void drawReprojectedPoints(const ImgG& img, const double* K, const double* kc,
const double* R, const double* T, int nPts, const double* pts3d,
const double* pts2d, ImgRGB& outImg) {
outImg.resize(img.w, img.h);
cv::Mat cvOutImg(img.rows, img.cols, CV_8UC3, outImg.data);
cv::Mat cvImg(img.rows, img.cols, CV_8U, img.data);
cv::cvtColor(cvImg, cvOutImg, CV_GRAY2RGB);
Mat_d tmpPts2d(nPts, 2);
project(K, kc, R, T, nPts, pts3d, tmpPts2d);
for (int i = 0; i < nPts; i++) {
double x1 = tmpPts2d[2 * i];
double y1 = tmpPts2d[2 * i + 1];
double x0 = pts2d[2 * i];
double y0 = pts2d[2 * i + 1];
cv::circle(cvOutImg, cv::Point2f(x1, y1), 3, cv::Scalar(0, 255, 0), 1,
CV_AA);
cv::circle(cvOutImg, cv::Point2f(x0, y0), 1, cv::Scalar(0, 0, 255), 1,
CV_AA);
cv::line(cvOutImg, cv::Point2f(x1, y1), cv::Point2f(x0, y0),
cv::Scalar(255, 0, 0), 1, CV_AA);
}
}
void drawPoint(const ImgG& img, const double x, const double y, ImgRGB& outImg,
int radius, uchar r, uchar g, uchar b, double thickness) {
outImg.resize(img.w, img.h);
cv::Mat cvImg(img.h, img.w, CV_8U, img.data);
cv::Mat cvOutImg(img.h, img.w, CV_8UC3, outImg.data);
cv::cvtColor(cvImg, cvOutImg, CV_GRAY2RGB);
cv::circle(cvOutImg, cv::Point2f(x, y), radius, cv::Scalar(r, g, b),
thickness, CV_AA);
}
int detectSURFPoints(const ImgG& img, Mat_d& surfPts,
std::vector<float>& surfDesc, double hessianThreshold) {
KpVec surfPtsVec;
cv::SURF surf(hessianThreshold, 4, 2, false);
cv::Mat cvImg(img.rows, img.cols, CV_8UC1, img.data);
surf(cvImg, cv::Mat(), surfPtsVec, surfDesc);
KpVec2Mat(surfPtsVec, surfPts);
return surf.descriptorSize();
}
void SingleSLAM::grabReadFrame() {
videoReader->grabFrame();
//videoReader->getCurGrayImage(m_img.data);
videoReader->readCurFrame(m_rgb.data, m_img.data);
cv::Mat cvImg(m_img.rows, m_img.cols, CV_8UC1, m_img.data);
cv::Mat cvSmallImg(m_smallImg.rows, m_smallImg.cols, CV_8UC1,
m_smallImg.data);
cv::resize(cvImg, cvSmallImg, cv::Size(m_smallImg.cols, m_smallImg.rows));
//scaleDownAvg(m_img, m_smallImg, m_smallScale);
}
CameraStream::CameraStream( osg::Geometry* geom ) : QObject(), osg::Image()
{
mGeom = geom;
mWidth = 0;
mHeight = 0;
#ifdef WIN32
cv::Mat cvImg( 480,640, CV_8UC3, CV_RGB( 0,0,0 ) ); // Black on Win
#else
cv::Mat cvImg; // gray on Linux
#endif
updateBackgroundImage( cvImg );
}
void getNCCBlock(const ImgG& img, double x, double y, NCCBlock& blk) {
cv::Mat cvImg(img.rows, img.cols, CV_8UC1, img.data);
cv::Size patchSize(2 * SL_NCCBLK_HW + 1, 2 * SL_NCCBLK_HW + 1);
cv::Mat patch;
cv::getRectSubPix(cvImg, patchSize, cv::Point2d(x, y), patch);
memcpy(blk.I, patch.data, SL_NCCBLK_LEN);
/*compute NCC parameters*/
double a = 0, b = 0;
blk.avgI = 0;
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
