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75bcd397af
* KinFu demo: idle mode added * undistort added * KinFu demo: depth recorder added * TSDFVolume gets voxelSize, voxelSizeInv, truncDist members; decorative fixes * TSDFVolumeGPU::integrate(): host code compiles * TSDFVolume: truncDist fixed * TSDFVolume::integrate(): initial OCL version is done * TSDFVolume::integrate(): OCL: minor fixes * kinfu: small fixes * TSDFVolume::raycast(): initial GPU version is done * USE_INTRINSICS directive for centralized enable/disable opt. code * TSDF Volume supports 3 different sizes/resolutions on each dimension * TSDFVolume: serviceMembers moved to parent class * TSDFVolumeGPU: mem order changed, gave perf boost 4x * Frame: fixed UMat as InputArray; TSDF: comments, TODOs, minor fixes * Frame::getPointsNormals(); minors * FrameGPU: initial version (not working) * minor * FrameGPU: several fixes * added OCL "fast" options * ICP OCL: initial slow version is done (host-side reduce) * ICP OCL: reduce is done, buggy * KinFu Frame: more args fixes * ICP OCL: small fixes to kernel * ICP OCL reduce works * OCL code refactored * ICP OCL: less allocations, better speed * ICP OCL: pose matrix made arg * Render OCL: small fix * Demo: using UMats everywhere * TSDF integrate OCL: put const arg into kernel arg * Platform parameter partially removed, implementation choice is done through OCL availability check * Frame and FrameGenerator removed (other code is in following commits) * CPU render: 4b instead of 3b * ICP: no Frame class use, one class for both CPU and GPU code * demo: fix for UMat chain * TSDF: no Frame or FrameGenerator use * KinFu: no Frame or FrameGenerator, parametrized for Mat or UMat based on OCL availability * KinFu::setParams() removed since it has no effect anyway * TSDF::raycast OCL: fixed normals rendering * ScopeTime -> CV_TRACE * 3-dims resolution and size passed to API * fixed unexpected fails of ICP OCL * voxels made cubic again * args fixed a little * fixed volSize calculation * Tests: inequal, OCL, unified scene test function * kinfu_frame: input types fixed * fixed for Intel HD Graphics * KinFu demo: setUseOptimized instead of setUseOpenCL * tsdf: data types fixed * TSDF OCL: fetch normals implemented * roundDownPow2 -> utils.hpp * TSDF OCL: fetch points+normals implemented * TSDF OCL: NoSize, other fixes for kernel args * Frame OCL: HAVE_OPENCL, NoSize, other kernel args fixed * ICP OCL: HAVE_OPENCL, NoSize and other kernel fixes * KinFu demo fixes: volume size and too long delay * whitespace fix * TSDF: allowed sizes not divisable by 32 * TSDF: fixed type traits; added optimization TODOs * KinFu made non-free * minor fixes: cast and whitespace * fixed FastICP test * warnings fixed: implicit type conversions * OCL kernels: local args made through KernelArg::Local(lsz) call * MSVC warnings fixed * a workaround for broken OCV's bilateral * KinFu tests made a bit faster * build fixed until 3.4 isn't merged to master * warnings fixed, test time shortened