void RangeScanner::depth_image(SparseRangeScan* _scan, string _filename) {
double** r_scan = new double*[sensor.resy()];
double** g_scan = new double*[sensor.resy()];
double** b_scan = new double*[sensor.resy()];
for(int y = 0; y < sensor.resy(); y++) {
r_scan[y] = new double[sensor.resx()];
g_scan[y] = new double[sensor.resx()];
b_scan[y] = new double[sensor.resx()];
for(int x = 0; x < sensor.resx(); x++) {
r_scan[y][x] = 0;
g_scan[y][x] = 0;
b_scan[y][x] = 0;
}
}
double min_depth = 1e10, max_depth = -1e10;
for(int p = 0; p < _scan->size(); p++) {
PixelCoord pix = _scan->getPixel(p);
Vector3 pt = _scan->getPt(p);
double depth = pt.length(sensor.camera_pos());
min_depth = depth < min_depth ? depth : min_depth;
max_depth = depth > max_depth ? depth : max_depth;
}
for(int p = 0; p < _scan->size(); p++) {
PixelCoord pix = _scan->getPixel(p);
Vector3 pt = _scan->getPt(p);
double depth = pt.length(sensor.camera_pos());
double normalized_depth = 1.0 - ((depth-min_depth) / (max_depth-min_depth));
r_scan[pix.y][pix.x] = normalized_depth;
g_scan[pix.y][pix.x] = normalized_depth;
b_scan[pix.y][pix.x] = normalized_depth;
}
PNGImage png_image(_filename, sensor.resx(), sensor.resy());
for(int y = 0; y < sensor.resy(); y++) {
for(int x = 0; x < sensor.resx(); x++) {
double r = r_scan[y][x], g = g_scan[y][x], b = b_scan[y][x];
png_image.set_png_pixel(x,(sensor.resy()-y)-1, r, g, b);
}
}
png_image.write_to_file();
for(int y = 0; y < sensor.resy(); y++) {
delete [] r_scan[y];
delete [] g_scan[y];
delete [] b_scan[y];
}
delete [] r_scan;
delete [] g_scan;
delete [] b_scan;
}
void RangeSubset::write_to_file(string _filename, double** _r, double** _g, double** _b) {
if(contains_nothing)
return;
PNGImage png_image(_filename, res_x, res_y);
for(int y = 0; y < res_y; y++) {
for(int x = 0; x < res_x; x++) {
double r = _r[y][x], g = _g[y][x], b = _b[y][x];
if(x >= start_x && x <= end_x) {
double intensity = intensities[y][x-start_x];
r = 1.0*intensity + r*(1.0-intensity);
g = 0.0*intensity + g*(1.0-intensity);
b = 0.0*intensity + b*(1.0-intensity);
}
png_image.set_png_pixel(x,(res_y-y)-1, r, g, b);
}
}
png_image.write_to_file();
}
void save_image_to_file(const std::string file) {
int num_rows = 600;
int num_columns = 600;
cv::Mat png_image(num_rows, num_columns, CV_8UC3);
for (int x = 0; x < num_rows; ++x) {
for (int y = 0; y < num_columns; ++y) {
cv::Vec3b& color = png_image.at<cv::Vec3b>(x, y);
if (x == y) {
color = cv::Vec3b(0, 0, 255); // blue-green-red
} else if (x == 0 || y == 0 || x == num_rows -10 || y == num_columns - 10) {
color = cv::Vec3b(0, 255, 0);
}
else {
color = cv::Vec3b(0, 0, 0);
}
}
}
std::vector<int> compression_params;
compression_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
compression_params.push_back(3);
cv::imwrite(file, png_image, compression_params);
}
void RangeScanner::ray_tracer(string _filename) {
ImplicitNewton* implicit_solver = (lipschitz == 0) ? new ImplicitNewton(shape, 1.0, 1e-7) : new ImplicitNewton(shape, 1.0, 1e-7, lipschitz);
double my_pi = acos(-1);
int total_res = sensor.resx()*sensor.resy();
int fraction = total_res/10;
int ind = 0;
int num_hits = 0, num_valid_hits = 0;
Vector3 ray_pos, ray_dir;
double t_hit;
double** r_scan = new double*[sensor.resy()];
double** g_scan = new double*[sensor.resy()];
double** b_scan = new double*[sensor.resy()];
for(int y = 0; y < sensor.resy(); y++) {
r_scan[y] = new double[sensor.resx()];
g_scan[y] = new double[sensor.resx()];
b_scan[y] = new double[sensor.resx()];
for(int x = 0; x < sensor.resx(); x++) {
r_scan[y][x] = 1;
g_scan[y][x] = 1;
b_scan[y][x] = 1;
}
}
for(int y = 0; y < sensor.resy(); y++) {
for(int x = 0; x < sensor.resx(); x++) {
ind++;
if((ind % fraction) == 0)
cout << ((double)ind / (double)total_res) << " done with range image... " << num_valid_hits << " / " << num_hits << endl;
sensor.generatePerspectiveRay(x, y, ray_pos, ray_dir);
if(implicit_solver->intersection(ray_pos, ray_dir, t_hit)) {
num_hits++;
Vector3 range_pt = ray_pos + ray_dir*t_hit;
Vector3 range_normal = shape->normal(range_pt);
num_valid_hits++;
Vector3 light_vec = sensor.camera_pos()-range_pt;
light_vec.normalize();
double dot = fabs(light_vec.dotProduct(range_normal));
r_scan[y][x] = (236.0/255.0)*dot;
g_scan[y][x] = (211.0/255.0)*dot;
b_scan[y][x] = (143.0/255.0)*dot;
}
}
}
PNGImage png_image(_filename, sensor.resx(), sensor.resy());
for(int y = 0; y < sensor.resy(); y++) {
for(int x = 0; x < sensor.resx(); x++) {
double r = r_scan[y][x], g = g_scan[y][x], b = b_scan[y][x];
png_image.set_png_pixel(x,(sensor.resy()-y)-1, r, g, b);
}
}
png_image.write_to_file();
for(int y = 0; y < sensor.resy(); y++) {
delete [] r_scan[y];
delete [] g_scan[y];
delete [] b_scan[y];
}
delete [] r_scan;
delete [] g_scan;
delete [] b_scan;
delete implicit_solver;
}
