Esempio n. 1
0
void display_score_image(const float* score_buffer)
{
  int npixels = range_likelihood_->getWidth() * range_likelihood_->getHeight();
  uint8_t* score_img = new uint8_t[npixels * 3];

  float min_score = score_buffer[0];
  float max_score = score_buffer[0];
  for (int i=1; i<npixels; i++)
  {
    if (score_buffer[i] < min_score) min_score = score_buffer[i];
    if (score_buffer[i] > max_score) max_score = score_buffer[i];
  }

  for (int i=0; i<npixels; i++)
  {
    float d = (score_buffer[i]-min_score)/(max_score-min_score);
    score_img[3*i+0] = 0;
    score_img[3*i+1] = d*255;
    score_img[3*i+2] = 0;
  }

  glRasterPos2i(-1,-1);
  glDrawPixels(range_likelihood_->getWidth(), range_likelihood_->getHeight(), GL_RGB, GL_UNSIGNED_BYTE, score_img);

  delete [] score_img;
}
Esempio n. 2
0
void
depthBufferToMM(const float* depth_buffer,unsigned short* depth_img)
{
  int npixels = range_likelihood_->getWidth() * range_likelihood_->getHeight();
 // unsigned short * depth_img = new unsigned short[npixels ];
  for (int y = 0; y <  480; ++y)
  {
    for (int x = 0; x < 640; ++x)
    {
      int i= y*640 + x ;
      int i_in= (480-1 -y) *640 + x ; // flip up down
      float zn = 0.7;
      float zf = 20.0;
      float d = depth_buffer[i_in];
      unsigned short z_new = (unsigned short)  floor( 1000*( -zf*zn/((zf-zn)*(d - zf/(zf-zn)))));

      if (z_new < 0) z_new = 0;
//      else if (z_new>65535) z_new = 65535;
      else if (z_new>5000) z_new = 0;

      //      if ( z_new < 18000){
//	  cout << z_new << " " << d << " " << x << "\n";  
//      }
      depth_img[i] = z_new;
    }
  }
}
Esempio n. 3
0
void
write_rgb_image(const uint8_t* rgb_buffer)
{
  int npixels = range_likelihood_->getWidth() * range_likelihood_->getHeight();
  uint8_t* rgb_img = new uint8_t[npixels * 3];

  for (int y = 0; y <  480; ++y)
  {
    for (int x = 0; x < 640; ++x)
    {
      int px= y*640 + x ;
      int px_in= (480-1 -y) *640 + x ; // flip up down
      rgb_img [3* (px) +0] = rgb_buffer[3*px_in+0];
      rgb_img [3* (px) +1] = rgb_buffer[3*px_in+1];
      rgb_img [3* (px) +2] = rgb_buffer[3*px_in+2];      
    }
  }  
  
  // Write to file:
  IplImage *cv_ipl = cvCreateImage( cvSize(640 ,480), 8, 3);
  cv::Mat cv_mat(cv_ipl);
  cv_mat.data = rgb_img ;
//  cv::imwrite("rgb_image.png", cv_mat);     
  
  std::stringstream ss;
  ss <<"rgb_image.png" ;   
  cv::imwrite(ss.str()  , cv_mat);   
  
  delete [] rgb_img;
}
void
display_score_image (const float* score_buffer)
{
  int npixels = range_likelihood_->getWidth () * range_likelihood_->getHeight ();
  uint8_t* score_img = new uint8_t[npixels * 3];

  float min_score = score_buffer[0];
  float max_score = score_buffer[0];
  for (int i=1; i<npixels; i++)
  {
    if (score_buffer[i] < min_score) min_score = score_buffer[i];
    if (score_buffer[i] > max_score) max_score = score_buffer[i];
  }
  for (int i=0; i < npixels; i++)
  {
    float d = (score_buffer[i]-min_score)/(max_score-min_score);
    score_img[3*i+0] = 0;
    score_img[3*i+1] = static_cast<unsigned char> (d*255);
    score_img[3*i+2] = 0;
  }
  textured_quad_->setTexture (score_img);
  textured_quad_->render ();

  delete [] score_img;
}
Esempio n. 5
0
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//SIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTARTSIMSTART
void
write_depth_image(const float* depth_buffer)
{
  int npixels = range_likelihood_->getWidth() * range_likelihood_->getHeight();
  uint8_t* depth_img = new uint8_t[npixels * 3];

  float min_depth = depth_buffer[0];
  float max_depth = depth_buffer[0];
  for (int i=1; i<npixels; i++)
  {
    if (depth_buffer[i] < min_depth) min_depth = depth_buffer[i];
    if (depth_buffer[i] > max_depth) max_depth = depth_buffer[i];
  }

