{"payload":{"feedbackUrl":"https://github.com/orgs/community/discussions/53140","repo":{"id":426666850,"defaultBranch":"4.x","name":"opencv_contrib","ownerLogin":"AleksandrPanov","currentUserCanPush":false,"isFork":true,"isEmpty":false,"createdAt":"2021-11-10T15:06:33.000Z","ownerAvatar":"https://avatars.githubusercontent.com/u/22337800?v=4","public":true,"private":false,"isOrgOwned":false},"refInfo":{"name":"","listCacheKey":"v0:1712327950.0","currentOid":""},"activityList":{"items":[{"before":"ac994ed2b5b6dd37d60ae5cd4267b61ceefa052d","after":"baaeb68b3d6b557536f95b527c0dd87c8f1ce80d","ref":"refs/heads/4.x","pushedAt":"2024-05-28T21:31:40.000Z","pushType":"push","commitsCount":15,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3742 from vrabaud:cpp\n\nGet code to compile with CUDA 12.4","shortMessageHtmlLink":"Merge pull request opencv#3742 from vrabaud:cpp"}},{"before":"2e636936ba97e4942882711c084de0520fbc670d","after":"ac994ed2b5b6dd37d60ae5cd4267b61ceefa052d","ref":"refs/heads/4.x","pushedAt":"2024-04-22T16:09:09.000Z","pushType":"push","commitsCount":5,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3641 from simutisernestas:4.x\n\nCamera spatial velocity computation through interaction matrix #3641\r\n\r\n### Feature\r\n\r\nThe code computed camera spatial velocity given two images, pixels depth, camera matrix and the timestamp between the images. This is enabled by, so called, interaction matrix (usually utilized in visual servoing applications) relating pixel plane velocities to the camera spatial velocity in 3D i.e., twist - velocity and angular rate of the camera. The inverse problem can be solved by sampling pixel & their velocities to solve least-squares for twist. The relationship can be seen below in the picture.\r\n\r\n![image](https://github.com/opencv/opencv_contrib/assets/35775651/b83179ba-9d5a-4324-863a-4ad6e158564a)\r\n\r\nThe code does not include a proper example and is not tested but if there is interest I could contribute more appealing example and use case for camera velocity computation. However, I attach below a dummy example with random data simply to make sure that it's running as is. I have used this before in aiding UAV localization and thought someone else might benefit from it being integrated into `opencv`. \r\n\r\n```c++\r\n#include \"opencv2/rgbd/twist.hpp\"\r\n#include \"opencv2/core.hpp\"\r\n#include \"opencv2/imgproc.hpp\"\r\n\r\nint main()\r\n{\r\n using namespace cv::rgbd;\r\n Twist t;\r\n\r\n // create two random image\r\n cv::Mat im0(480, 640, CV_8UC1);\r\n cv::Mat im1(480, 640, CV_8UC1);\r\n cv::Mat depths0(480, 640, CV_32F);\r\n cv::Mat K = cv::Mat::eye(3, 3, CV_32F);\r\n\r\n cv::theRNG().state = time(0);\r\n cv::randn(im0, 0, 255);\r\n cv::randn(im1, 0, 255);\r\n cv::randn(depths0, 0, 100);\r\n\r\n cv::Vec6d twist = t.compute(im0, im1, depths0, K, 0.1);\r\n\r\n return 0;\r\n}\r\n\r\n```\r\n\r\nReferences\r\n1. Chaumette, François, and Seth Hutchinson. \"Visual servo control. I. Basic approaches.\" IEEE Robotics & Automation Magazine 13.4 (2006): 82-90.\r\n2. https://robotacademy.net.au/lesson/image-based-visual-servoing/\r\n\r\n### Pull Request Readiness Checklist\r\n\r\nSee details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request\r\n\r\n- [x] I agree to contribute to the project under Apache 2 License.\r\n- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV\r\n- [x] The PR is proposed to the proper branch\r\n- [x] There is a reference to the original bug report and related work\r\n- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable\r\n Patch to opencv_extra has the same branch name.\r\n- [ ] The feature is well documented and sample code can be built with the project CMake","shortMessageHtmlLink":"Merge pull request opencv#3641 from simutisernestas:4.x"}},{"before":"15ef4b465ca9d14575f55f9411ecb5da541d04a9","after":"101c4d85f5f43da5470d2070b3d16ff6180051ee","ref":"refs/heads/update_diamond_test","pushedAt":"2024-04-22T16:08:44.