コード例 #1
0
ファイル: Projector.cpp プロジェクト: hessonit/RTAPM
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, &registered, 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, &registered,
					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();
	}
}
コード例 #2
0
ファイル: Projector.cpp プロジェクト: hessonit/RTAPM
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, &registered, 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, &registered,
					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, &registered);
		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();
	}
}
コード例 #3
0
ファイル: Projector.cpp プロジェクト: hessonit/RTAPM
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, &registered, true, NULL, NULL);

		PlaneData pln = findRectangle(registration, &undistorted, &registered);

		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");
}