a += blk.I[j];
b += double(blk.I[j]) * blk.I[j];
blk.avgI += blk.I[j];
}
blk.A = a;
blk.B = b;
blk.C = 1 / sqrt(SL_NCCBLK_LEN * b - a * a);
blk.avgI /= SL_NCCBLK_LEN;
}
void drawKeyPoints(const ImgG& img, const Mat_d& corners, ImgRGB& rgb, uchar r,
uchar g, uchar b) {
int nPts = corners.rows;
if (nPts == 0)
return;
cv::Mat cvImg(img.rows, img.cols, CV_8UC1, img.data);
cv::Mat tmpImg(img.rows, img.cols, CV_8UC3);
cv::cvtColor(cvImg, tmpImg, CV_GRAY2RGB);
std::vector<cv::KeyPoint> cvPts;
cvPts.reserve(nPts);
for (int i = 0; i < nPts; i++) {
double x = corners.data[2 * i];
double y = corners.data[2 * i + 1];
cv::circle(tmpImg, cv::Point(x, y), 3, cv::Scalar(r, g, b), 1, CV_AA);
}
CvMat cvtmpImg = tmpImg;
rgb.resize(img.cols, img.rows);
memcpy(rgb.data, cvtmpImg.data.ptr, 3 * img.rows * img.cols);
}
bool ROSMain_features() {
CoSLAM& coSLAM = MyApp::coSLAM;
/////////////////////////1.GPU initilization/////////////////////////
//initialization for CG;
glutInitDisplayMode(GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE);
glutCreateWindow(" ");
glutHideWindow();
glewInit();
V3D_GPU::Cg_ProgramBase::initializeCg();
//////////////////////////2.read video information//////////////////
try {
// for(int c = 0; c < coSLAM.numCams; c++){
// coSLAM.slam[c].videoReader = &MyApp::aviReader[c];
// }
coSLAM.init(false);
MyApp::bInitSucc = true;
logInfo("Loading video sequences.. OK!\n");
} catch (SL_Exception& e) {
logInfo(e.what());
#ifdef WIN32
wxMessageBox(e.what());
#endif
return 0;
}
//notify the GUI thread to create GUIs
MyApp::broadcastCreateGUI();
//wait for the accomplishment of creating GUIs
MyApp::waitCreateGUI();
for (int i = 0; i < coSLAM.numCams; i++){
MyApp::videoWnd[i]->setSLAMData(i, &coSLAM);
vector<float> reprojErrStatic, reprojErrDynamic;
vector<int> frameNumber;
MyApp::s_reprojErrDynamic.push_back(reprojErrStatic);
MyApp::s_reprojErrStatic.push_back(reprojErrDynamic);
MyApp::s_frameNumber.push_back(frameNumber);
}
MyApp::modelWnd1->setSLAMData(&coSLAM);
MyApp::modelWnd2->setSLAMData(&coSLAM);
MyApp::broadcastCreateGUI();
//for measuring the timings
Timings timingsPerStep;
Timings timingsReadFrame;
Timings timingsNewMapPonits;
/* start the SLAM process*/
try {
coSLAM.readFrame();
//copy the data to buffers for display
updateDisplayData();
//initialise the map points
for (int i = 0; i < coSLAM.numCams; i++) {
printf("slam[%d].m_camPos.size(): %d\n", i, coSLAM.slam[i].m_camPos.size());
}
// tic();
// coSLAM.initMap();
// toc();
cout <<"debug\n";
// redis->setPose(1, 2, 3.6);
while (!MyApp::bExit){
pthread_mutex_lock(&MyApp::_mutexImg);
if (!coSLAM.grabReadFrame())
pthread_cond_wait(&MyApp::_condImg, &MyApp::_mutexImg);
pthread_mutex_unlock(&MyApp::_mutexImg);
