void Projector::showRectangle(bool gpuView)
{
indices.resize(480);
for (int i = 0; i < 480; i++) indices[i].resize(640);
libfreenect2::Registration* registration = new libfreenect2::Registration(_dev->getIrCameraParams(), _dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
libfreenect2::FrameMap frames;
SimpleViewer viewer;
bool shutdown = false;
cv::Mat board(480, 640, CV_8UC4, cv::Scalar::all(255));
if (!gpuView) {
cv::namedWindow("reprojection", CV_WINDOW_NORMAL);
cv::moveWindow("reprojection", 0, 0);
//setWindowProperty("reprojection", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
else {
viewer.setSize(480, 640); // TO-DO change resolution
viewer.initialize();
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
while (!shutdown)
{
board = cv::Mat(480, 640, CV_8UC4, cv::Scalar::all(255));
std::vector<cv::Point3f> wrldSrc;
std::vector<cv::Point3f> plnSrc;
if (!gpuView) cv::imshow("reprojection", board);
(_listener)->waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
registration->apply(rgb, depth, &undistorted, ®istered, true, NULL, NULL);
for (int i = 0; i<512; i++)
{
for (int j = 0; j<424; j++)
{
float x = 0, y = 0, z = 0, color = 0;
registration->getPointXYZRGB(&undistorted, ®istered,
i, j,
x, y, z, color);
if (z>0.5 && z<2.1)
{
x = static_cast<float>(x + right / ((double)640.0)); //////////TO-DO fix that
y = static_cast<float>(y + up / ((double)480.0));
x -= 0.5;
y -= 0.5;
double PI = 3.14159265;
x = static_cast<float>(std::cos(rotX * PI / 180) * x - std::sin(rotX * PI / 180) * y);
y = static_cast<float>(std::sin(rotX * PI / 180) * x + std::cos(rotX * PI / 180) * y);
x += 0.5;
y += 0.5;
wrldSrc.push_back(cv::Point3f(x * 100,
y * 100,
z * 100));
}
}
}
PlaneData pln = findRectangle(registration, &undistorted, ®istered);
if (wrldSrc.size() > 0) {
std::vector<cv::Point2f> projected = projectPoints(wrldSrc);
for (int i = 0; i < projected.size(); i++)
{
if (480 - projected[i].x >0 && projected[i].y > 0 && 480 - projected[i].x < 475 && projected[i].y < 630) {
cv::Mat ROI = board(cv::Rect(static_cast<int>(projected[i].y), static_cast<int>(480 - projected[i].x), 2, 2));
ROI.setTo(cv::Scalar(100, 100, 150, 100));
}
}
if (pln.points.size() > 0) {
projected = projectPoints(pln.points);
cv::Mat cont = cv::Mat(480, 640, CV_8UC1, cv::Scalar::all(0));
for (int i = 0; i < projected.size(); i++)
{
if (480 - projected[i].x >0 && projected[i].y > 0 && 480 - projected[i].x < 475 && projected[i].y < 630) {
cv::Mat ROI = board(cv::Rect(static_cast<int>(projected[i].y), static_cast<int>(480 - projected[i].x), 2, 2));
ROI.setTo(cv::Scalar(250, 100, 100, 100));
cont.at<uchar>(static_cast<int>(480 - projected[i].x), static_cast<int>(projected[i].y), 0) = 255;
indices[static_cast<int>(480 - projected[i].x)][static_cast<int>(projected[i].y)] = i;
}
}
vector<vector<cv::Point> > contours;
vector<cv::Vec4i> hierarchy;
cv::GaussianBlur(cont, cont, cv::Size(7, 7), 5, 11);
findContours(cont, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE, cv::Point(0, 0));
vector<vector<cv::Point> > contours_poly(contours.size());
vector<cv::Rect> boundRect(contours.size());
vector<cv::Point2f>center(contours.size());
vector<float>radius(contours.size());
int nPoly;
for (int i = 0; i < contours.size(); i++)
{
cv::approxPolyDP(cv::Mat(contours[i]), contours_poly[i], 10, true);
