int
main (int argc, char* argv [])
{
ntk::arg_base::set_help_option("-h");
ntk::arg_parse(argc, argv);
ntk::ntk_debug_level = cmd::debug_level();
cv::setBreakOnError(true);
QApplication app (argc, argv);
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
RGBDCalibration calibration;
calibration.loadFromFile(cmd::calibration_file());
OpenniRGBDProcessor processor;
RGBDImage image1 (cmd::input_image1(), &calibration, &processor);
RGBDImage image2 (cmd::input_image2(), &calibration, &processor);;
MeshGenerator generator;
generator.setMeshType(MeshGenerator::TriangleMesh);
generator.setUseColor(true);
generator.generate(image1);
global::mesh1 = generator.mesh();
global::mesh1.computeNormalsFromFaces();
generator.generate(image2);
global::mesh2 = generator.mesh();
global::mesh2.computeNormalsFromFaces();
ntk_dbg(0) << "============ ALIGN WITH ICP ============";
alignWithICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH LEVENBERG ICP ============";
alignWithLevenbergICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD ============";
alignWithRGBD(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD THEN ICP ============";
alignWithRGBDThenICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD-ICP ============";
alignWithRGBDICP(image1, image2);
global::mesh1.normals.clear();
global::mesh1.saveToPlyFile("debug_mesh1.ply");
global::mesh2.normals.clear();
global::mesh2.saveToPlyFile("debug_mesh2.ply");
return 0;
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// High resolution 1280x1024 RGB Image.
if (opt::high_resolution())
grabber.setHighRgbResolution(true);
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(image);
post_processor.processImage(image);
ntk_ensure(image.calibration(), "Uncalibrated rgbd image, cannot project to 3D!");
// Generate a mesh out of the rgbd image.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(image, *image.calibration()->depth_pose, *image.calibration()->rgb_pose);
// Save the grabber mesh to a ply file.
ntk_dbg(0) << "Saving mesh file to output.ply...";
generator.mesh().saveToPlyFile("output.ply");
grabber.stop();
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage ref_image, transformed_image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(ref_image);
post_processor.processImage(ref_image);
// Stop the grabber, don't need the kinect anymore.
grabber.stop();
grabber.disconnectFromDevice();
// Artificially apply an in-plane rotation of 5 degrees.
ref_image.copyTo(transformed_image);
cv::warpAffine(ref_image.depth(),
transformed_image.depthRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_NEAREST);
cv::warpAffine(ref_image.rgb(),
transformed_image.rgbRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_LINEAR);
imshow_normalized("depth", ref_image.depth());
imshow_normalized("rotated_depth", transformed_image.depth());
cv::waitKey(0);
// Check if ICP can find the applied transformation.
RelativePoseEstimatorICP estimator;
estimator.setDistanceThreshold(0.5); // points are associated if distance is < 50cm
estimator.setVoxelSize(0.01); // points are clustered into 1cm cells.
estimator.setMaxIterations(100); // no more than 100 ICP iterations
estimator.setReferenceImage(ref_image);
estimator.estimateNewPose(transformed_image);
// Should be almost 0
ntk_dbg_print(estimator.currentPose().cvTranslation(), 1);
// Should be around 5 degrees around the z axis.
ntk_dbg_print(estimator.currentPose().cvEulerRotation()*float(180/ntk::math::pi), 1);
// Save the processed images as point clouds.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(ref_image);
generator.mesh().saveToPlyFile("ref.ply");
generator.generate(transformed_image);
generator.mesh().saveToPlyFile("transformed.ply");
generator.generate(transformed_image, estimator.currentPose(), estimator.currentPose());
generator.mesh().saveToPlyFile("transformed_corrected.ply");
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver);
// Start the grabber.
grabber.setHighRgbResolution(false);
grabber.setCustomBayerDecoding(true);
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage ref_image, transformed_image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
for (int i = 0; i < 5; ++i)
grabber.waitForNextFrame();
grabber.copyImageTo(ref_image);
post_processor.processImage(ref_image);
// Stop the grabber, don't need the kinect anymore.
grabber.stop();
grabber.disconnectFromDevice();
// Artificially apply an in-plane rotation of 5 degrees.
ref_image.copyTo(transformed_image);
#if 1
cv::warpAffine(ref_image.depth(),
transformed_image.depthRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_NEAREST);
cv::warpAffine(ref_image.rgb(),
transformed_image.rgbRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_LINEAR);
#endif
#if 0
imshow_normalized("rgb", ref_image.rgb());
imshow_normalized("rotated_rgb", transformed_image.rgb());
cv::waitKey(0);
#endif
Pose3D target_pose = *ref_image.calibration()->depth_pose;
// Artificially apply some changes.
target_pose.applyTransformBefore(cv::Vec3f(0,1.0,0), cv::Vec3f(M_PI*4.0,0,M_PI/2.0));
RelativePoseEstimatorMarkers estimator;
estimator.setMarkerSize(opt::marker_size());
estimator.setSourceImage(transformed_image);
estimator.setTargetImage(ref_image);
estimator.setTargetPose(target_pose);
estimator.estimateNewPose();
// Should be almost -0.0874827 0.997087 0.000867769
ntk_dbg_print(estimator.estimatedSourcePose().cvTranslation(), 1);
// Should be almost -0.350163 -0.0560269 95.1153
ntk_dbg_print(estimator.estimatedSourcePose().cvEulerRotation()*float(180/ntk::math::pi), 1);
// Save the processed images as point clouds.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(ref_image, target_pose, target_pose);
generator.mesh().saveToPlyFile("ref.ply");
generator.generate(transformed_image, target_pose, target_pose);
generator.mesh().saveToPlyFile("transformed.ply");
generator.generate(transformed_image, estimator.estimatedSourcePose(), estimator.estimatedSourcePose());
generator.mesh().saveToPlyFile("transformed_corrected.ply");
}