void MeshGenerator :: generatePointCloudMesh(const RGBDImage& image,
const Pose3D& depth_pose,
const Pose3D& rgb_pose)
{
m_mesh.clear();
m_mesh.vertices.reserve(image.depth().rows*image.depth().cols);
m_mesh.colors.reserve(image.depth().rows*image.depth().cols);
m_mesh.normals.reserve(image.depth().rows*image.depth().cols);
const cv::Mat1f& depth_im = image.depth();
const cv::Mat1b& mask_im = image.depthMask();
cv::Mat3f voxels (depth_im.size());
cv::Mat3f rgb_points (depth_im.size());
cv::Mat1b subsample_mask(mask_im.size());
subsample_mask = 0;
for (float r = 0; r < subsample_mask.rows-1; r += 1.0/m_resolution_factor)
for (float c = 0; c < subsample_mask.cols-1; c += 1.0/m_resolution_factor)
subsample_mask(ntk::math::rnd(r),ntk::math::rnd(c)) = 1;
subsample_mask = mask_im & subsample_mask;
depth_pose.unprojectFromImage(depth_im, subsample_mask, voxels);
if (m_use_color && image.hasRgb())
rgb_pose.projectToImage(voxels, subsample_mask, rgb_points);
for (int r = 0; r < voxels.rows; ++r)
{
Vec3f* voxels_data = voxels.ptr<Vec3f>(r);
const uchar* mask_data = subsample_mask.ptr<uchar>(r);
for (int c = 0; c < voxels.cols; ++c)
{
if (!mask_data[c])
continue;
Vec3b color (0,0,0);
if (m_use_color)
{
Point3f prgb = rgb_points(r,c);
int i_y = ntk::math::rnd(prgb.y);
int i_x = ntk::math::rnd(prgb.x);
if (is_yx_in_range(image.rgb(), i_y, i_x))
{
Vec3b bgr = image.rgb()(i_y, i_x);
color = Vec3b(bgr[2], bgr[1], bgr[0]);
}
}
else
{
int g = 0;
if (image.intensity().data)
g = image.intensity()(r,c);
else
g = 255 * voxels_data[c][2] / 10.0;
color = Vec3b(g,g,g);
}
m_mesh.vertices.push_back(voxels_data[c]);
m_mesh.colors.push_back(color);
}
}
}
void MeshGenerator :: generateTriangleMesh(const RGBDImage& image,
const Pose3D& depth_pose,
const Pose3D& rgb_pose)
{
const Mat1f& depth_im = image.depth();
const Mat1b& mask_im = image.depthMask();
m_mesh.clear();
if (m_use_color)
image.rgb().copyTo(m_mesh.texture);
else if (image.intensity().data)
toMat3b(normalize_toMat1b(image.intensity())).copyTo(m_mesh.texture);
else
{
m_mesh.texture.create(depth_im.size());
m_mesh.texture = Vec3b(255,255,255);
}
m_mesh.vertices.reserve(depth_im.cols*depth_im.rows);
m_mesh.texcoords.reserve(depth_im.cols*depth_im.rows);
m_mesh.colors.reserve(depth_im.cols*depth_im.rows);
Mat1i vertice_map(depth_im.size());
vertice_map = -1;
for_all_rc(depth_im)
{
if (!mask_im(r,c))
continue;
double depth = depth_im(r,c);
Point3f p3d = depth_pose.unprojectFromImage(Point3f(c,r,depth));
Point3f p2d_rgb;
Point2f texcoords;
if (m_use_color)
{
p2d_rgb = rgb_pose.projectToImage(p3d);
texcoords = Point2f(p2d_rgb.x/image.rgb().cols, p2d_rgb.y/image.rgb().rows);
}
else
{
p2d_rgb = Point3f(c,r,depth);
texcoords = Point2f(p2d_rgb.x/image.intensity().cols, p2d_rgb.y/image.intensity().rows);
}
vertice_map(r,c) = m_mesh.vertices.size();
m_mesh.vertices.push_back(p3d);
// m_mesh.colors.push_back(bgr_to_rgb(im.rgb()(p2d_rgb.y, p2d_rgb.x)));
m_mesh.texcoords.push_back(texcoords);
}
for_all_rc(vertice_map)
{
if (vertice_map(r,c) < 0)
continue;
if ((c < vertice_map.cols - 1) && (r < vertice_map.rows - 1) &&
(vertice_map(r+1,c)>=0) && (vertice_map(r,c+1) >= 0) &&
(std::abs(depth_im(r,c) - depth_im(r+1, c)) < m_max_delta_depth) &&
(std::abs(depth_im(r,c) - depth_im(r, c+1)) < m_max_delta_depth))
{
Face f;
f.indices[2] = vertice_map(r,c);
f.indices[1] = vertice_map(r,c+1);
f.indices[0] = vertice_map(r+1,c);
m_mesh.faces.push_back(f);
}
if ((c > 0) && (r < vertice_map.rows - 1) &&
(vertice_map(r+1,c)>=0) && (vertice_map(r+1,c-1) >= 0) &&
(std::abs(depth_im(r,c) - depth_im(r+1, c)) < m_max_delta_depth) &&
(std::abs(depth_im(r,c) - depth_im(r+1, c-1)) < m_max_delta_depth))
{
Face f;
f.indices[2] = vertice_map(r,c);
f.indices[1] = vertice_map(r+1,c);
f.indices[0] = vertice_map(r+1,c-1);
m_mesh.faces.push_back(f);
}
}
m_mesh.computeNormalsFromFaces();
}
void MeshGenerator :: generateSurfelsMesh(const RGBDImage& image,
const Pose3D& depth_pose,
const Pose3D& rgb_pose)
{
double min_val = 0, max_val = 0;
if (image.amplitude().data)
minMaxLoc(image.amplitude(), &min_val, &max_val);
m_mesh.clear();
const cv::Mat1f& depth_im = image.depth();
const cv::Mat1b& mask_im = image.depthMask();
for_all_rc(depth_im)