  for (int y = 0; y <  480; ++y)
  {
    for (int x = 0; x < 640; ++x)
    {
      int i= y*640 + x ;
      int i_in= (480-1 -y) *640 + x ; // flip up down
    
    
      float zn = 0.7;
      float zf = 20.0;
      float d = depth_buffer[i_in];
      float z = -zf*zn/((zf-zn)*(d - zf/(zf-zn)));
      float b = 0.075;
      float f = 580.0;
      uint16_t kd = static_cast<uint16_t>(1090 - b*f/z*8);
      if (kd < 0) kd = 0;
      else if (kd>2047) kd = 2047;

      int pval = t_gamma[kd];
      int lb = pval & 0xff;
      switch (pval>>8) {
	case 0:
	    depth_img[3*i+2] = 255;
	    depth_img[3*i+1] = 255-lb;
	    depth_img[3*i+0] = 255-lb;
	    break;
	case 1:
	    depth_img[3*i+2] = 255;
	    depth_img[3*i+1] = lb;
	    depth_img[3*i+0] = 0;
	    break;
	case 2:
	    depth_img[3*i+2] = 255-lb;
	    depth_img[3*i+1] = 255;
	    depth_img[3*i+0] = 0;
	    break;
	case 3:
	    depth_img[3*i+2] = 0;
	    depth_img[3*i+1] = 255;
	    depth_img[3*i+0] = lb;
	    break;
	case 4:
	    depth_img[3*i+2] = 0;
	    depth_img[3*i+1] = 255-lb;
	    depth_img[3*i+0] = 255;
	    break;
	case 5:
	    depth_img[3*i+2] = 0;
	    depth_img[3*i+1] = 0;
	    depth_img[3*i+0] = 255-lb;
	    break;
	default:
	    depth_img[3*i+2] = 0;
	    depth_img[3*i+1] = 0;
	    depth_img[3*i+0] = 0;
	    break;
      }
    }
  }

  // Write to file:
  IplImage *cv_ipl = cvCreateImage( cvSize(640 ,480), 8, 3);
  cv::Mat cv_mat(cv_ipl);
  cv_mat.data = depth_img;
  
  std::stringstream ss;
  ss <<"depth_image.png" ;   
  cv::imwrite(ss.str()  , cv_mat);     
  
  delete [] depth_img;
}
int
main (int argc, char** argv)
{
  int width = 640;
  int height = 480;

  window_width_ = width * 2;
  window_height_ = height * 2;

  int cols = 30;
  int rows = 30;
  int col_width = 20;
  int row_height = 15;
  
  print_info ("Range likelihood performance tests using pcl::simulation. For more information, use: %s -h\n", argv[0]);

  if (argc < 2)
  {
    printHelp (argc, argv);
    return (-1);
  }  
  
  for (int i = 0; i < 2048; ++i)
  {
    float v = static_cast<float> (i / 2048.0);
    v = powf(v, 3)* 6;
    t_gamma[i] = static_cast<uint16_t> (v*6*256);
  }  

  glutInit (&argc, argv);
  glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);
  glutInitWindowPosition (10, 10);
  glutInitWindowSize (window_width_, window_height_);
  glutCreateWindow ("OpenGL range likelihood");

  GLenum err = glewInit ();
  if (GLEW_OK != err)
  {
    std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
    exit (-1);
  }

  std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;

  if (glewIsSupported ("GL_VERSION_2_0"))
    std::cout << "OpenGL 2.0 supported" << std::endl;
  else
  {
    std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
    exit (1);
  }

  std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;

  camera_ = Camera::Ptr (new Camera ());
  scene_ = Scene::Ptr (new Scene ());

  range_likelihood_visualization_ = RangeLikelihood::Ptr (new RangeLikelihood (1, 1, height, width, scene_));
  range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood (rows, cols, row_height, col_width, scene_));