// //copy the data to buffers for display
updateDisplayData();
//printf("current frame: %d\n", coSLAM.curFrame);
if (MyApp::bStartInit){
MyApp::publishMapInit();
printf("Start initializing map...\n");
coSLAM.curFrame = 0;
//initialise the map points
if (coSLAM.initMap()){
if (MyApp::doCalibration) {
// Need this in real test
coSLAM.calibGlobal2Cam();
}
for (int i = 0; i < coSLAM.numCams; i++)
coSLAM.state[i] = SLAM_STATE_NORMAL;
printf("Init map success!\n");
break;
}
else{
MyApp::bStartInit = false;
MyApp::publishMapInit();
}
}
}
updateDisplayData();
// coSLAM.pause();
for (int i = 0; i < coSLAM.numCams; i++) {
printf("slam[%d].m_camPos.size(): %d\n", i, coSLAM.slam[i].m_camPos.size());
coSLAM.state[i] = SLAM_STATE_NORMAL;
}
// return 0;
// coSLAM.pause();
int endFrame = SLAMParam::nTotalFrame - SLAMParam::nSkipFrame
- SLAMParam::nInitFrame - 10;
// int endFrame = 500;
// endFrame = 1500;
int i = 0;
// init estimation flag
bool bEstPose[SLAM_MAX_NUM];
for (int i = 0; i < SLAM_MAX_NUM; i++){
bEstPose[i] = false;
}
vector<double> tmStepVec;
vector<double> poseSent[SLAM_MAX_NUM];
// vector<double> rosTime;
while (!MyApp::bExit) {
// while (MyApp::bStop) {/*stop*/
// }
// if (MyApp::_mergeable){
// if (MyApp::_imgReady[0] && MyApp::_imgReady[1]){
// coSLAM.grabReadFrame();
// MyApp::_imgAvailableForMerge = true;
// }
// else
// continue;
// }
i++;
TimeMeasurer tmPerStep;
tmPerStep.tic();
if (!receiveFeatures){
coSLAM.grabReadFrame();
coSLAM.featureTracking();
}
else{
coSLAM.featureReceiving();
coSLAM.virtualReadFrame();
}
for (int i = 0; i < coSLAM.numCams; i++){
cv::Mat cvImg(coSLAM.slam[i].m_img.rows, coSLAM.slam[i].m_img.cols, CV_8UC1,
coSLAM.slam[i].m_img.data);
MyApp::s_camFrames[i].push_back(cvImg.clone());
CamPoseItem* cam = coSLAM.slam[i].m_camPos.current();
double ts = cam->ts;
MyApp::s_camFramesTS[i].push_back(ts);
}
if(!coSLAM.poseUpdate(bEstPose))
break;
//Use redis to send over the poses
// for (int i = 0; i < coSLAM.numCams; i++){
// double org[3];
//// getCamCenter(coSLAM.slam[i].m_camPos.current(), org);
// coSLAM.transformCamPose2Global(coSLAM.slam[i].m_camPos.current(), org);
//
// MyApp::redis[i]->setPose(org[0], org[1], org[2]);
//
// double ts = coSLAM.slam[i].m_camPos.current()->ts;
// poseSent[i].push_back(ts);
// poseSent[i].push_back(org[0]);
// poseSent[i].push_back(org[1]);
// poseSent[i].push_back(org[2]);
// rosTime.push_back(ts);
// }
// if (MyApp::bStartMove){
// MyApp::redis_start->setCommand("go");
// MyApp::bStartMove = false;
// }
//coSLAM.pause();
coSLAM.cameraGrouping();
//existing 3D to 2D points robust
coSLAM.activeMapPointsRegister(Const::PIXEL_ERR_VAR);
TimeMeasurer tmNewMapPoints;
tmNewMapPoints.tic();
