void CameraThread::mainLoop()
{
UDEBUG("");
CameraInfo info;
SensorData data = _camera->takeImage(&info);
if(!data.imageRaw().empty())
{
if(_colorOnly && !data.depthRaw().empty())
{
data.setDepthOrRightRaw(cv::Mat());
}
if(_imageDecimation>1 && !data.imageRaw().empty())
{
UDEBUG("");
UTimer timer;
if(!data.depthRaw().empty() &&
!(data.depthRaw().rows % _imageDecimation == 0 && data.depthRaw().cols % _imageDecimation == 0))
{
UERROR("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
"Images won't be resized.", _imageDecimation, data.depthRaw().cols, data.depthRaw().rows);
}
else
{
data.setImageRaw(util2d::decimate(data.imageRaw(), _imageDecimation));
data.setDepthOrRightRaw(util2d::decimate(data.depthOrRightRaw(), _imageDecimation));
std::vector<CameraModel> models = data.cameraModels();
for(unsigned int i=0; i<models.size(); ++i)
{
if(models[i].isValidForProjection())
{
models[i] = models[i].scaled(1.0/double(_imageDecimation));
}
}
data.setCameraModels(models);
StereoCameraModel stereoModel = data.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(_imageDecimation));
data.setStereoCameraModel(stereoModel);
}
}
info.timeImageDecimation = timer.ticks();
}
if(_mirroring && data.cameraModels().size() == 1)
{
UDEBUG("");
UTimer timer;
cv::Mat tmpRgb;
cv::flip(data.imageRaw(), tmpRgb, 1);
data.setImageRaw(tmpRgb);
UASSERT_MSG(data.cameraModels().size() <= 1 && !data.stereoCameraModel().isValidForProjection(), "Only single RGBD cameras are supported for mirroring.");
if(data.cameraModels().size() && data.cameraModels()[0].cx())
{
CameraModel tmpModel(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
float(data.imageRaw().cols) - data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].localTransform());
data.setCameraModel(tmpModel);
}
if(!data.depthRaw().empty())
{
cv::Mat tmpDepth;
cv::flip(data.depthRaw(), tmpDepth, 1);
data.setDepthOrRightRaw(tmpDepth);
}
info.timeMirroring = timer.ticks();
}
if(_stereoToDepth && data.stereoCameraModel().isValidForProjection() && !data.rightRaw().empty())
{
UDEBUG("");
UTimer timer;
cv::Mat depth = util2d::depthFromDisparity(
_stereoDense->computeDisparity(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
data.setCameraModel(data.stereoCameraModel().left());
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
info.timeDisparity = timer.ticks();
UDEBUG("Computing disparity = %f s", info.timeDisparity);
}
if(_scanFromDepth &&
data.cameraModels().size() &&
data.cameraModels().at(0).isValidForProjection() &&
!data.depthRaw().empty())
{
UDEBUG("");
if(data.laserScanRaw().empty())
{
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
if(_scanVoxelSize>0.0f)
{
cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
float ratio = float(cloud->size()) / float(validIndices->size());
maxPoints = ratio * maxPoints;
}
else if(!cloud->is_dense)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
cloud = denseCloud;
}
cv::Mat scan;
if(_scanNormalsK>0)
{
scan = util3d::laserScanFromPointCloud(*util3d::computeNormals(cloud, _scanNormalsK));
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud);
}
data.setLaserScanRaw(scan, (int)maxPoints, _scanMaxDepth);
info.timeScanFromDepth = timer.ticks();
UDEBUG("Computing scan from depth = %f s", info.timeScanFromDepth);
}
else
{
UWARN("Option to create laser scan from depth image is enabled, but "
"there is already a laser scan in the captured sensor data. Scan from "
"depth will not be created.");
}
}
info.cameraName = _camera->getSerial();
this->post(new CameraEvent(data, info));
}
else if(!this->isKilled())
{
UWARN("no more images...");
this->kill();
this->post(new CameraEvent());
}
}
bool RTABMapApp::exportMesh(const std::string & filePath)
{
bool success = false;
//Assemble the meshes
if(UFile::getExtension(filePath).compare("obj") == 0)
{
pcl::TextureMesh textureMesh;
std::vector<cv::Mat> textures;
int totalPolygons = 0;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
{
boost::mutex::scoped_lock lock(meshesMutex_);
textureMesh.tex_materials.resize(createdMeshes_.size());
textureMesh.tex_polygons.resize(createdMeshes_.size());
textureMesh.tex_coordinates.resize(createdMeshes_.size());
textures.resize(createdMeshes_.size());
int polygonsStep = 0;
int oi = 0;
for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin();
iter!= createdMeshes_.end();
++iter)
{
UASSERT(!iter->second.cloud->is_dense);
if(!iter->second.texture.empty() &&
iter->second.cloud->size() &&
iter->second.polygons.size())
{
// OBJ format requires normals
