// TODO should this go into the Logger class?
void FeaturePointsRANSAC::drawFull3DMMProjection( cv::Mat img, cv::Point3f centerIn3dmm, cv::Point2f centerInImage, cv::Mat s, cv::Mat t )
{
std::vector<std::pair<std::string, cv::Point2f> > pointsInImage;
cv::Mat zbuffer(img.rows, img.cols, CV_32FC1, cv::Scalar::all(0.0f));
cv::Mat pointsIn3dCentered(this->modelMeanShp.size()/3, 3, CV_32F); // As many rows as Ffp's, and 3 cols (x, y, z)
for (unsigned int i=0; i<this->modelMeanShp.size()/3; ++i) {
int theVertexToGet = i;
pointsIn3dCentered.at<float>(i, 0) = this->modelMeanShp[3*theVertexToGet+0]-centerIn3dmm.x;
pointsIn3dCentered.at<float>(i, 1) = this->modelMeanShp[3*theVertexToGet+1]-centerIn3dmm.y;
pointsIn3dCentered.at<float>(i, 2) = this->modelMeanShp[3*theVertexToGet+2]-centerIn3dmm.z;
float x = pointsIn3dCentered.row(i).t().dot(s) + centerInImage.x;
float y = pointsIn3dCentered.row(i).t().dot(t) + centerInImage.y;
if(x>=0 && y>=0 && x<img.cols && y<img.rows) {
std::stringstream sstm;
sstm << i;
std::string result = sstm.str();
pointsInImage.push_back(std::make_pair(result, cv::Point2f(x, y)));
img.at<cv::Vec3b>(y,x)[0] = (uchar)(255.0f * this->modelMeanTex[3*theVertexToGet+2]);
img.at<cv::Vec3b>(y,x)[1] = (uchar)(255.0f * this->modelMeanTex[3*theVertexToGet+1]);
img.at<cv::Vec3b>(y,x)[2] = (uchar)(255.0f * this->modelMeanTex[3*theVertexToGet+0]);
}
}
}
static void
_dxf_SET_ZBUFFER_STATUS (void *ctx, int status)
{
ENTRY(("_dxf_SET_ZBUFFER_STATUS(0x%x, %d)",ctx,status));
zbuffer(status) ;
EXIT((""));
}
cv::Mat computeZbuffer(const pcl::PointCloud<pcl::PointXYZRGB>& point_cloud, const Frame3D& frame,
int window_size = 2, double threshold = 0.2) {
const double inf = std::numeric_limits< double >::infinity();
cv::Mat zbuffer(frame.depth_image_.rows,
frame.depth_image_.cols,
CV_32FC3,
cv::Vec3f(inf, inf, inf));
const double focal_length = frame.focal_length_;
const double sizeX = frame.depth_image_.cols;
const double sizeY = frame.depth_image_.rows;
const double cx = sizeX / 2.0;
const double cy = sizeY / 2.0;
for (const pcl::PointXYZRGB& point : point_cloud) {
const int u_unscaled = std::round(focal_length * (point.x / point.z) + cx);
const int v_unscaled = std::round(focal_length * (point.y / point.z) + cy);
if (u_unscaled < 0 || v_unscaled < 0 || u_unscaled >= sizeX || v_unscaled >= sizeY)
continue;
cv::Vec3f& uv_point = zbuffer.at<cv::Vec3f>(v_unscaled, u_unscaled);
if (uv_point[2] > point.z) {
uv_point[0] = point.x;
uv_point[1] = point.y;
uv_point[2] = point.z;
}
}
for (const pcl::PointXYZRGB& point : point_cloud) {
const int u_unscaled = std::round(focal_length * (point.x / point.z) + cx);
const int v_unscaled = std::round(focal_length * (point.y / point.z) + cy);
if (u_unscaled < 0 || v_unscaled < 0 || u_unscaled >= sizeX || v_unscaled >= sizeY)
continue;
const cv::Vec3f& uv_point = zbuffer.at<cv::Vec3f>(v_unscaled, u_unscaled);
const int k_min = std::max(0, v_unscaled - window_size);
const int k_max = std::min(frame.depth_image_.rows, v_unscaled + window_size + 1);
const int l_min = std::max(0, u_unscaled - window_size);
const int l_max = std::min(frame.depth_image_.cols, u_unscaled + window_size + 1);
for (int k = k_min; k < k_max; ++k) {
for (int l = l_min; l < l_max; ++l) {
cv::Vec3f& second_point = zbuffer.at<cv::Vec3f>(k, l);
if (uv_point[2] + threshold < second_point[2]) {
second_point = uv_point;
}
}
}
}
return zbuffer;
}
DataBuffer ZLibCompression::compress(const DataBuffer &data, bool raw, int compression_level, CompressionMode mode)
{
const int window_bits = 15;
DataBuffer zbuffer(1024*1024);
IODevice_Memory output;
int strategy = MZ_DEFAULT_STRATEGY;
switch (mode)
{
case default_strategy: strategy = MZ_DEFAULT_STRATEGY; break;
case filtered: strategy = MZ_FILTERED; break;
case huffman_only: strategy = MZ_HUFFMAN_ONLY; break;
case rle: strategy = MZ_RLE; break;
case fixed: strategy = MZ_FIXED; break;