nPoly = contours_poly[i].size();
}
for (int i = 0; i< contours.size(); i++)
{
drawContours(board, contours_poly, 0, cv::Scalar(0, 255, 0), 5);
}
}
if (!gpuView) imshow("reprojection", board);
else {
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
}
(_listener)->release(frames);
if (!gpuView) {
int op = cv::waitKey(50);
if (op == 100 || (char)(op) == 'd') right -= 1;
if (op == 115 || (char)(op) == 's') up += 1;
if (op == 97 || (char)(op) == 'a') right += 1;
if (op == 119 || (char)(op) == 'w') up -= 1;
if (op == 114 || (char)(op) == 'r') rotX -= 0.5;
if (op == 102 || (char)(op) == 'f') rotX += 0.5;
if (op == 1113997 || op == 1048586 || op == 1048608 || op == 10 || op == 32)
{
std::cout << "right = " << right << ";\nup = " << up << ";\nrotX = " << rotX << ";\n";
break;
}
}
else {
right = 0;
up = 0;
rotX = 0;
right = viewer.offsetX;
up = viewer.offsetY;
rotX = viewer.rot;
}
}
if (!gpuView) cv::destroyWindow("reprojection");
else {
viewer.stopWindow();
}
}
void Projector::objProjectionOffline(std::string objPath, std::string objName, bool gpuView)
{
std::cout << "Camera init: ";
objObject obj(objPath, objName);
obj.loadData();
cout << "DONE\n";
cv::namedWindow("objTest", CV_WINDOW_NORMAL);
cv::moveWindow("objTest", 0, 0);
indices.resize(480);
for (int i = 0; i < 480; i++) indices[i].resize(640);
libfreenect2::Registration* registration = new libfreenect2::Registration(_dev->getIrCameraParams(), _dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
libfreenect2::FrameMap frames;
SimpleViewer viewer;
bool shutdown = false;
cv::Mat board(480, 640, CV_8UC4, cv::Scalar::all(255));
cv::Vec3f prevNormal(-1, -1, -1);
if (!gpuView) {
cv::namedWindow("reprojection", CV_WINDOW_NORMAL);
cv::moveWindow("reprojection", 200, 200);
//setWindowProperty("reprojection", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
else {
viewer.setSize(480, 640); // TO-DO change resolution
viewer.initialize();
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
while (!shutdown)
{
board = cv::Mat(480, 640, CV_8UC4, cv::Scalar::all(255));
std::vector<cv::Point3f> plnSrc;
if (!gpuView) cv::imshow("reprojection", board);
(_listener)->waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
registration->apply(rgb, depth, &undistorted, ®istered, true, NULL, NULL);
PlaneData pln = findRectangle(registration, &undistorted, ®istered);
if (pln.points.size() > 0) {
std::vector<cv::Point2f> projected = projectPoints(pln.points);
cv::Mat cont = cv::Mat(480, 640, CV_8UC1, cv::Scalar::all(0));
for (int i = 0; i < projected.size(); i++)
{
if (480 - projected[i].x >0 && projected[i].y > 0 && 480 - projected[i].x < 475 && projected[i].y < 630) {
cv::Mat ROI = board(cv::Rect(static_cast<int>(projected[i].y), static_cast<int>(480 - projected[i].x), 2, 2));
ROI.setTo(cv::Scalar(250, 100, 100, 100));
cont.at<uchar>(static_cast<int>(480 - projected[i].x), static_cast<int>(projected[i].y), 0) = 255;
plnSrc.push_back(pln.points[i]);
}
}
vector<vector<cv::Point> > contours;
vector<cv::Vec4i> hierarchy;
cv::GaussianBlur(cont, cont, cv::Size(7, 7), 5, 11);
findContours(cont, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE, cv::Point(0, 0));
vector<vector<cv::Point> > contours_poly(contours.size());
vector<cv::Rect> boundRect(contours.size());
vector<cv::Point2f>center(contours.size());