{
int i_r = r;
int i_c = c;
if (!is_yx_in_range(depth_im, i_r, i_c))
continue;
if (!mask_im(r,c))
continue;
double depth = depth_im(i_r,i_c);
cv::Point3f p = depth_pose.unprojectFromImage(Point2f(c,r), depth);
Point3f normal = image.normal().data ? image.normal()(i_r, i_c) : Vec3f(0,0,1);
Vec3b color (0,0,0);
if (m_use_color)
{
cv::Point3f prgb = rgb_pose.projectToImage(p);
int i_y = ntk::math::rnd(prgb.y);
int i_x = ntk::math::rnd(prgb.x);
if (is_yx_in_range(image.rgb(), i_y, i_x))
{
Vec3b bgr = image.rgb()(i_y, i_x);
color = Vec3b(bgr[2], bgr[1], bgr[0]);
}
}
else
{
int g = 0;
if (image.amplitude().data)
g = 255.0 * (image.amplitude()(i_r,i_c) - min_val) / (max_val-min_val);
else
g = 255 * depth / 10.0;
color = Vec3b(g,g,g);
}
Surfel s;
s.color = color;
s.confidence = 0;
s.location = p;
s.normal = normal;
s.n_views = 1;
double normal_z = std::max(normal.z, 0.5f);
s.radius = m_resolution_factor * ntk::math::sqrt1_2 * depth
/ (depth_pose.focalX() * normal_z);
m_mesh.addSurfel(s);
}
}
void calibrate_kinect_depth(std::vector< std::vector<Point2f> >& stereo_corners,
std::vector< DepthCalibrationPoint >& depth_values)
{
std::vector< std::vector<Point2f> > good_corners;
stereo_corners.resize(global::images_list.size());
for (int i_image = 0; i_image < global::images_list.size(); ++i_image)
{
QString filename = global::images_list[i_image];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename;
cv::Mat3b image;
load_intensity_file(cur_image_dir.path().toStdString(), full_filename, image);
ntk_ensure(image.data, "Could not load color image");
kinect_shift_ir_to_depth(image);
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, image, 1);
if (current_view_corners.size() == global::opt_pattern_height()*global::opt_pattern_width())
{
good_corners.push_back(current_view_corners);
stereo_corners[i_image] = current_view_corners;
showCheckerboardCorners(image, current_view_corners, 1);
}
else
{
ntk_dbg(0) << "Warning: corners not detected";
stereo_corners[i_image].resize(0);
}
}
std::vector< std::vector<Point3f> > pattern_points;
calibrationPattern(pattern_points,
global::opt_pattern_width(), global::opt_pattern_height(), global::opt_square_size(),
good_corners.size());
ntk_assert(pattern_points.size() == good_corners.size(), "Invalid points size");
std::vector<Mat> rvecs, tvecs;
int flags = 0;
if (global::opt_ignore_distortions())
flags = CV_CALIB_ZERO_TANGENT_DIST;
double error = calibrateCamera(pattern_points, good_corners, global::image_size,
global::depth_intrinsics, global::depth_distortion,
rvecs, tvecs, flags);
if (global::opt_ignore_distortions())
global::depth_distortion = 0.f;
ntk_dbg_print(error, 1);
int good_i = 0;
foreach_idx(stereo_i, stereo_corners)
{
if (stereo_corners[stereo_i].size() > 0)
{
QString filename = global::images_list[stereo_i];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename;
cv::Mat3b image;
load_intensity_file(cur_image_dir.path().toStdString(), full_filename, image);
ntk_ensure(image.data, "Could not load intensity image");
kinect_shift_ir_to_depth(image);
cv::Mat1f depth_image;
if (is_file(cur_image_dir.absoluteFilePath("raw/depth.yml").toStdString()))
{
full_filename = cur_image_dir.absoluteFilePath("raw/depth.yml").toStdString();
depth_image = imread_yml(full_filename);
}
else if (is_file(cur_image_dir.absoluteFilePath("raw/depth.raw").toStdString()))
{
full_filename = cur_image_dir.absoluteFilePath("raw/depth.raw").toStdString();
depth_image = imread_Mat1f_raw(full_filename);
}
ntk_ensure(depth_image.data, "Could not load depth image");
cv::Mat3b undistorted_image;
if (global::opt_ignore_distortions())
image.copyTo(undistorted_image);
else
undistort(image, undistorted_image, global::depth_intrinsics, global::depth_distortion);
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, undistorted_image, 1);
if (current_view_corners.size() == (global::opt_pattern_width()*global::opt_pattern_height()))
{
stereo_corners[stereo_i] = current_view_corners;
showCheckerboardCorners(undistorted_image, stereo_corners[stereo_i], 200);
}
else
{
stereo_corners[stereo_i].resize(0);
continue;
}
// Generate calibration points
{
// FIXME: why rvecs and tvecs from calibrateCamera seems to be nonsense ?