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"add detectDiamonds to test","shortMessageHtmlLink":"add detectDiamonds to test"}},{"before":"101c4d85f5f43da5470d2070b3d16ff6180051ee","after":"15ef4b465ca9d14575f55f9411ecb5da541d04a9","ref":"refs/heads/update_diamond_test","pushedAt":"2024-04-22T11:06:18.000Z","pushType":"push","commitsCount":1,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"test README","shortMessageHtmlLink":"test README"}},{"before":"b042744ae4515c0a7dfa53bda2d3a22f2ec87a68","after":"2e636936ba97e4942882711c084de0520fbc670d","ref":"refs/heads/4.x","pushedAt":"2024-04-16T10:14:02.000Z","pushType":"push","commitsCount":4,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3708 from AleksandrPanov:move_charuco_tutorial\n\nMove Charuco/Calib tutorials and samples to main repo","shortMessageHtmlLink":"Merge pull request opencv#3708 from AleksandrPanov:move_charuco_tutorial"}},{"before":"8c661b8070ab65a1616a8f1b9c5688165dd17785","after":"a4a04c7c0fd6607ad16d17883e6cb3681e2c273b","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-15T09:55:43.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"move tutorials and samples to main repo","shortMessageHtmlLink":"move tutorials and samples to main repo"}},{"before":"7e1b089ce6e90120077aa86a438ef98ee462f73a","after":"b042744ae4515c0a7dfa53bda2d3a22f2ec87a68","ref":"refs/heads/4.x","pushedAt":"2024-04-15T09:55:09.000Z","pushType":"push","commitsCount":2,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3720 from sturkmen72:fix_contrib_3704\n\nUpdate edge_drawing.cpp","shortMessageHtmlLink":"Merge pull request opencv#3720 from sturkmen72:fix_contrib_3704"}},{"before":"90485d45a74443b915c21e4a574b482893f20811","after":"8c661b8070ab65a1616a8f1b9c5688165dd17785","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-12T09:15:27.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"move tutorials and samples to main repo","shortMessageHtmlLink":"move tutorials and samples to main repo"}},{"before":"c2cd86dea7e2ecd28b9fd2da45400256c3bd2680","after":"90485d45a74443b915c21e4a574b482893f20811","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-12T09:10:58.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"update tutorials and samples","shortMessageHtmlLink":"update tutorials and samples"}},{"before":"f3a92a235fc16a1b64a908025380feae3cdc130d","after":"c2cd86dea7e2ecd28b9fd2da45400256c3bd2680","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-11T22:31:25.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove calibrate and faq tutorial","shortMessageHtmlLink":"prepare remove calibrate and faq tutorial"}},{"before":"01faf0b44bcdeac02db69ce204009e31fce10f92","after":"f3a92a235fc16a1b64a908025380feae3cdc130d","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-11T22:22:10.000Z","pushType":"push","commitsCount":1,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove calibrate and faq tutorial","shortMessageHtmlLink":"prepare remove calibrate and faq tutorial"}},{"before":"4cc4fd54ccd85aa9b15b411e76f15c170a337d11","after":"01faf0b44bcdeac02db69ce204009e31fce10f92","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T16:55:42.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove diamond tutorial","shortMessageHtmlLink":"prepare remove diamond tutorial"}},{"before":"c95065616877c6bd0716f9c4708083fa968add74","after":"7e1b089ce6e90120077aa86a438ef98ee462f73a","ref":"refs/heads/4.x","pushedAt":"2024-04-10T16:54:46.000Z","pushType":"push","commitsCount":39,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3714 from Kumataro:fix25073_format_g","shortMessageHtmlLink":"Merge pull request opencv#3714 from Kumataro:fix25073_format_g"}},{"before":"48b5dedb0b2bd15f4e99e4b4da18a6d2f2561309","after":"c95065616877c6bd0716f9c4708083fa968add74","ref":"refs/heads/4.x","pushedAt":"2024-04-10T16:54:27.