if (receiveFeatures){
coSLAM.genNewMapPoints_new();
if (MyApp::_mergeable)
MyApp::triggerClients();
}
else
{
bool merge = false;
coSLAM.genNewMapPoints(merge);
}
//
// coSLAM.m_tmNewMapPoints = tmNewMapPoints.toc();
// cout << "coSLAM.m_tmNewMapPoints" << coSLAM.m_tmNewMapPoints << endl;
//point registration
coSLAM.currentMapPointsRegister(Const::PIXEL_ERR_VAR,
i % 50 == 0 ? true : false);
coSLAM.storeDynamicPoints();
updateDisplayData();
redrawAllViews();
// Sleep(50);
if (i % 500 == 0) {
//coSLAM.releaseFeatPts(coSLAM.curFrame - 500);
coSLAM.releaseKeyPoseImgs(coSLAM.curFrame - 500);
coSLAM.m_lastReleaseFrm = coSLAM.curFrame;
}
coSLAM.m_tmPerStep = tmPerStep.toc();
tmStepVec.push_back(coSLAM.m_tmPerStep);
//Send pose
for (int i = 0; i < coSLAM.numCams; i++)
{
if (coSLAM.slam[i].m_camPos.size() > 0){
double org[3], rpy[3];
CamPoseItem* cam = coSLAM.slam[i].m_camPos.current();
double ts = cam->ts;
getCamCenter(cam, org);
coSLAM.transformCamPose2Global(cam, org, rpy);
double targetPos[3];
targetPos[0] = targetPos[1] = targetPos[2] = 0;
double theta = 0;
if(coSLAM.dynObjPresent){
coSLAM.transformTargetPos2Global(cam->currDynPos, targetPos);
//printf("targetPos: %lf %lf %lf\n", targetPos[0], targetPos[1], targetPos[2]);
coSLAM.slam[i].projectTargetToCam(cam, cam->currDynPos);
theta = atan2(coSLAM.slam[i]._targetPosInCam[0], coSLAM.slam[i]._targetPosInCam[2]);
// double H = targetPos[2] * 2;
// double Z = coSLAM.slam[i]._targetPosInCam[2];
// Publish target pose
MyApp::transformStampedMsg.transform.translation.x = targetPos[0];
MyApp::transformStampedMsg.transform.translation.y = targetPos[1];
//MyApp::transformStampedMsg.transform.translation.z = H;
MyApp::transformStampedMsg.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, theta);
MyApp::transformStampedMsg.header.stamp.sec = ts;
MyApp::targetPosePub.publish(MyApp::transformStampedMsg);
//MyApp::redis[i]->setPoseTarget(ts, 1, theta, org[0], org[1], rpy[2], targetPos[0], targetPos[1], 0.9);
// MyApp::redis_dynObj->setDynObj(ts, targetPos[0], targetPos[1], 0.9);
// printf("currDynPos: %lf %lf %lf\n", cam->currDynPos[0], cam->currDynPos[1], cam->currDynPos[2]);
}
// Publish camera pose
MyApp::transformStampedMsg.transform.translation.x = org[0];
MyApp::transformStampedMsg.transform.translation.y = org[1];
//MyApp::transformStampedMsg.transform.translation.z = org[2];
MyApp::transformStampedMsg.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(rpy[0], rpy[1], rpy[2]);
MyApp::transformStampedMsg.header.stamp.sec = ts;
MyApp::posePubs[i].publish(MyApp::transformStampedMsg);
// else {
// MyApp::redis[i]->setPoseTarget(ts, 0, theta, org[0], org[1], rpy[2], targetPos[0], targetPos[1], 0.9);
// }
// (Jacob) Huh?