}
mz_stream zs = { nullptr };
int result = mz_deflateInit2(&zs, compression_level, MZ_DEFLATED, raw ? -window_bits : window_bits, 8, strategy); // Undocumented: if wbits is negative, zlib skips header check
if (result != MZ_OK)
throw Exception("Zlib deflateInit failed");
try
{
zs.next_in = (unsigned char *) data.get_data();
zs.avail_in = data.get_size();
while (true)
{
zs.next_out = (unsigned char *) zbuffer.get_data();
zs.avail_out = zbuffer.get_size();
int result = mz_deflate(&zs, MZ_FINISH);
if (result == MZ_NEED_DICT) throw Exception("Zlib deflate wants a dictionary!");
if (result == MZ_DATA_ERROR) throw Exception("Zip data stream is corrupted");
if (result == MZ_STREAM_ERROR) throw Exception("Zip stream structure was inconsistent!");
if (result == MZ_MEM_ERROR) throw Exception("Zlib did not have enough memory to compress file!");
if (result == MZ_BUF_ERROR) throw Exception("Not enough data in buffer when Z_FINISH was used");
if (result != MZ_OK && result != MZ_STREAM_END) throw Exception("Zlib deflate failed while compressing zip file!");
int zsize = zbuffer.get_size() - zs.avail_out;
if (zsize == 0)
break;
output.write(zbuffer.get_data(), zsize);
if (result == MZ_STREAM_END)
break;
}
mz_deflateEnd(&zs);
}
catch (...)
{
mz_deflateEnd(&zs);
throw;
}
return output.get_data();
}
DataBuffer ZLibCompression::decompress(const DataBuffer &data, bool raw)
{
const int window_bits = 15;
DataBuffer zbuffer(1024*1024);
IODevice_Memory output;
mz_stream zs = { nullptr };
int result = mz_inflateInit2(&zs, raw ? -window_bits : window_bits);
if (result != MZ_OK)
throw Exception("Zlib inflateInit failed");
zs.next_in = (unsigned char *) data.get_data();
zs.avail_in = data.get_size();
// Continue feeding zlib data until we get our data:
while (true)
{
zs.next_out = (unsigned char *) zbuffer.get_data();
zs.avail_out = zbuffer.get_size();
// Decompress data:
int result = mz_inflate(&zs, 0);
if (result == MZ_NEED_DICT) throw Exception("Zlib inflate wants a dictionary!");
if (result == MZ_DATA_ERROR) throw Exception("Zip data stream is corrupted");
if (result == MZ_STREAM_ERROR) throw Exception("Zip stream structure was inconsistent!");
if (result == MZ_MEM_ERROR) throw Exception("Zlib did not have enough memory to decompress file!");
if (result == MZ_BUF_ERROR) throw Exception("Not enough data in buffer when Z_FINISH was used");
if (result != MZ_OK && result != MZ_STREAM_END) throw Exception("Zlib inflate failed while decompressing zip file!");
output.write(zbuffer.get_data(), zbuffer.get_size() - zs.avail_out);
if (result == MZ_STREAM_END)
break;
}
mz_inflateEnd(&zs);
return output.get_data();
}
void ZBWidget::paintEvent(QPaintEvent *event)
{
ASSERT_MSG(m_model, "ZBWidget: failed to load model!");
QPainter painter(this);
const int width = this->width();
const int height = this->height();
QImage img(width, height, QImage::Format_ARGB32);
img.fill(Qt::darkGray);
Eigen::MatrixXd zbuffer(width, height);
zbuffer.fill(1.0);
QRgb *img_data[height];
for ( int i=0; i < height; i++ )
{
img_data[i] = (QRgb*)img.scanLine(i);
}
#if 0
for ( int i=0; i < height; i++ )
for ( int j=0; j < width; j++ )
{
double d = std::sqrt((i-height/2)*(i-height/2)+(j-width/2)*(j-width/2));
if ( d < std::min(height/2, width/2) )
{
img_data[i][j] = 0xffff0000;
}
}
#endif
#if 1
/* This is how our algorithms work:
* 0. Setup model matrix
* 1. Setup view matrix (camera)
* 2. Setup projection matrix
* 3. Find out all triangles in the viewing frustum
* 4. Filter out all triangles facing backward to camera
* 5. Rasterize each triangle into pixels
* 6. Set each pixel of the image to its nearest triangle pixel's color
*/
Matrix4 transform(Matrix4::Identity());
transform *= perspective(60.0f, (float)width/height, 1.0f, 1000.0f);
transform *= lookAt(0.0f, 0.0f, m_cameraDistance, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f);