vector<float>radius(contours.size());
for (int i = 0; i < contours.size(); i++)
{
cv::approxPolyDP(cv::Mat(contours[i]), contours_poly[i], 10, true);
}
for (int i = 0; i < contours.size(); i++)
{
drawContours(board, contours_poly, 0, cv::Scalar(0, 255, 0), 5);
}
cv::Mat data_pts = cv::Mat(300, 3, CV_64FC1);
cv::Vec3f normal(0, 0, 0);
int jump = plnSrc.size() / 300;
for (int i = 0; i < 100; i++) {
data_pts.at<double>(i, 0) = plnSrc[i*jump].x;
data_pts.at<double>(i, 1) = plnSrc[i*jump].y;
data_pts.at<double>(i, 2) = plnSrc[i*jump].z;
data_pts.at<double>(i + 100, 0) = plnSrc[(i + 100)*jump].x;
data_pts.at<double>(i + 100, 1) = plnSrc[(i + 100)*jump].y;
data_pts.at<double>(i + 100, 2) = plnSrc[(i + 100)*jump].z;
data_pts.at<double>(i + 200, 0) = plnSrc[(i + 200) *jump].x;
data_pts.at<double>(i + 200, 1) = plnSrc[(i + 200)*jump].y;
data_pts.at<double>(i + 200, 2) = plnSrc[(i + 200)*jump].z;
}
cv::PCA pca_analysis(data_pts, cv::Mat(), CV_PCA_DATA_AS_ROW);
cv::Vec3f cntr = cv::Vec3f((pca_analysis.mean.at<double>(0, 0)),
(pca_analysis.mean.at<double>(0, 1)),
(pca_analysis.mean.at<double>(0, 2)));
vector<cv::Point3f> eigen_vecs(2);
vector<double> eigen_val(2);
for (int i = 0; i < 2; ++i)
{
eigen_vecs[i] = cv::Point3f(pca_analysis.eigenvectors.at<double>(i, 0),
pca_analysis.eigenvectors.at<double>(i, 1),
pca_analysis.eigenvectors.at<double>(i, 2));
eigen_val[i] = pca_analysis.eigenvalues.at<double>(0, i);
}
cv::Vec3f p1 = cv::Vec3f((eigen_vecs[0].x * eigen_val[0]), (eigen_vecs[0].y * eigen_val[0]), (eigen_vecs[0].z * eigen_val[0]));
cv::Vec3f p2 = cv::Vec3f((eigen_vecs[1].x * eigen_val[1]), (eigen_vecs[1].y * eigen_val[1]), (eigen_vecs[1].z * eigen_val[1]));
normal = p1.cross(p2);
normal = cv::normalize(normal);
//pln.center = cntr;
pln.normal = normal;
obj.setCamera(cv::Point3f(pln.center.x, -pln.center.y, -pln.center.z + 150),
cv::Vec3f(pln.normal[0], pln.normal[1], pln.normal[2]));
if (!gpuView) imshow("reprojection", board);
else {
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
}
cv::Mat im = obj.render();
cv::imshow("objTest", im);
//}
(_listener)->release(frames);
if (!gpuView) {
int op = cv::waitKey(50);
if (op == 100 || (char)(op) == 'd') right -= 1;
if (op == 115 || (char)(op) == 's') up += 1;
if (op == 97 || (char)(op) == 'a') right += 1;
if (op == 119 || (char)(op) == 'w') up -= 1;
if (op == 114 || (char)(op) == 'r') rotX -= 0.5;
if (op == 102 || (char)(op) == 'f') rotX += 0.5;
if (op == 1113997 || op == 1048586 || op == 1048608 || op == 10 || op == 32)
{
std::cout << "right = " << right << ";\nup = " << up << ";\nrotX = " << rotX << ";\n";
break;
}
}
else {
//right = 0;
//up = 0;
//rotX = 0;
right = viewer.offsetX;
up = viewer.offsetY;
rotX = viewer.rot;
}
}
if (!gpuView) cv::destroyWindow("reprojection");
else {
viewer.stopWindow();
}
cv::destroyWindow("objTest");
}
void Projector::reproject(bool gpuView)
{
libfreenect2::Registration* registration = new libfreenect2::Registration(_dev->getIrCameraParams(), _dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
libfreenect2::FrameMap frames;
SimpleViewer viewer;
bool shutdown = false;
cv::Mat board(480, 640, CV_8UC4, cv::Scalar::all(255));
if (!gpuView) {
cv::namedWindow("reprojection", CV_WINDOW_NORMAL);
cv::moveWindow("reprojection", 1200, 0);