//MyApp::redis_dynObj->setDynObj(ts, 0.5, 2, 0.9);
printf("targetPos: %lf %lf %lf\n", targetPos[0], targetPos[1], targetPos[2]);
printf("org[2]: %lf %lf %lf\n", org[0], org[1], rpy[2]);
}
}
}
cout << " the result is saved at " << MyApp::timeStr << endl;
coSLAM.exportResults(MyApp::timeStr);
FILE* fid = fopen("/home/rui/coslamTime.txt","w");
for (int i = 0; i < tmStepVec.size(); i++){
fprintf(fid, "%lf\n", tmStepVec[i]);
}
fclose(fid);
// FILE* fid = fopen("slam_timing.txt","w");
// for (int i = 0; i < tmStepVec.size(); i++)
// fprintf(fid, "%f\n", tmStepVec[i]);
// fclose(fid);
//
// fid = fopen("poseSent0.txt","w");
// for (int i = 0; i < poseSent[0].size(); i = i + 4)
// fprintf(fid, "%lf %lf %lf %lf\n", poseSent[0][i],
// poseSent[0][i+1], poseSent[0][i+2], poseSent[0][i+3]);
// fclose(fid);
//
// fid = fopen("poseSent1.txt","w");
// for (int i = 0; i < poseSent[1].size(); i = i + 4)
// fprintf(fid, "%lf %lf %lf %lf\n", poseSent[1][i],
// poseSent[1][i+1], poseSent[1][i+2], poseSent[1][i+3]);
// fclose(fid);
//
// FILE* fid = fopen("rosTime.txt","w");
// for (int i = 0; i < rosTime.size(); i = i + coSLAM.numCams + 1){
// for (int j = 0; j <= coSLAM.numCams; j++){
// fprintf(fid, "%lf ", rosTime[i+j]);
// }
// fprintf(fid, "\n");
// }
// fclose(fid);
logInfo("slam finished\n");
} catch (SL_Exception& e) {
logInfo(e.what());
} catch (std::exception& e) {
#ifdef WIN32
wxMessageBox(e.what());
#endif
logInfo("%s\n", e.what());
logInfo("slam failed!\n");
#ifdef WIN32
wxMessageBox(e.what());
#endif
}
logInfo("\nslam stopped!\n");
return 0;
}
void Simulation::Step() {
// dispatch the new frame, this wraps up the follow Viewer operations:
// advance() to the new frame
// eventTraversal() that collects events and passes them on to the event handlers and event callbacks
// updateTraversal() to calls the update callbacks
// renderingTraversals() that runs syncronizes all the rendering threads (if any) and dispatch cull, draw and swap buffers
int64 tmptime = cvGetTickCount();
int64 difftime = (tmptime-loop_time_)/cvGetTickFrequency();
// if(difftime < loop_target_time_){
// //std::cout<<"sleeping: "<<loop_target_time_-difftime<<std::endl;
// usleep(loop_target_time_-difftime);
// return;
// }
loop_time_ = tmptime;
viewer_.advance();
viewer_.eventTraversal();
viewer_.updateTraversal();
viewer_.renderingTraversals();
// osg::Matrix testmat = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// testmat = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// std::cout<<testmat(0,0)<<" "<<testmat(0,1)<<" "<<testmat(0,2)<<" "<<testmat(0,3)<<std::endl;
// std::cout<<testmat(1,0)<<" "<<testmat(1,1)<<" "<<testmat(1,2)<<" "<<testmat(1,3)<<std::endl;
// std::cout<<testmat(2,0)<<" "<<testmat(2,1)<<" "<<testmat(2,2)<<" "<<testmat(2,3)<<std::endl;
// std::cout<<testmat(3,0)<<" "<<testmat(3,1)<<" "<<testmat(3,2)<<" "<<testmat(3,3)<<std::endl;
// std::cout<<std::endl;
viewer_.getView(0)->getCamera()->getViewMatrixAsLookAt(view_matrix_eye_, view_matrix_center_, view_matrix_up_, view_matrix_distance_);
view_matrix_ = viewer_.getView(0)->getCamera()->getViewMatrix();
// osg::Matrix windowMatrix = viewer_.getView(2)->getCamera()->getViewport()->computeWindowMatrix();
// osg::Matrix projectionMatrix = viewer_.getView(2)->getCamera()->getProjectionMatrix();
// osg::Matrix mat = projectionMatrix*windowMatrix;
// std::cout<<"mat: "<<mat(0,0)<<" "<<mat(1,1)<<" "<<mat(2,0)<<" "<<mat(2,1)<<std::endl;
// std::cout<<"eye: "<<view_matrix_eye_.x()<<" "<<view_matrix_eye_.y()<<" "<<view_matrix_eye_.z()<<std::endl;
if(particles_on_){
// The dynamic update of the particle filter.
localisation_->dynamic(robotdata_->incremente_left_,robotdata_->incremente_right_);
// Update of simulations view of particles.
