void RiemersmaDither(const Image16Bpp& inImage, Image8Bpp& outImage, unsigned short transparent, int dither, float ditherlevel)
{
DitherImage dimage(inImage, outImage, transparent, dither, ditherlevel);
int size = ceil(log2(std::max(inImage.width, inImage.height)));
if (size > 0) Hilbert(dimage, size, UP);
move(dimage, NONE);
}
int main(int argc, char * argv[])
{
std::cout << "press q to exit" << std::endl;
R200Grabber grabber;
const uint8_t nearColor[] = {255, 0, 0};
const uint8_t farColor[] = {20, 40, 255};
uint8_t cdepth[628 * 468 * 3];
std::cout << "start" << std::endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = grabber.allocCloud();
grabber.getCloudT(cloud);
cloud->sensor_orientation_.w() = 0.0;
cloud->sensor_orientation_.x() = 1.0;
cloud->sensor_orientation_.y() = 0.0;
cloud->sensor_orientation_.z() = 0.0;
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->registerKeyboardCallback(KeyboardEventOccurred, (void*)&grabber);
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
cv::Mat limage(grabber.getLRSize(), CV_8UC1);
cv::Mat rimage(grabber.getLRSize(), CV_8UC1);
cv::Mat dimage(grabber.getDepthSize(), CV_8UC3);
cv::Mat cimage(grabber.getColorSize(), CV_8UC3);
double ftime;
int frame;
int dwidth = grabber.getDepthSize().width;
int dheight = grabber.getDepthSize().height;
bool first = true;
while(!viewer->wasStopped())
{
if(grabber.hasData() ){
ftime = grabber.getFrameTime();
frame = grabber.getFrameNumber();
//std::cout << "Frame " << frame << " @ " << std::fixed << ftime << std::endl;
const uint16_t * pd = grabber.getDepthImage();
const void * pl = grabber.getLImage();
const void * pr = grabber.getRImage();
const void * pc = grabber.getColorImageRGB();
/*
ConvertDepthToRGBUsingHistogram(pd, dwidth, dheight, nearColor, farColor, cdepth);
limage.data = (uint8_t *)pl;
rimage.data = (uint8_t *)pr;
dimage.data = (uint8_t *)cdepth;
cimage.data = (uint8_t *)pc;
cv::imshow("limage", limage);
cv::imshow("rimage", rimage);
cv::imshow("cimage", cimage);
cv::imshow("dimage", dimage);
cv::waitKey(1);
*/
std::chrono::high_resolution_clock::time_point tnow = std::chrono::high_resolution_clock::now();
grabber.getCloudT(cloud);
std::chrono::high_resolution_clock::time_point tpost = std::chrono::high_resolution_clock::now();
std::cout << "delta " << std::chrono::duration_cast<std::chrono::duration<double>>(tpost-tnow).count() * 1000 << std::endl;
//pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
viewer->updatePointCloud<pcl::PointXYZRGB>(cloud, rgb, "sample cloud");
viewer->spinOnce();
}
}
return 0;
}
int main(int argc, char *argv[]) try
{
physics_driftmax = 0.0025f;
GLWin glwin("point cloud push interaction");
RSCam dcam;
dcam.Init((argc == 2) ? argv[1] : NULL);
Image<unsigned short> dimage(dcam.dcamera());
glwin.ViewAngle = dcam.fov().y;
float viewdist = 2.0f;
float yaw = 120;
int mousexold = 0;
Mesh mesh;
bool pause = false;
bool debuglines=false;
int center = 0;
bool chains = true;
bool usehull = false;
std::vector<RigidBody*> rigidbodies;
std::vector < std::pair<RigidBody*, RigidBody*>> links;
for (float x = -0.2f; x < 0.2f; x+= 0.07f)
for(float z: {0.350f})
for (float y = -0.2f; y <= 0.2f; y += 0.07f)