// calling findExtrinsics another time to get good chessboard estimations.
cv::Mat1f H;
estimate_checkerboard_pose(pattern_points[0],
current_view_corners,
global::depth_intrinsics,
H);
Pose3D pose;
pose.setCameraParametersFromOpencv(global::depth_intrinsics);
ntk_dbg_print(pose, 1);
pose.setCameraTransform(H);
foreach_idx(pattern_i, pattern_points[0])
{
ntk_dbg_print(pattern_points[0][pattern_i], 1);
Point3f p = pose.projectToImage(pattern_points[0][pattern_i]);
ntk_dbg_print(p, 1);
double kinect_raw = depth_image(p.y, p.x);
if (!(kinect_raw < 2047)) continue;
ntk_dbg_print(kinect_raw, 1);
double linear_depth = 1.0 / (kinect_raw * -0.0030711016 + 3.3309495161);
const float k1 = 1.1863;
const float k2 = 2842.5;
const float k3 = 0.1236;
double tan_depth = k3 * tanf(kinect_raw/k2 + k1);
ntk_dbg_print(linear_depth, 1);
ntk_dbg_print(tan_depth, 1);
depth_values.push_back(DepthCalibrationPoint(kinect_raw, p.z));
}
}
++good_i;
}
bool SurfelsRGBDModeler :: addNewView(const RGBDImage& image_, Pose3D& depth_pose)
{
ntk::TimeCount tc("SurfelsRGBDModeler::addNewView", 1);
const float max_camera_normal_angle = ntk::deg_to_rad(90);
RGBDImage image;
image_.copyTo(image);
if (!image_.normal().data)
{
OpenniRGBDProcessor processor;
processor.computeNormalsPCL(image);
}
Pose3D rgb_pose = depth_pose;
rgb_pose.toRightCamera(image.calibration()->rgb_intrinsics, image.calibration()->R, image.calibration()->T);
Pose3D world_to_camera_normal_pose;
world_to_camera_normal_pose.applyTransformBefore(cv::Vec3f(0,0,0), depth_pose.cvEulerRotation());
Pose3D camera_to_world_normal_pose = world_to_camera_normal_pose;
camera_to_world_normal_pose.invert();
const Mat1f& depth_im = image.depth();
Mat1b covered_pixels (depth_im.size());
covered_pixels = 0;
std::list<Surfel> surfels_to_reinsert;
// Surfel updating.
for (SurfelMap::iterator next_it = m_surfels.begin(); next_it != m_surfels.end(); )
{
SurfelMap::iterator surfel_it = next_it;
++next_it;
Surfel& surfel = surfel_it->second;
if (!surfel.enabled())
continue;
Point3f surfel_2d = depth_pose.projectToImage(surfel.location);
bool surfel_deleted = false;
int r = ntk::math::rnd(surfel_2d.y);
int c = ntk::math::rnd(surfel_2d.x);
int d = ntk::math::rnd(surfel_2d.z);
if (!is_yx_in_range(depth_im, r, c)
|| !image.depthMask()(r, c)
|| !image.isValidNormal(r,c))
continue;
const float update_max_dist = getCompatibilityDistance(depth_im(r,c));
Vec3f camera_normal = image.normal()(r, c);
normalize(camera_normal);
Vec3f world_normal = camera_to_world_normal_pose.cameraTransform(camera_normal);
normalize(world_normal);
Vec3f eyev = camera_eye_vector(depth_pose, r, c);
double camera_angle = acos(camera_normal.dot(-eyev));
if (camera_angle > max_camera_normal_angle)
continue;
float normal_angle = acos(world_normal.dot(surfel.normal));
// Surfels have different normals, maybe two different faces of the same object.
