bool RelativePoseEstimatorICP :: estimateNewPose(const RGBDImage& image)
{
if (m_ref_cloud.points.size() < 1)
{
ntk_dbg(1) << "Reference cloud was empty";
return false;
}
PointCloud<PointXYZ>::Ptr target = m_ref_cloud.makeShared();
PointCloud<PointXYZ>::Ptr source (new PointCloud<PointXYZ>());
rgbdImageToPointCloud(*source, image);
PointCloud<PointXYZ>::Ptr filtered_source (new PointCloud<PointXYZ>());
PointCloud<PointXYZ>::Ptr filtered_target (new PointCloud<PointXYZ>());
pcl::VoxelGrid<pcl::PointXYZ> grid;
grid.setLeafSize (m_voxel_leaf_size, m_voxel_leaf_size, m_voxel_leaf_size);
grid.setInputCloud(source);
grid.filter(*filtered_source);
grid.setInputCloud(target);
grid.filter(*filtered_target);
PointCloud<PointXYZ> cloud_reg;
IterativeClosestPoint<PointXYZ, PointXYZ> reg;
reg.setMaximumIterations (m_max_iterations);
reg.setTransformationEpsilon (1e-5);
reg.setMaxCorrespondenceDistance (m_distance_threshold);
reg.setInputCloud (filtered_source);
reg.setInputTarget (filtered_target);
reg.align (cloud_reg);
if (!reg.hasConverged())
{
ntk_dbg(1) << "ICP did not converge, ignoring.";
return false;
}
Eigen::Matrix4f t = reg.getFinalTransformation ();
cv::Mat1f T(4,4);
//toOpencv(t,T);
for (int r = 0; r < 4; ++r)
for (int c = 0; c < 4; ++c)
T(r,c) = t(r,c);
Pose3D icp_pose;
icp_pose.setCameraTransform(T);
ntk_dbg_print(icp_pose.cvTranslation(), 1);
// Pose3D stores the transformation from 3D space to image.
// So we have to invert everything so that unprojecting from
// image to 3D gives the right transformation.
// H2' = ICP * H1'
m_current_pose.resetCameraTransform();
m_current_pose = *image.calibration()->depth_pose;
m_current_pose.invert();
m_current_pose.applyTransformAfter(icp_pose);
m_current_pose.invert();
return true;
}
void RGBDFrameRecorder :: writeFrame(const RGBDImage& image, const std::string& frame_dir)
{
std::string raw_frame_dir = format("%s/raw", frame_dir.c_str(), m_frame_index);
QDir dir (frame_dir.c_str());
dir.mkpath("raw");
std::string filename;
if (m_save_rgb_pose && image.calibration())
{
filename = cv::format("%s/rgb_pose.avs", frame_dir.c_str());
image.rgbPose().saveToAvsFile(filename.c_str());
}
if (!m_only_raw)
{
filename = cv::format("%s/color.png", frame_dir.c_str());
imwrite(filename, image.rgb());
}
if (m_save_pcl_point_cloud)
{
filename = cv::format("%s/cloud.pcd", frame_dir.c_str());
#ifdef NESTK_USE_PCL
pcl::PointCloud<pcl::PointXYZ> cloud;
rgbdImageToPointCloud(cloud, image);
pcl::io::savePCDFileASCII(filename.c_str(), cloud);
#endif
}
if (m_use_compressed_format)
filename = cv::format("%s/raw/color.png", frame_dir.c_str());
else
filename = cv::format("%s/raw/color.bmp", frame_dir.c_str());
imwrite(filename, image.rawRgb());
if (!m_only_raw && image.mappedDepth().data)
{
filename = cv::format("%s/mapped_depth.png", frame_dir.c_str());
imwrite_normalized(filename, image.mappedDepth());
filename = cv::format("%s/mapped_color.png", frame_dir.c_str());
imwrite(filename, image.mappedRgb());
filename = cv::format("%s/depth.yml", frame_dir.c_str());
imwrite_yml(filename, image.mappedDepth());
}
if (!m_only_raw)
{
filename = cv::format("%s/raw/depth.png", frame_dir.c_str());
if (image.rawDepth().data)
imwrite_normalized(filename.c_str(), image.rawDepth());
filename = cv::format("%s/depth.png", frame_dir.c_str());
if (image.depth().data)
imwrite_normalized(filename.c_str(), image.depth());
filename = cv::format("%s/intensity.png", frame_dir.c_str());
if (image.intensity().data)
imwrite_normalized(filename.c_str(), image.intensity());
}
if (image.rawDepth().data)
{
if (m_use_binary_raw)
{
filename = cv::format("%s/raw/depth.raw", frame_dir.c_str());
imwrite_Mat1f_raw(filename.c_str(), image.rawDepth());
}
else
{
filename = cv::format("%s/raw/depth.yml", frame_dir.c_str());
imwrite_yml(filename.c_str(), image.rawDepth());
}
}
if (m_save_intensity && image.rawIntensity().data)
{
if (m_use_binary_raw)
{
filename = cv::format("%s/raw/intensity.raw", frame_dir.c_str());
imwrite_Mat1f_raw(filename.c_str(), image.rawIntensity());
}
else
{
filename = cv::format("%s/raw/intensity.yml", frame_dir.c_str());
imwrite_yml(filename.c_str(), image.rawIntensity());
}
}
if (!m_only_raw)
{
filename = cv::format("%s/raw/amplitude.png", frame_dir.c_str());
if (image.rawAmplitude().data)
imwrite_normalized(filename.c_str(), image.rawAmplitude());
filename = cv::format("%s/amplitude.png", frame_dir.c_str());
if (image.amplitude().data)
imwrite_normalized(filename.c_str(), image.amplitude());
}
if (image.rawAmplitude().data)
{
if (m_use_binary_raw)
{
filename = cv::format("%s/raw/amplitude.raw", frame_dir.c_str());
imwrite_Mat1f_raw(filename.c_str(), image.rawAmplitude());
}
else
{
filename = cv::format("%s/raw/amplitude.yml", frame_dir.c_str());
imwrite_yml(filename.c_str(), image.rawAmplitude());
}
}
}
void RelativePoseEstimatorICP :: setReferenceImage(const RGBDImage& ref_image)
{
rgbdImageToPointCloud(m_ref_cloud, ref_image);
}
