TEST(TFEigenConversions, eigen_tf_transform) { tf::Transform t; Eigen::Affine3d k; Eigen::Quaterniond kq; kq.coeffs()(0) = gen_rand(-1.0,1.0); kq.coeffs()(1) = gen_rand(-1.0,1.0); kq.coeffs()(2) = gen_rand(-1.0,1.0); kq.coeffs()(3) = gen_rand(-1.0,1.0); kq.normalize(); k.translate(Eigen::Vector3d(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10))); k.rotate(kq); transformEigenToTF(k,t); for(int i=0; i < 3; i++) { ASSERT_NEAR(t.getOrigin()[i],k.matrix()(i,3),1e-6); for(int j=0; j < 3; j++) { ASSERT_NEAR(t.getBasis()[i][j],k.matrix()(i,j),1e-6); } } }
// Usage: ./Volumetricd.exe ../../data/monkey.obj 256 4 2 90 int main(int argc, char **argv) { if (argc < 6) { std::cerr << "Missing parameters. Abort." << std::endl << "Usage: ./Volumetricd.exe ../../data/monkey.obj 256 8 2 90" << std::endl; return EXIT_FAILURE; } Timer timer; const std::string filepath = argv[1]; const int vol_size = atoi(argv[2]); const int vx_size = atoi(argv[3]); const int cloud_count = atoi(argv[4]); const int rot_interval = atoi(argv[5]); std::pair<std::vector<double>, std::vector<double>> depth_buffer; // // Projection and Modelview Matrices // Eigen::Matrix4d K = perspective_matrix(fov_y, aspect_ratio, near_plane, far_plane); std::pair<Eigen::Matrix4d, Eigen::Matrix4d> T(Eigen::Matrix4d::Identity(), Eigen::Matrix4d::Identity()); // // Creating volume // Eigen::Vector3d voxel_size(vx_size, vx_size, vx_size); Eigen::Vector3d volume_size(vol_size, vol_size, vol_size); Eigen::Vector3d voxel_count(volume_size.x() / voxel_size.x(), volume_size.y() / voxel_size.y(), volume_size.z() / voxel_size.z()); // Eigen::Affine3d grid_affine = Eigen::Affine3d::Identity(); grid_affine.translate(Eigen::Vector3d(0, 0, -256)); grid_affine.scale(Eigen::Vector3d(1, 1, -1)); // z is negative inside of screen Grid grid(volume_size, voxel_size, grid_affine.matrix()); // // Importing .obj // timer.start(); std::vector<Eigen::Vector3d> points3DOrig, pointsTmp; import_obj(filepath, points3DOrig); timer.print_interval("Importing monkey : "); std::cout << "Monkey point count : " << points3DOrig.size() << std::endl; // // Translating and rotating monkey point cloud std::pair<std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>> cloud; // Eigen::Affine3d rotate = Eigen::Affine3d::Identity(); Eigen::Affine3d translate = Eigen::Affine3d::Identity(); translate.translate(Eigen::Vector3d(0, 0, -256)); // // Compute first cloud // for (Eigen::Vector3d p3d : points3DOrig) { Eigen::Vector4d rot = translate.matrix() * rotate.matrix() * p3d.homogeneous(); rot /= rot.w(); cloud.first.push_back(rot.head<3>()); } // // Update grid with first cloud // timer.start(); create_depth_buffer<double>(depth_buffer.first, cloud.first, K, Eigen::Matrix4d::Identity(), far_plane); timer.print_interval("CPU compute depth : "); timer.start(); update_volume(grid, depth_buffer.first, K, T.first); timer.print_interval("CPU Update volume : "); // // Compute next clouds Eigen::Matrix4d cloud_mat = Eigen::Matrix4d::Identity(); Timer iter_timer; for (int i = 1; i < cloud_count; ++i) { std::cout << std::endl << i << " : " << i * rot_interval << std::endl; iter_timer.start(); // Rotation matrix rotate = Eigen::Affine3d::Identity(); rotate.rotate(Eigen::AngleAxisd(DegToRad(i * rot_interval), Eigen::Vector3d::UnitY())); cloud.second.clear(); for (Eigen::Vector3d p3d : points3DOrig) { Eigen::Vector4d rot = translate.matrix() * rotate.matrix() * p3d.homogeneous(); rot /= rot.w(); cloud.second.push_back(rot.head<3>()); } //export_obj("../../data/cloud_cpu_2.obj", cloud.second); timer.start(); create_depth_buffer<double>(depth_buffer.second, cloud.second, K, Eigen::Matrix4d::Identity(), far_plane); timer.print_interval("Compute depth buffer: "); //export_depth_buffer("../../data/cpu_depth_buffer_2.obj", depth_buffer.second); timer.start(); Eigen::Matrix4d icp_mat; ComputeRigidTransform(cloud.first, cloud.second, icp_mat); timer.print_interval("Compute rigid transf: "); //std::cout << std::fixed << std::endl << "icp_mat " << std::endl << icp_mat << std::endl; // accumulate matrix cloud_mat = cloud_mat * icp_mat; //std::cout << std::fixed << std::endl << "cloud_mat " << std::endl << cloud_mat << std::endl; timer.start(); //update_volume(grid, depth_buffer.second, K, cloud_mat.inverse()); update_volume(grid, depth_buffer.second, K, cloud_mat.inverse()); timer.print_interval("Update volume : "); // copy second point cloud to first cloud.first = cloud.second; //depth_buffer.first = depth_buffer.second; iter_timer.print_interval("Iteration time : "); } //std::cout << "------- // --------" << std::endl; //for (int i = 0; i < grid.data.size(); ++i) //{ // const Eigen::Vector3d& point = grid.data[i].point; // std::cout << point.transpose() << "\t\t" << grid.data[i].tsdf << " " << grid.data[i].weight << std::endl; //} //std::cout << "------- // --------" << std::endl; // timer.start(); // export_volume("../../data/grid_volume_cpu.obj", grid.data); // timer.print_interval("Exporting volume : "); // return 0; QApplication app(argc, argv); // // setup opengl viewer // GLModelViewer glwidget; glwidget.resize(640, 480); glwidget.setPerspective(60.0f, 0.1f, 10240.0f); glwidget.move(320, 0); glwidget.setWindowTitle("Point Cloud"); glwidget.setWeelSpeed(0.1f); glwidget.setDistance(-0.5f); glwidget.show(); Eigen::Matrix4d to_origin = Eigen::Matrix4d::Identity(); to_origin.col(3) << -(volume_size.x() / 2.0), -(volume_size.y() / 2.0), -(volume_size.z() / 2.0), 1.0; // set translate std::vector<Eigen::Vector4f> vertices, colors; int i = 0; for (int z = 0; z <= volume_size.z(); z += voxel_size.z()) { for (int y = 0; y <= volume_size.y(); y += voxel_size.y()) { for (int x = 0; x <= volume_size.x(); x += voxel_size.x(), i++) { const float tsdf = grid.data.at(i).tsdf; //Eigen::Vector4d p = grid_affine.matrix() * to_origin * Eigen::Vector4d(x, y, z, 1); Eigen::Vector4d p = to_origin * Eigen::Vector4d(x, y, z, 1); p /= p.w(); if (tsdf > 0.1) { vertices.push_back(p.cast<float>()); colors.push_back(Eigen::Vector4f(0, 1, 0, 1)); } else if (tsdf < -0.1) { vertices.push_back(p.cast<float>()); colors.push_back(Eigen::Vector4f(1, 0, 0, 1)); } } } } // // setup model // std::shared_ptr<GLModel> model(new GLModel); model->initGL(); model->setVertices(&vertices[0][0], vertices.size(), 4); model->setColors(&colors[0][0], colors.size(), 4); glwidget.addModel(model); // // setup kinect shader program // std::shared_ptr<GLShaderProgram> kinectShaderProgram(new GLShaderProgram); if (kinectShaderProgram->build("color.vert", "color.frag")) model->setShaderProgram(kinectShaderProgram); return app.exec(); }