transform *= rotateX(m_cameraAngleX);
transform *= rotateY(m_cameraAngleY);
INFO("transform = (%.2f, %.2f, %.2f, %.2f,\n"
" %.2f, %.2f, %.2f, %.2f,\n"
" %.2f, %.2f, %.2f, %.2f,\n"
" %.2f, %.2f, %.2f, %.2f)",
transform(0,0), transform(0,1), transform(0,2), transform(0,3),
transform(1,0), transform(1,1), transform(1,2), transform(1,3),
transform(2,0), transform(2,1), transform(2,2), transform(2,3),
transform(3,0), transform(3,1), transform(3,2), transform(3,3));
std::vector<Triangle> triangles;
m_model->getTriangles(triangles, transform);
for ( size_t i=0; i < triangles.size(); i++ )
{
std::vector<Pixel> pixels;
triangles[i].raster(pixels, width, height);
for ( size_t j=0; j < pixels.size(); j++ )
{
const Pixel &p = pixels[j];
if ( p.x < 0 || p.x >= width
|| p.y < 0 || p.y >= height )
continue;
float depth = triangles[i].getDepth(p);
if ( depth < zbuffer(p.x, p.y) )
{
zbuffer(p.x, p.y) = depth;
img_data[height-p.y-1][p.x] = triangles[i].getColor(p);
}
}
}
#endif
painter.drawImage(QPoint(), img);
}
bool CCommandSampleZoomRotateWindow::DollyWindow( const CRhinoViewport& vport, CRect pick_rect, ON_3dPoint& target_point, ON_Viewport& vp_out )
{
const ON_Viewport& vp_in = vport.VP();
vp_out = vp_in;
// screen port values
int sleft, sright, stop, sbottom;
if( !vp_in.GetScreenPort(&sleft, &sright, &sbottom, &stop) )
return false;
// frustum values
double fleft, fright, ftop, fbottom, fnear, ffar;
if( !vp_in.GetFrustum(&fleft, &fright, &fbottom, &ftop, &fnear, &ffar) )
return false;
// camera coordinate system
ON_3dPoint cam_loc = vp_in.CameraLocation();
ON_3dVector cam_z = vp_in.CameraZ();
// capture Depth Buffer
CRect screen_rect( sleft, stop, sright, sbottom );
// user-specified rectangle
CRect zoom_rect;
zoom_rect.IntersectRect( &pick_rect, screen_rect );
CRhinoZBuffer zbuffer( vport );
zbuffer.ShowIsocurves( true );
zbuffer.ShowMeshWires( true );
zbuffer.ShowCurves( true );
zbuffer.ShowPoints( true );
zbuffer.ShowText( true );
zbuffer.ShowAnnotations( false );
bool bSeeThrough = ( vport.XrayShade() || vport.GhostedShade() );
if( bSeeThrough )
zbuffer.EnableShading( false );
bool rc = zbuffer.Capture( zoom_rect );
if( rc && bSeeThrough && 0 == zbuffer.HitCount() )
{
zbuffer.EnableShading( true );
zbuffer.ShowIsocurves( false );
zbuffer.ShowMeshWires( false );
zbuffer.ShowCurves( false );
zbuffer.ShowPoints( false );
zbuffer.ShowText( false );
rc = zbuffer.Capture( zoom_rect );
}
ON_Xform s2c;
if( rc )
rc = zbuffer.VP().GetXform( ON::screen_cs, ON::camera_cs, s2c );
if( rc )
{
// dolly sideways so zoom rectangle is centered
ON_3dPoint near_rect[4];
vp_in.GetNearRect( near_rect[0], near_rect[1], near_rect[2], near_rect[3] );
double port_dx = fabs( double(sright - sleft) );
double port_dy = fabs( double(stop - sbottom) );
ON_Interval lr( sleft, sright);
double nx = lr.NormalizedParameterAt( 0.5 * (pick_rect.left + pick_rect.right) );
ON_Interval bt( sbottom, stop);
double ny = bt.NormalizedParameterAt( 0.5 * (pick_rect.bottom + pick_rect.top) );
ON_3dPoint zoom_center = (1-nx) * (1-ny) * near_rect[0] +
nx * (1-ny) * near_rect[1] +
(1-nx) * ny * near_rect[2] +
nx *ny * near_rect[3];
ON_3dVector dolly_vec = zoom_center - cam_loc;
// dolly perpendicular to cam_z
dolly_vec -= dolly_vec * cam_z * cam_z;
vp_out.DollyCamera( dolly_vec );
double pick_rect_dx = fabs(double (pick_rect.right - pick_rect.left));
double pick_rect_dy = fabs(double(pick_rect.top - pick_rect.bottom));
// expand pick_rect to have the aspect ratio of the viewport
double d = 1.0;
if( pick_rect_dx/port_dx < pick_rect_dy/port_dy)
d = pick_rect_dy / port_dy;
else
d = pick_rect_dx / port_dx ;
fleft *= d;
fright *= d;
fbottom *= d;
ftop *=d ;
vp_out.SetFrustum( fleft, fright, fbottom, ftop, fnear, ffar );
// target point on plane perpendicular to cam_z
cam_loc = vp_out.CameraLocation();
target_point = cam_loc + (target_point - cam_loc) *cam_z * cam_z;
}
return rc;
}