{
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshDual(WingMeshCube(0.025f),0.028f)) }, { x,y,z }));
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.025f) ) }, { x,y,z }));
links.push_back({(y > -0.2f)?rigidbodies[rigidbodies.size() - 2]:NULL , rigidbodies.back()});
}
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.05f)) }, { 0,0,0.50f }));
auto seesaw = new RigidBody({ AsShape(WingMeshBox({ 0.20f, 0.015f, 0.05f })) }, { 0,0,0.45f });
rigidbodies.push_back(seesaw);
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case 'q': case 27: exit(0); break; // 27 is ESC
case ' ': pause = !pause; break;
case 'c': chains = !chains; break;
case 'd': debuglines = !debuglines; break;
case 'h': usehull = !usehull; break;
case 'r': for (auto &rb : rigidbodies) { rb->angular_momentum = rb->linear_momentum = float3(0.0f);rb->pose() = { rb->position_start,rb->orientation_start }; } break;
default: std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n"; break;
}
};
if (dcam.dev->supports_option(rs::option::r200_lr_auto_exposure_enabled))
dcam.dev->set_option(rs::option::r200_lr_auto_exposure_enabled, 1);
while (glwin.WindowUp())
{
if (glwin.MouseState)
{
yaw += glwin.mousepos.x - mousexold;
}
mousexold = glwin.mousepos.x;
viewdist *= powf(1.1f, (float)glwin.mousewheel);
if (!pause)
dimage = dcam.GetDepth();
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.res.x, glwin.res.y);
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.aspect_ratio(), 0.01f, 50.0f);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
gluLookAt(0, 0, viewdist, 0, 0, 0, 0, -1, 0);
glEnable(GL_DEPTH_TEST);
glTranslatef(0, 0, 0.35f);
glRotatef(yaw, 0, 1, 0);
glTranslatef(0, 0, -0.35f);
std::vector<float3> pts;
std::vector<float3> outliers;
std::vector<float3> vpts;
glDisable(GL_BLEND);
float2 wrange = { 0.20f,0.60f };
auto dp_image_c = Transform(dimage, [](unsigned short s) {return byte3((unsigned char)clamp(255 - s / 4, 0, 255)); });
drawimage(dp_image_c, { 0.78f,0.22f }, { 0.2f,-0.2f }, 3);
float depth_scale = (dcam.dev) ? dcam.dev->get_depth_scale() : 0.001f; // to put into meters // if file assume file is mm
for (auto p : rect_iteration(dimage.dim())) // p is int2 from 0,0 to w,h of dcam
{
float d = dimage.pixel(p) * depth_scale; // d is in meters, whereas depth[i] is in camera units mm for R200, .125mm for SR300 ivycam
if (p.x<5 || p.x> dimage.dim().x - 5 || p.y<5 || p.y>dimage.dim().y - 5) continue; // crop, seems to be lots of noise at the edges
if (d > 1.0f) // just too far
continue;
float3 v = dimage.cam.deprojectz(asfloat2(p), d);
if (d>wrange.x && d < wrange.y)
pts.push_back(v);
else
outliers.push_back(v);
}
vpts = ObtainVoxelPointCloud(pts, 0.0082f, 8);
std::vector<std::pair<float3, float3>> lines;
std::vector<std::pair<float3, float3>> glines;
if (1)// && pts.size())
{
std::vector<LimitLinear> linears;
std::vector<LimitAngular> angulars;
physics_gravity = { 0, (float) chains,0 }; // ugg y is down
if(!usehull) for(auto rb:rigidbodies)
{
if (!rb->shapes[0].planes.size())
rb->shapes[0].planes = Planes(rb->shapes[0].verts, rb->shapes[0].tris);
auto planes = Transform(rb->shapes[0].planes, [&](float4 p) { return rb->pose().TransformPlane(p);});