  // Actually corresponds to default parameters:
  range_likelihood_visualization_->setCameraIntrinsicsParameters (
      640, 480, 576.09757860f, 576.09757860f, 321.06398107f, 242.97676897f);
  range_likelihood_visualization_->setComputeOnCPU (false);
  range_likelihood_visualization_->setSumOnCPU (false);
  range_likelihood_visualization_->setUseColor (true);

  range_likelihood_->setCameraIntrinsicsParameters (
      640, 480, 576.09757860f, 576.09757860f, 321.06398107f, 242.97676897f);
  range_likelihood_->setComputeOnCPU (false);
  range_likelihood_->setSumOnCPU (false);
  range_likelihood_->setUseColor (false);

  textured_quad_ = TexturedQuad::Ptr (new TexturedQuad (range_likelihood_->getWidth (),
                                                        range_likelihood_->getHeight ()));

  initialize (argc, argv);

  glutDisplayFunc (display);
  glutIdleFunc (display);
  glutKeyboardFunc (on_keyboard);
  glutMainLoop ();
}
void
display ()
{
  float* reference = new float[range_likelihood_->getRowHeight () * range_likelihood_->getColWidth ()];
  const float* depth_buffer = range_likelihood_->getDepthBuffer ();
  // Copy one image from our last as a reference.
  for (int i = 0, n = 0; i < range_likelihood_->getRowHeight (); ++i)
  {
    for (int j = 0; j < range_likelihood_->getColWidth (); ++j)
    {
      reference[n++] = depth_buffer[ (i + range_likelihood_->getRowHeight () * range_likelihood_->getRows () / 2) * range_likelihood_->getWidth ()
                                    + j + range_likelihood_->getColWidth () * range_likelihood_->getCols () / 2];
    }
  }

  float* reference_vis = new float[range_likelihood_visualization_->getRowHeight () * range_likelihood_visualization_->getColWidth ()];
  const float* depth_buffer_vis = range_likelihood_visualization_->getDepthBuffer ();
  // Copy one image from our last as a reference.
  for (int i = 0, n = 0; i < range_likelihood_visualization_->getRowHeight (); ++i)
  {
    for (int j = 0; j < range_likelihood_visualization_->getColWidth (); ++j)
    {
      reference_vis[n++] = depth_buffer_vis[i*range_likelihood_visualization_->getWidth () + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;

  // Render a single pose for visualization
  poses.clear ();
  poses.push_back (camera_->getPose ());
  range_likelihood_visualization_->computeLikelihoods (reference_vis, poses, scores);

  glDrawBuffer (GL_BACK);
  glReadBuffer (GL_BACK);

  // Draw the resulting images from the range_likelihood
  glViewport (range_likelihood_visualization_->getWidth (), 0,
              range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();

  // Draw the color image
  glColorMask (true, true, true, true);
  glClearColor (0, 0, 0, 0);
  glClearDepth (1);
  glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  glDisable (GL_DEPTH_TEST);

  glRasterPos2i (-1,-1);
  glDrawPixels (range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight (),
                GL_RGB, GL_UNSIGNED_BYTE, range_likelihood_visualization_->getColorBuffer ());

  // Draw the depth image
  glViewport (0, 0, range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());

  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();
  display_depth_image (range_likelihood_visualization_->getDepthBuffer (),
                       range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());


  poses.clear ();
  for (int i = 0; i < range_likelihood_->getRows (); ++i)
  {
    for (int j = 0; j < range_likelihood_->getCols (); ++j)
    {
      Camera camera (*camera_);
      camera.move ((j - range_likelihood_->getCols () / 2.0) * 0.1,
                   (i - range_likelihood_->getRows () / 2.0) * 0.1,
                   0.0);
      poses.push_back (camera.getPose ());
    }
  }
  std::cout << std::endl;

  TicToc tt;
  tt.tic();
  range_likelihood_->computeLikelihoods (reference, poses, scores);
  tt.toc();
  tt.toc_print();

  if (gllib::getGLError () != GL_NO_ERROR)
  {
    std::cerr << "GL Error: RangeLikelihood::computeLikelihoods: finished" << std::endl;
  }

#if 0
  std::cout << "score: ";
  for (size_t i = 0; i < scores.size (); ++i)
  {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;
#endif

  std::cout << "camera: " << camera_->getX ()
       << " " << camera_->getY ()
       << " " << camera_->getZ ()
       << " " << camera_->getRoll ()
       << " " << camera_->getPitch ()
       << " " << camera_->getYaw ()
       << std::endl;

  delete [] reference_vis;
  delete [] reference;

  if (gllib::getGLError () != GL_NO_ERROR)
  {
    std::cerr << "GL Error: before buffers" << std::endl;
  }

  glBindFramebuffer (GL_FRAMEBUFFER, 0);
  glDrawBuffer (GL_BACK);
  glReadBuffer (GL_BACK);

  if (gllib::getGLError () != GL_NO_ERROR)
  {
    std::cerr << "GL Error: after buffers" << std::endl;
  }