cv::setWindowProperty("reprojection", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
}
else {
viewer.setSize(480, 640); // TO-DO change resolution
viewer.initialize();
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
while (!shutdown)
{
board = cv::Mat(480, 640, CV_8UC4, cv::Scalar::all(255));
std::vector<cv::Point3f> wrldSrc;
if (!gpuView) cv::imshow("reprojection", board);
(_listener)->waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
registration->apply(rgb, depth, &undistorted, ®istered, true, NULL, NULL);
for (int i = 0; i<512; i++)
{
for (int j = 0; j<424; j++)
{
float x = 0, y = 0, z = 0, color = 0;
registration->getPointXYZRGB(&undistorted, ®istered,
i, j,
x, y, z, color);
if (z>0.5 && z<1.7)
{
x = static_cast<float>(x + right / ((double)640.0)); //////////TO-DO fix that
y = static_cast<float>(y + up / ((double)480.0));
x -= 0.5;
y -= 0.5;
double PI = 3.14159265;
x = static_cast<float>(std::cos(rotX * PI / 180) * x - std::sin(rotX * PI / 180) * y);
y = static_cast<float>(std::sin(rotX * PI / 180) * x + std::cos(rotX * PI / 180) * y);
x += 0.5;
y += 0.5;
wrldSrc.push_back(cv::Point3f(x * 100,
y * 100,
z * 100));
}
}
}
if (wrldSrc.size() > 0) {
std::vector<cv::Point2f> projected = projectPoints(wrldSrc);
for (int i = 0; i < projected.size(); i++)
{
if (480 - projected[i].x >0 && projected[i].y > 0 && 480 - projected[i].x < 475 && projected[i].y < 630) {
cv::Mat ROI = board(cv::Rect(static_cast<int>(projected[i].y), static_cast<int>(480 - projected[i].x), 2, 2));
ROI.setTo(cv::Scalar(100, 100, 150, 100));
}
}
if (!gpuView) imshow("reprojection", board);
else {
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
}
(_listener)->release(frames);
if (!gpuView) {
int op = cv::waitKey(50);
if (op == 100 || (char)(op) == 'd') right -= 1;
if (op == 115 || (char)(op) == 's') up += 1;
if (op == 97 || (char)(op) == 'a') right += 1;
if (op == 119 || (char)(op) == 'w') up -= 1;
if (op == 114 || (char)(op) == 'r') rotX -= 0.5;
if (op == 102 || (char)(op) == 'f') rotX += 0.5;
if (op == 1113997 || op == 1048586 || op == 1048608 || op == 10 || op == 32)
{
std::cout << "right = " << right << ";\nup = " << up << ";\nrotX = " << rotX << ";\n";
break;
}
}
else {
right = viewer.offsetX;
up = viewer.offsetY;
rotX = viewer.rot;
}
}
if (!gpuView) cv::destroyWindow("reprojection");
else {
viewer.stopWindow();
}
}
void Projector::ctProjection(std::string ctFilePath, int startPoint, int xDim, int yDim, int zDim, bool PNG)
{
SimpleViewer viewer;
CTObject ctObject(ctFilePath, xDim, yDim, zDim, startPoint);
if(PNG)
ctObject.readDataPNG();
else
ctObject.readData();
libfreenect2::FrameMap frames;
libfreenect2::Registration* registration = new libfreenect2::Registration(_dev->getIrCameraParams(), _dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
bool shutdown = false;
cv::Mat board(480, 640, CV_8UC4, cv::Scalar::all(0));
//cv::namedWindow("CTviewer", CV_WINDOW_NORMAL);
//cv::moveWindow("CTviewer", 00, 0);
//cv::setWindowProperty("CTviewer", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
{
viewer.setSize(480, 640); // TO-DO change resolution
viewer.initialize();
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
libfreenect2::Frame *rgb;
libfreenect2::Frame *depth;
(_listener)->waitForNewFrame(frames);
rgb = frames[libfreenect2::Frame::Color];
depth = frames[libfreenect2::Frame::Depth];