particle_view_->Update(localisation_->getParticles(), particle_visibility_ratio_);
}
//Picture handling
if(screen_shot_callback_->isPicTaken() && !picture_processed_){
osg::ref_ptr<osg::Image> osgImage = screen_shot_callback_->getImage();
cv::Mat cvImg(osgImage->t(), osgImage->s(), CV_8UC3);
cv::Mat cvCopyImg(osgImage->t(), osgImage->s(), CV_8UC3);
cvImg.data = (uchar*)osgImage->data();
cv::flip(cvImg, cvCopyImg, 0); // Flipping because of different origins
observedImg_ = &cvCopyImg;
// Write position, orientation and image to log file.
data_to_file_writer_.WriteData(robotdata_->incremente_left_, robotdata_->incremente_right_,
robotdata_->x_pos_, view_matrix_eye_[0], localisation_->getPosition().at(0),
robotdata_->y_pos_, view_matrix_eye_[1], localisation_->getPosition().at(2),
robotdata_->psi_, view_matrix_(0,0), localisation_->getOrientation().at(1), cvCopyImg);
Observe();
// old version
// data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_, robotdata_->psi_,
// localisation_->getPosition().at(0), localisation_->getPosition().at(2),
// localisation_->getPosition().at(1)*3, localisation_->getPosition().at(3)*3, true);
es_ = localisation_->getEstimatedRobotPose();
data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_,
es_->x, es_->y,
es_->sigmaXYLarge, es_->sigmaXYSmall,
es_->sigmaXYAngle/M_PI*180, true);
// observe for particle filter is done here.
picture_processed_ = true;
}
else {
// writes the current position and orientation of the robot to file.
data_to_file_writer_.WriteData(robotdata_->incremente_left_, robotdata_->incremente_right_,
robotdata_->x_pos_, view_matrix_eye_[0], localisation_->getPosition().at(0),
robotdata_->y_pos_, view_matrix_eye_[1], localisation_->getPosition().at(2),
robotdata_->psi_, view_matrix_(0,0), localisation_->getOrientation().at(1));
es_ = localisation_->getEstimatedRobotPose();
data_to_file_writer_.WritePlotData( robotdata_->x_pos_, robotdata_->y_pos_,
es_->x, es_->y,
es_->sigmaXYLarge, es_->sigmaXYSmall,
es_->sigmaXYAngle/M_PI*180);
}
UpdateHUD();
// without pad_control pictures are taken every takepicture_intervall_ ms
// if( (!pad_control_on_) && (0.001*(cvGetTickCount()-take_picture_timer_)/cvGetTickFrequency()>takepicture_intervall_) ){
// std::cout<<"Sim: 'I queued a Shot!'"<<std::endl;
// screen_shot_callback_->queueShot();
// picture_processed_ = false;
// take_picture_timer_ = cvGetTickCount();
// }
if(step_counter_ % takepicture_intervall_ == 0){
screen_shot_callback_->queueShot();
picture_processed_ = false;
take_picture_timer_ = cvGetTickCount();
}
if(pad_control_on_){
if(picture_processed_ && !take_picture_button_pressed_ && sixaxes_->buttonPressed(BUTTON_CIRCLE)){
// Every 2 sec a Shot is queued to get a picture form the scene.
screen_shot_callback_->queueShot();
take_picture_button_pressed_ = true;
picture_processed_ = false;
take_picture_timer_ = cvGetTickCount();
}
if(!sixaxes_->buttonPressed(BUTTON_CIRCLE))
take_picture_button_pressed_ = false;
// If Padcontrol is enabled, the inputs from the pad are written to the robotData.