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(iter->second.cloud, 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
pcl::concatenateFields(*iter->second.cloud, *normals, *cloudWithNormals);
// create dense cloud
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
std::map<int, int> newToOldIndices;
newToOldIndices = rtabmap::util3d::filterNotUsedVerticesFromMesh(
*cloudWithNormals,
iter->second.polygons,
*denseCloud,
densePolygons);
// polygons
UASSERT(densePolygons.size());
unsigned int polygonSize = densePolygons.front().vertices.size();
textureMesh.tex_polygons[oi].resize(densePolygons.size());
textureMesh.tex_coordinates[oi].resize(densePolygons.size() * polygonSize);
for(unsigned int j=0; j<densePolygons.size(); ++j)
{
pcl::Vertices vertices = densePolygons[j];
UASSERT(polygonSize == vertices.vertices.size());
for(unsigned int k=0; k<vertices.vertices.size(); ++k)
{
//uv
std::map<int, int>::iterator jter = newToOldIndices.find(vertices.vertices[k]);
textureMesh.tex_coordinates[oi][j*vertices.vertices.size()+k] = Eigen::Vector2f(
float(jter->second % iter->second.cloud->width) / float(iter->second.cloud->width), // u
float(iter->second.cloud->height - jter->second / iter->second.cloud->width) / float(iter->second.cloud->height)); // v
vertices.vertices[k] += polygonsStep;
}
textureMesh.tex_polygons[oi][j] = vertices;
}
totalPolygons += densePolygons.size();
polygonsStep += denseCloud->size();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(denseCloud, iter->second.pose);
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
}
else
{
*mergedClouds += *transformedCloud;
}
textures[oi] = iter->second.texture;
textureMesh.tex_materials[oi].tex_illum = 1;
textureMesh.tex_materials[oi].tex_name = uFormat("material_%d", iter->first);
++oi;
}
else
{
UERROR("Texture not set for mesh %d", iter->first);
}
}
textureMesh.tex_materials.resize(oi);
textureMesh.tex_polygons.resize(oi);
textures.resize(oi);
if(textures.size())
{
pcl::toPCLPointCloud2(*mergedClouds, textureMesh.cloud);
std::string textureDirectory = uSplit(filePath, '.').front();
UINFO("Saving %d textures to %s.", textures.size(), textureDirectory.c_str());
UDirectory::makeDir(textureDirectory);
for(unsigned int i=0;i<textures.size(); ++i)
{
cv::Mat rawImage = rtabmap::uncompressImage(textures[i]);
std::string texFile = textureDirectory+"/"+textureMesh.tex_materials[i].tex_name+".png";
cv::imwrite(texFile, rawImage);
UINFO("Saved %s (%d bytes).", texFile.c_str(), rawImage.total()*rawImage.channels());
// relative path
textureMesh.tex_materials[i].tex_file = uSplit(UFile::getName(filePath), '.').front()+"/"+textureMesh.tex_materials[i].tex_name+".png";
}
UINFO("Saving obj (%d vertices, %d polygons) to %s.", (int)mergedClouds->size(), totalPolygons, filePath.c_str());
success = pcl::io::saveOBJFile(filePath, textureMesh) == 0;
if(success)
{
UINFO("Saved obj to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
}
}
else
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> mergedPolygons;
{
boost::mutex::scoped_lock lock(meshesMutex_);
for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin();
iter!= createdMeshes_.end();
++iter)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> densePolygons;
rtabmap::util3d::filterNotUsedVerticesFromMesh(
*iter->second.cloud,
iter->second.polygons,
*denseCloud,
densePolygons);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(denseCloud, iter->second.pose);
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
mergedPolygons = densePolygons;
}
else
{
rtabmap::util3d::appendMesh(*mergedClouds, mergedPolygons, *transformedCloud, densePolygons);
}
}
}
if(mergedClouds->size() && mergedPolygons.size())
{
pcl::PolygonMesh mesh;
pcl::toPCLPointCloud2(*mergedClouds, mesh.cloud);
mesh.polygons = mergedPolygons;
UINFO("Saving ply (%d vertices, %d polygons) to %s.", (int)mergedClouds->size(), (int)mergedPolygons.size(), filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, mesh) == 0;
if(success)
{
UINFO("Saved ply to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
}
}
}
return success;
}
void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
{
UASSERT(dataPtr!=0);
SensorData & data = *dataPtr;
if(_colorOnly && !data.depthRaw().empty())
{
data.setDepthOrRightRaw(cv::Mat());
}
if(_distortionModel && !data.depthRaw().empty())
{
UTimer timer;
if(_distortionModel->getWidth() == data.depthRaw().cols &&
_distortionModel->getHeight() == data.depthRaw().rows )
{
cv::Mat depth = data.depthRaw().clone();// make sure we are not modifying data in cached signatures.