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3617 from chobitsfan:cuda_gftt_set_maxcorners\n\nadd maxconers and mindistance setter to gftt","shortMessageHtmlLink":"Merge pull request opencv#3617 from chobitsfan:cuda_gftt_set_maxcorners"}},{"before":"2d95ebaee237991d1f314f22fa1781e400383b05","after":"48b5dedb0b2bd15f4e99e4b4da18a6d2f2561309","ref":"refs/heads/4.x","pushedAt":"2024-04-10T16:53:17.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3632 from troelsy:4.x\n\nFix a bug in knnMatchConvert when a feature couldn't be matched #3632\r\n\r\nAfter I started using a mask with `knnMatchAsync`, I found that the result from `knnMatchConvert` would be clipped at random.\r\n\r\nInvestigating the issue, I found that `knnMatchAsync` will initialize all `trainIdx` to `-1`, which will be overwritten by the CUDA kernel. A mask can be used to prevent certain features from being matched and this will prevent the CUDA kernel from setting the match distance. `knnMatchConvert` is not properly incrementing the pointers when `trainIdx == -1`, so an unmatched feature will get it stuck at `if (trainIdx == -1)`. Eventually the outer for-loop finishes and returns a vector with the matches up until the first missing match distance.\r\n\r\nMy solution is to increment the counters the same way as a successful iteration would.\r\n\r\n### Pull Request Readiness Checklist\r\n\r\nSee details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request\r\n\r\n- [x] I agree to contribute to the project under Apache 2 License.\r\n- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV\r\n- [x] The PR is proposed to the proper branch\r\n- [x] There is a reference to the original bug report and related work\r\n- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable\r\n Patch to opencv_extra has the same branch name.\r\n- [x] The feature is well documented and sample code can be built with the project CMake","shortMessageHtmlLink":"Merge pull request opencv#3632 from troelsy:4.x"}},{"before":"ab8210686e338dd8e5cd902fa01116dc22324315","after":"2d95ebaee237991d1f314f22fa1781e400383b05","ref":"refs/heads/4.x","pushedAt":"2024-04-10T16:52:29.000Z","pushType":"push","commitsCount":2,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge pull request #3713 from AleksandrPanov:update_diamond_test\n\nadd detectDiamonds to diamond test","shortMessageHtmlLink":"Merge pull request opencv#3713 from AleksandrPanov:update_diamond_test"}},{"before":"210cae9acd6b6aaf20961796dd92c4f43c0a429b","after":"4cc4fd54ccd85aa9b15b411e76f15c170a337d11","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T16:49:47.000Z","pushType":"push","commitsCount":3,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"Merge branch 'opencv:4.x' into move_charuco_tutorial","shortMessageHtmlLink":"Merge branch 'opencv:4.x' into move_charuco_tutorial"}},{"before":"b12a4d3cf97cdacaab8bfca21c4afd6f92385a5e","after":"210cae9acd6b6aaf20961796dd92c4f43c0a429b","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T12:15:17.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove diamond tutorial","shortMessageHtmlLink":"prepare remove diamond tutorial"}},{"before":"e2a2494832ea247b0bcefd135b5e24d7b2f2ea0b","after":"b12a4d3cf97cdacaab8bfca21c4afd6f92385a5e","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T11:54:59.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove diamond tutorial","shortMessageHtmlLink":"prepare remove diamond tutorial"}},{"before":"4d3f8c3f10206de12c077117db6b3bb6209634c4","after":"e2a2494832ea247b0bcefd135b5e24d7b2f2ea0b","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T11:52:17.