registration->undistortDepth(depth, &undistorted);
while (!shutdown)
{
std::thread *nextFrame = new std::thread[1];
/*(_listener)->waitForNewFrame(frames);
rgb = frames[libfreenect2::Frame::Color];
depth = frames[libfreenect2::Frame::Depth];
registration->undistortDepth(depth, &undistorted);*/
//registration->apply(rgb, depth, &undistorted, ®istered, true, NULL, NULL);
//cv::Mat frame = frameToMat("registered", ®istered);
cv::Mat depthFrame;// = frameToMat("depth", depth);
//cv::Mat board(424, 512, CV_8UC4, cv::Scalar::all(0));
board = cv::Mat(480, 640, CV_8UC4, cv::Scalar::all(0));
//depthFrame *= 0.001;
cv::Mat temp_board(480, 640, CV_16UC3, cv::Scalar::all(0));
int parts = 128;
int jump = 512 / parts;
int minX = 999;
int maxX = -1;
int minY = 999;
int maxY = -1;
std::thread *tt = new std::thread[parts];
for (int i = 0; i < parts; ++i) {
tt[i] = std::thread(tst, registration, &undistorted, ®istered, jump * i, jump + jump * i, &board, &ctObject,
right, up, _mr, _mt, _cam, _pro, &depthFrame, &temp_board, &minX, &maxX, &minY, &maxY);
}
for (int i = 0; i < parts; ++i)
tt[i].join();
//_listener->release(frames);
nextFrame[0] = std::thread(loadNextFrame, _listener, &frames, rgb, depth, registration, &undistorted);
int parts2 = 8;
int jump2 = 512 / parts2;
for (int ii = 0; ii < 3; ii++) {
for (int i = 0; i < parts2; ++i) {
tt[i] = std::thread(tt2, &temp_board, jump2 * i, jump2 + jump2 * i, cv::Size(3, 3), minX, maxX, minY, maxY);
}
for (int i = 0; i < parts2; ++i)
tt[i].join();
}
//for (int i = 0; i < 3; i++)
//temp_board = pseudoBoxFilter(temp_board, temp_board, cv::Size(3, 3));
//temp_board = pseudoBoxFilter(temp_board, temp_board, cv::Size(3, 3));
//temp_board = pseudoBoxFilter(temp_board, temp_board, cv::Size(7, 7));
//temp_board = pseudoBoxFilter(temp_board, temp_board, cv::Size(7, 7));
//cv::medianBlur(temp_board, temp_board, 5); // TO-DO check if needed
//cv::GaussianBlur(temp_board, temp_board, cv::Size(3, 3), 0, 1);
//int parts3 = 16;
//int jump3 = 480 / parts3;
//std::thread *tt2 = new std::thread[parts];
//for (int i = 0; i < parts3; ++i) {
// tt2[i] = std::thread(tt3, &board, &temp_board, &ctObject, jump3 * i, jump3 + jump3 * i);
// //std::cout << jump3 * i << " " << jump3 + jump3 * i << "\n";
//}
//for (int i = 0; i < parts; ++i)
// tt2[i].join();
//std::cout << "zuoooooo\n";
/*for (int i = 0; i < 480; i++)
{
for (int j = 0; j < 640; j++)
{
cv::Mat ROI = board(cv::Rect(j, i, 1, 1));
cv::Vec3s v = temp_board.at<cv::Vec3s>(i, j);
unsigned char value = ctObject.at(v[0], v[1], v[2]);
ROI.setTo(cv::Scalar(value, value, value, 100));
}
}*/
//cv::imshow("CTviewer", board);
{
libfreenect2::Frame b(640, 480, 4);
b.data = board.data;
viewer.addFrame("RGB", &b);
shutdown = shutdown || viewer.render();
}
//_listener->release(frames);
nextFrame[0].join();
delete[] tt;
delete[] nextFrame;
//delete[] tt2;
/*{
int op = cv::waitKey(1);
if (op == 100 || (char)(op) == 'd') right -= 1;
if (op == 115 || (char)(op) == 's') up += 1;
if (op == 97 || (char)(op) == 'a') right += 1;
if (op == 119 || (char)(op) == 'w') up -= 1;
if (op == 1113997 || op == 1048586 || op == 1048608 || op == 10 || op == 32)
{
std::cout << "right = " << right << ";\nup = " << up << ";\nrotX = " << rotX << ";\n";
shutdown = true;
cv::destroyWindow("CTviewer");
}
}*/
}
}