_distortionModel->undistort(depth);
data.setDepthOrRightRaw(depth);
}
else
{
UERROR("Distortion model size is %dx%d but dpeth image is %dx%d!",
_distortionModel->getWidth(), _distortionModel->getHeight(),
data.depthRaw().cols, data.depthRaw().rows);
}
if(info) info->timeUndistortDepth = timer.ticks();
}
if(_bilateralFiltering && !data.depthRaw().empty())
{
UTimer timer;
data.setDepthOrRightRaw(util2d::fastBilateralFiltering(data.depthRaw(), _bilateralSigmaS, _bilateralSigmaR));
if(info) info->timeBilateralFiltering = timer.ticks();
}
if(_imageDecimation>1 && !data.imageRaw().empty())
{
UDEBUG("");
UTimer timer;
if(!data.depthRaw().empty() &&
!(data.depthRaw().rows % _imageDecimation == 0 && data.depthRaw().cols % _imageDecimation == 0))
{
UERROR("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
"Images won't be resized.", _imageDecimation, data.depthRaw().cols, data.depthRaw().rows);
}
else
{
data.setImageRaw(util2d::decimate(data.imageRaw(), _imageDecimation));
data.setDepthOrRightRaw(util2d::decimate(data.depthOrRightRaw(), _imageDecimation));
std::vector<CameraModel> models = data.cameraModels();
for(unsigned int i=0; i<models.size(); ++i)
{
if(models[i].isValidForProjection())
{
models[i] = models[i].scaled(1.0/double(_imageDecimation));
}
}
data.setCameraModels(models);
StereoCameraModel stereoModel = data.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(_imageDecimation));
data.setStereoCameraModel(stereoModel);
}
}
if(info) info->timeImageDecimation = timer.ticks();
}
if(_mirroring && !data.imageRaw().empty() && data.cameraModels().size() == 1)
{
UDEBUG("");
UTimer timer;
cv::Mat tmpRgb;
cv::flip(data.imageRaw(), tmpRgb, 1);
data.setImageRaw(tmpRgb);
UASSERT_MSG(data.cameraModels().size() <= 1 && !data.stereoCameraModel().isValidForProjection(), "Only single RGBD cameras are supported for mirroring.");
if(data.cameraModels().size() && data.cameraModels()[0].cx())
{
CameraModel tmpModel(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
float(data.imageRaw().cols) - data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].localTransform());
data.setCameraModel(tmpModel);
}
if(!data.depthRaw().empty())
{
cv::Mat tmpDepth;
cv::flip(data.depthRaw(), tmpDepth, 1);
data.setDepthOrRightRaw(tmpDepth);
}
if(info) info->timeMirroring = timer.ticks();
}
if(_stereoToDepth && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection() && !data.rightRaw().empty())
{
UDEBUG("");
UTimer timer;
cv::Mat depth = util2d::depthFromDisparity(
_stereoDense->computeDisparity(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
// set Tx for stereo bundle adjustment (when used)
CameraModel model = CameraModel(
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().left().fy(),
data.stereoCameraModel().left().cx(),
data.stereoCameraModel().left().cy(),
data.stereoCameraModel().localTransform(),
-data.stereoCameraModel().baseline()*data.stereoCameraModel().left().fx());
data.setCameraModel(model);
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
if(info) info->timeDisparity = timer.ticks();
}
if(_scanFromDepth &&
data.cameraModels().size() &&
data.cameraModels().at(0).isValidForProjection() &&
!data.depthRaw().empty())
{
UDEBUG("");
if(data.laserScanRaw().empty())
{
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(
data,
_scanDecimation,
_scanMaxDepth,
_scanMinDepth,
validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
cv::Mat scan;
const Transform & baseToScan = data.cameraModels()[0].localTransform();
if(validIndices->size())
{
if(_scanVoxelSize>0.0f)
{
cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
float ratio = float(cloud->size()) / float(validIndices->size());
maxPoints = ratio * maxPoints;
}
else if(!cloud->is_dense)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
cloud = denseCloud;
}
if(cloud->size())
{
if(_scanNormalsK>0)
{
Eigen::Vector3f viewPoint(baseToScan.x(), baseToScan.y(), baseToScan.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK, viewPoint);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, baseToScan.inverse());
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud, baseToScan.inverse());
}
}
}
data.setLaserScanRaw(scan, LaserScanInfo((int)maxPoints, _scanMaxDepth, baseToScan));
if(info) info->timeScanFromDepth = timer.ticks();
}
else
{
UWARN("Option to create laser scan from depth image is enabled, but "
"there is already a laser scan in the captured sensor data. Scan from "
"depth will not be created.");
}
}
}