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove diamond tutorial","shortMessageHtmlLink":"prepare remove diamond tutorial"}},{"before":"64d05b8e43e8fa7771655e81f6cff19a21f30b7d","after":"4d3f8c3f10206de12c077117db6b3bb6209634c4","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-10T11:49:38.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove diamond tutorial","shortMessageHtmlLink":"prepare remove diamond tutorial"}},{"before":"dbea81f06eaadcfbbe222057f9355212ce295e54","after":"64d05b8e43e8fa7771655e81f6cff19a21f30b7d","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-09T19:49:57.000Z","pushType":"push","commitsCount":1,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"prepare remove tutorials","shortMessageHtmlLink":"prepare remove tutorials"}},{"before":"2f3195f10bf42390eec09a5e3663d859d6923272","after":"dbea81f06eaadcfbbe222057f9355212ce295e54","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-09T15:53:29.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fixed cerr, added deprecated","shortMessageHtmlLink":"fixed cerr, added deprecated"}},{"before":"8639a7b4d2ae7f733952ff8d52e2fb2f37d624b3","after":"2f3195f10bf42390eec09a5e3663d859d6923272","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-09T15:52:55.000Z","pushType":"push","commitsCount":1,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fixed cerr, added @deprecated","shortMessageHtmlLink":"fixed cerr, added @deprecated"}},{"before":"b950d36c21e05b5158a179430c71e45b8b9877ca","after":"8639a7b4d2ae7f733952ff8d52e2fb2f37d624b3","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-09T09:55:56.000Z","pushType":"push","commitsCount":1,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"update images","shortMessageHtmlLink":"update images"}},{"before":"e7bbff263d1d9259fb16133cef8d9d3ee64a1cec","after":"b950d36c21e05b5158a179430c71e45b8b9877ca","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-09T09:44:36.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fixing","shortMessageHtmlLink":"fixing"}},{"before":"976d76ef0e2cf44af084bb251ce2027a7afeb0f6","after":"e7bbff263d1d9259fb16133cef8d9d3ee64a1cec","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-07T23:15:48.000Z","pushType":"push","commitsCount":2,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fixing","shortMessageHtmlLink":"fixing"}},{"before":null,"after":"101c4d85f5f43da5470d2070b3d16ff6180051ee","ref":"refs/heads/update_diamond_test","pushedAt":"2024-04-05T14:39:10.000Z","pushType":"branch_creation","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"add detectDiamonds to test","shortMessageHtmlLink":"add detectDiamonds to test"}},{"before":"c540f96449536a391ada6ce40bf6fdfcb007e80f","after":"976d76ef0e2cf44af084bb251ce2027a7afeb0f6","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-04T12:38:43.000Z","pushType":"force_push","commitsCount":0,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fix charuco_diamond_detection.markdown","shortMessageHtmlLink":"fix charuco_diamond_detection.markdown"}},{"before":"85d802edd20e91dcf8b69d3d462fb4fa7cbded82","after":"c540f96449536a391ada6ce40bf6fdfcb007e80f","ref":"refs/heads/move_charuco_tutorial","pushedAt":"2024-04-03T21:49:53.000Z","pushType":"push","commitsCount":2,"pusher":{"login":"AleksandrPanov","name":"Alexander Panov","path":"/AleksandrPanov","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/22337800?s=80&v=4"},"commit":{"message":"fix charuco_diamond_detection.markdown","shortMessageHtmlLink":"fix charuco_diamond_detection.markdown"}}],"hasNextPage":true,"hasPreviousPage":false,"activityType":"all","actor":null,"timePeriod":"all","sort":"DESC","perPage":30,"cursor":"djE6ks8AAAAEVk3CvAA","startCursor":null,"endCursor":null}},"title":"Activity · AleksandrPanov/opencv_contrib"}