        _, planes_coeff = rgbd_plane.apply(points3d, normals)
-
-        planes_coeff_expected = \
-        numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182,  4.02800846]],
-                        [[-0.05055107, -0.86144137, -0.50533485,  3.95456314]],
-                        [[-0.03294908, -0.86964548, -0.49257591,  3.97052431]],
-                        [[-0.02886586, -0.87153459, -0.48948362,  7.77550507]],
-                        [[-0.04455929, -0.87659335, -0.47916424,  3.93200684]],
-                        [[-0.21514639,  0.18835169, -0.95824611,  7.59479475]],
-                        [[-0.01006953, -0.86679155, -0.49856904,  4.01355648]],
-                        [[-0.00876531, -0.87571168, -0.48275498,  3.96768975]],
-                        [[-0.06395926, -0.86951321, -0.48975089,  4.08618736]],
-                        [[-0.01403128, -0.87593341, -0.48222789,  7.74559402]],
-                        [[-0.01143177, -0.87495202, -0.4840748 ,  7.75355816]]],
-                        dtype=numpy.float32)
-
-        eps = 0.05
-        self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)
-
-if __name__ == '__main__':
-    NewOpenCVTests.bootstrap()