  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();

  if (gllib::getGLError () != GL_NO_ERROR)
  {
    std::cerr << "GL Error: before viewport" << std::endl;
  }

  // Draw the score image for the particles
  glViewport (0, range_likelihood_visualization_->getHeight (),
              range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());


  if (gllib::getGLError () != GL_NO_ERROR)
  {
    std::cerr << "GL Error: after viewport" << std::endl;
  }

  display_score_image (range_likelihood_->getScoreBuffer ());

  // Draw the depth image for the particles
  glViewport (range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight (),
              range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());

  display_score_image (range_likelihood_->getDepthBuffer ());

  glutSwapBuffers ();
}
Esempio n. 8
0
void display ()
{
  float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
  const float* depth_buffer = range_likelihood_->getDepthBuffer();
  // Copy one image from our last as a reference.
  for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
  {
    for (int j=0; j<range_likelihood_->getColWidth(); ++j)
    {
      reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;
  int n = range_likelihood_->getRows ()*range_likelihood_->getCols ();
  for (int i = 0; i < n; ++i)
  {
    Camera camera(*camera_);
    camera.move(0.0,i*0.02,0.0);
    //camera.move(0.0,i*0.02,0.0);
    poses.push_back (camera.getPose ());
  }
  
  range_likelihood_->computeLikelihoods (reference, poses, scores);
  
  range_likelihood_->computeLikelihoods (reference, poses, scores);
  std::cout << "score: ";
  for (size_t i = 0; i<scores.size (); ++i)
  {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;

  std::cout << "camera: " << camera_->getX ()
       << " " << camera_->getY ()
       << " " << camera_->getZ ()
       << " " << camera_->getRoll ()
       << " " << camera_->getPitch ()
       << " " << camera_->getYaw ()
       << std::endl;

  delete [] reference;

  glDrawBuffer (GL_BACK);
  glReadBuffer (GL_BACK);

  // Draw the resulting images from the range_likelihood
  glViewport (range_likelihood_->getWidth (), 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();

  // Draw the color image
  glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  glColorMask (true, true, true, true);
  glDisable (GL_DEPTH_TEST);

  glRasterPos2i (-1,-1);
  glDrawPixels (range_likelihood_->getWidth (), range_likelihood_->getHeight (),
                GL_RGB, GL_UNSIGNED_BYTE, range_likelihood_->getColorBuffer ());

  // Draw the depth image
  glViewport (0, 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());

  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();
//  display_depth_image (range_likelihood_->getDepthBuffer ());
  display_depth_image (range_likelihood_->getDepthBuffer (),
                       range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  
  
  // Draw the score image
  glViewport (0, range_likelihood_->getHeight (),
              range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();
  display_score_image (range_likelihood_->getScoreBuffer ());

  glutSwapBuffers ();
  
  if (write_file_)
  {
    range_likelihood_->addNoise ();
    pcl::RangeImagePlanar rangeImage;
    range_likelihood_->getRangeImagePlanar (rangeImage);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);

    // Optional argument to save point cloud in global frame:
    // Save camera relative:
    //range_likelihood_->getPointCloud(pc_out);
    // Save in global frame - applying the camera frame:
    //range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
    // Save in local frame
    range_likelihood_->getPointCloud (pc_out,false,camera_->getPose ());
    // TODO: what to do when there are more than one simulated view?
    
    pcl::PCDWriter writer;
    writer.write ("simulated_range_image.pcd", *pc_out,	false);  
    cout << "finished writing file\n";
    
//     pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
//     viewer.showCloud (pc_out);


  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
  viewer = simpleVis(pc_out);
  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }    
  
  // doesnt work:
//    viewer->~PCLVisualizer();
//    viewer.reset();
    
    
    cout << "done\n";
    // Problem: vtk and opengl dont seem to play very well together
    // vtk seems to misbehave after a little while and wont keep the window on the screen

    // method1: kill with [x] - but eventually it crashes:
    //while (!viewer.wasStopped ()){
    //}    
    
    // method2: eventually starts ignoring cin and pops up on screen and closes almost 
    // immediately
    //  cout << "enter 1 to cont\n";
    //  cin >> pause;
    //  viewer.wasStopped ();
    
    // method 3: if you interact with the window with keys, the window is not closed properly
    // TODO: use pcl methods as this time stuff is probably not cross playform
//     struct timespec t;
//     t.tv_sec = 100;
//     //t.tv_nsec = (time_t)(20000000); // short sleep
//     t.tv_nsec = (time_t)(0);  // long sleep - normal speed
//     nanosleep (&t, NULL);
    write_file_ = 0;
  }
}