rb->gravscale = (float)chains;
float separation = FLT_MAX;
float3 pushpoint = float3(0, 0, 0); //
float4 pushplane;
for (auto p : vpts)
{
auto plane = mostabove(planes, p);
float sep;
if ((sep = dot(plane, float4(p, 1))) < separation)
{
pushpoint = p;
pushplane = plane;
separation = sep;
}
}
if (separation > 0.1f)
continue;
float3 closestpoint = ProjectOntoPlane(pushplane, pushpoint);
pushplane = float4({ -pushplane.xyz(), -dot(-pushplane.xyz(),pushpoint) });
linears.push_back(ConstrainAlongDirection(NULL, pushpoint, rb, rb->pose().inverse()*closestpoint, pushplane.xyz(), 0, 100.0f)); // FLT_MAX));
lines.push_back({ closestpoint,pushpoint });
auto cp=Separated(rb->shapes[0].verts, rb->position, rb->orientation, { pushpoint }, { 0,0,0 }, { 0,0,0,1 }, 1);
glines.push_back({ cp.p0w, cp.p1w });
}
Append(linears, ConstrainPositionNailed(NULL, seesaw->position_start, seesaw, { 0, 0, 0 }));
Append(angulars, ConstrainAngularRange(NULL, seesaw, { 0, 0, 0, 1 }, { 0, 0,-20 }, { 0, 0,20 }));
if (chains) for (auto link : links)
Append(linears, ConstrainPositionNailed(link.first,link.first? float3(0, 0.035f, 0) : link.second->position_start-float3(0, -0.035f, 0) , link.second, { 0,-0.035f,0 }));
if(!pause)
if(usehull && vpts.size()>5)
PhysicsUpdate(rigidbodies, linears, angulars, { &vpts });
else
PhysicsUpdate(rigidbodies, linears, angulars, std::vector<std::vector<float3>*>());
}
glColor3f(1, 1, 1);
glwirefrustumz(dcam.deprojectextents(), { 0.1f,1.0f }); // draw the camera frustum volume
glPushAttrib(GL_ALL_ATTRIB_BITS);
glPointSize(1);
glBegin(GL_POINTS);
glColor3f(0, 1, 0.5f);
for (auto p : pts)
glVertex3fv(p);
glColor3f(1, 0.15f, 0.15f);
for (auto p : outliers)
glVertex3fv(p);
glEnd();
glPointSize(3);
glBegin(GL_POINTS);
glColor3f(1, 1, 1);
for (auto p : vpts) // was: spts
glVertex3fv(p);
glEnd();
glPopAttrib();
if (debuglines)
{
glBegin(GL_LINES);
glColor3f(0, 1, 1);
if (0)for (auto line : lines)
glVertex3fv(line.first), glVertex3fv(line.second);
glColor3f(1, 1, 0);
for (auto line : glines)
glVertex3fv(line.first), glVertex3fv(line.second);
glEnd();
}
if (usehull && vpts.size() > 5)
{
auto tris = calchull(vpts, 0);
glBegin(GL_LINES);
glColor3f(1, 1, 1);
for (auto t : tris) for( int i : {0,1,1,2,2,0})
glVertex3fv(vpts[t[i]]);
glEnd();
}
if (chains)
{
glBegin(GL_LINES);
glColor3f(1, 0, 1);
for (auto link : links)
{
if(link.first)
glVertex3fv(link.first->pose()* float3(0, 0, 0)), glVertex3fv(link.first->pose()* float3(0, 0.035f, 0));
glVertex3fv(link.second->pose()* float3(0, 0, 0)) , glVertex3fv(link.second->pose()* float3(0, -0.035f, 0));
}
glEnd();
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
// Restore state
glPopMatrix(); //should be currently in modelview mode
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glPopAttrib();
glMatrixMode(GL_MODELVIEW);
glwin.PrintString({ 0,0 }, "esc to quit.");
glwin.PrintString({ 0,1 }, "[h] collision %s ",(usehull)?"hull":"points");
glwin.SwapBuffers();
}
return 0;
}
catch (const char *c)
{
MessageBox(GetActiveWindow(), c, "FAIL", 0);
}
catch (std::exception e)
{
MessageBox(GetActiveWindow(), e.what(), "FAIL", 0);
}