if (normal_angle > (m_update_max_normal_angle*M_PI/180.0))
{
// Removal check. If a surfel has a different normal and is closer to the camera
// than the new scan, remove it.
if ((-surfel_2d.z) < depth_im(r,c) && surfel.n_views < 3)
{
m_surfels.erase(surfel_it);
surfel_deleted = true;
}
continue;
}
// If existing surfel is far from new depth value:
// - If existing one had a worst point of view, and was seen only once, remove it.
// - Otherwise do not include the new one.
if (std::abs(surfel_2d.z - depth_im(r,c)) > update_max_dist)
{
if (surfel.min_camera_angle > camera_angle && surfel.n_views < 3)
{
m_surfels.erase(surfel_it);
surfel_deleted = true;
}
else
covered_pixels(r,c) = 1;
continue;
}
// Compatible surfel found.
const float depth = depth_im(r,c) + m_global_depth_offset;
Point3f p3d = depth_pose.unprojectFromImage(Point2f(c,r), depth);
cv::Vec3b rgb_color = bgr_to_rgb(image.mappedRgb()(r, c));
Surfel image_surfel;
image_surfel.location = p3d;
image_surfel.normal = world_normal;
image_surfel.color = rgb_color;
image_surfel.min_camera_angle = camera_angle;
image_surfel.n_views = 1;
image_surfel.radius = computeSurfelRadius(depth, camera_normal[2], depth_pose.meanFocal());
mergeToLeftSurfel(surfel, image_surfel);
covered_pixels(r,c) = 1;
// needs to change the cell?
Cell new_cell = worldToCell(surfel.location);
if (new_cell != surfel_it->first)
{
surfels_to_reinsert.push_back(surfel);
m_surfels.erase(surfel_it);
}
}
foreach_const_it(it, surfels_to_reinsert, std::list<Surfel>)
{
Cell new_cell = worldToCell(it->location);
m_surfels.insert(std::make_pair(new_cell, *it));
}
void calibrate_kinect_depth(std::vector< DepthCalibrationPoint >& depth_values)
{
std::vector< std::vector<Point3f> > pattern_points;
calibrationPattern(pattern_points,
global::opt_pattern_width(), global::opt_pattern_height(), global::opt_square_size(),
global::images_list.size());
for (int i_image = 0; i_image < global::images_list.size(); ++i_image)
{
// Generate depth calibration points
QString filename = global::images_list[i_image];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename = cur_image_dir.absoluteFilePath("raw/color.png").toStdString();
RGBDImage image;
OpenniRGBDProcessor processor;
processor.setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);
image.loadFromDir(cur_image_dir.absolutePath().toStdString(), &global::calibration, &processor);
imshow_normalized("mapped depth", image.mappedDepth());
imshow("color", image.rgb());
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, image.rgb(), 1, global::pattern_type);
if (current_view_corners.size() != (global::opt_pattern_width()*global::opt_pattern_height()))
{
ntk_dbg(1) << "Corners not detected in " << cur_image_dir.absolutePath().toStdString();
continue;
}
// FIXME: why rvecs and tvecs from calibrateCamera seems to be nonsense ?
// calling findExtrinsics another time to get good chessboard estimations.
cv::Mat1f H;
estimate_checkerboard_pose(pattern_points[0],
current_view_corners,
global::calibration.rgb_intrinsics,
H);
Pose3D pose;
pose.setCameraParametersFromOpencv(global::calibration.rgb_intrinsics);
pose.setCameraTransform(H);
ntk_dbg_print(pose, 1);
cv::Mat3b debug_img;
image.rgb().copyTo(debug_img);
foreach_idx(pattern_i, pattern_points[0])
{
Point3f p = pose.projectToImage(pattern_points[0][pattern_i]);
ntk_dbg_print(p, 1);
float kinect_raw = image.mappedDepth()(p.y, p.x);
ntk_dbg_print(kinect_raw, 1);
if (kinect_raw < 1e-5) continue;
float err = kinect_raw-p.z;
cv::putText(debug_img, format("%d", (int)(err*1000)), Point(p.x, p.y), CV_FONT_NORMAL, 0.4, Scalar(255,0,0));
ntk_dbg_print(pattern_points[0][pattern_i], 1);
ntk_dbg_print(p, 1);
ntk_dbg_print(kinect_raw, 1);
depth_values.push_back(DepthCalibrationPoint(kinect_raw, p.z));
}
imshow("errors", debug_img);
cv::waitKey(0);
}