// That way the callback will use the inputs to move the robot.
if(sixaxes_->buttonPressed(BUTTON_L1) && sixaxes_->buttonPressed(BUTTON_R1)){
robotdata_->speed_ = sixaxes_->axis(AXIS_LY)*-0.2;
robotdata_->psi_speed_ = sixaxes_->axis(AXIS_RX)*-0.05;
}
else{
robotdata_->speed_ = 0.0;
robotdata_->psi_speed_ = 0.0;
}
if(sixaxes_->buttonPressed(BUTTON_TRIANGLE)){
while(viewer_.areThreadsRunning()){
viewer_.stopThreading();
}
viewer_.setDone(true);
}
}
if(!trajectory_from_file_.empty()){
double temp = trajectory_from_file_.front();
if(temp<1){
//screen_shot_callback_->queueShot();
//picture_processed_ = false;
}
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
if(temp>0){
while(viewer_.areThreadsRunning()){
viewer_.stopThreading();
}
viewer_.setDone(true);
}
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
robotdata_->speed_ = temp;
trajectory_from_file_.erase(trajectory_from_file_.begin());
temp = trajectory_from_file_.front();
robotdata_->psi_speed_ = temp;
trajectory_from_file_.erase(trajectory_from_file_.begin());
}
else{
trajectory_buffer_ << screen_shot_callback_->isPicTaken() << std::endl;
trajectory_buffer_ << viewer_.done() << std::endl;
trajectory_buffer_ << robotdata_->speed_ << std::endl;
trajectory_buffer_ << robotdata_->psi_speed_ << std::endl;
}
//trajectory_buffer_ << "------------------" << std::endl;
step_counter_ ++;
}
void getNCCBlocks(const ImgG& scaledImg, Mat_d& pts, PtrVec<NCCBlock>& nccBlks,
double scale) {
if (pts.empty())
return;
nccBlks.clear();
nccBlks.reserve(pts.rows * 2);
int bw = 2 * SL_NCCBLK_HW + 1;
if (scale == 1.0) {
cv::Mat cvImg(scaledImg.rows, scaledImg.cols, CV_8UC1, scaledImg.data);
cv::Size patchSize(bw, bw);
cv::Mat patch;
for (int i = 0; i < pts.rows; i++) {
double x = pts.data[2 * i];
double y = pts.data[2 * i + 1];
cv::getRectSubPix(cvImg, patchSize, cv::Point2d(x, y), patch);
NCCBlock* blk = new NCCBlock(0);
/* copy image block */
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
blk->I[j] = patch.data[j];
}
/* compute NCC parameters */
double a = 0, b = 0;
blk->avgI = 0;
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
a += blk->I[j];
b += double(blk->I[j]) * blk->I[j];
blk->avgI += blk->I[j];
}
blk->A = a;
blk->B = b;
blk->C = 1 / sqrt(SL_NCCBLK_LEN * b - a * a);
blk->avgI /= SL_NCCBLK_LEN;
nccBlks.push_back(blk);
}
} else {
cv::Mat cvOrgImg(scaledImg.rows, scaledImg.cols, CV_8UC1,
scaledImg.data);
cv::Mat cvImg;
cv::resize(cvOrgImg, cvImg, cv::Size(), scale, scale);
cv::Size patchSize(bw, bw);
cv::Mat patch;
for (int i = 0; i < pts.rows; i++) {
double x = pts.data[2 * i] * scale;
double y = pts.data[2 * i + 1] * scale;
cv::getRectSubPix(cvImg, patchSize, cv::Point2d(x, y), patch);
NCCBlock* blk = new NCCBlock(0);
/* copy image block */
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
blk->I[j] = patch.data[j];
}
/* compute NCC parameters */
double a = 0, b = 0;
blk->avgI = 0;
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
a += blk->I[j];
b += double(blk->I[j]) * blk->I[j];
blk->avgI += blk->I[j];
}
blk->A = a;
blk->B = b;
blk->C = 1 / sqrt(SL_NCCBLK_LEN * b - a * a);
blk->avgI /= SL_NCCBLK_LEN;
nccBlks.push_back(blk);
}
}
}
void getNCCBlocks(const ImgG& scaledImg,
const std::vector<FeaturePoint*>& vecFeatPts, PtrVec<NCCBlock>& nccBlks,
double scale) {
if (vecFeatPts.empty())
return;
nccBlks.clear();
nccBlks.reserve(vecFeatPts.size() * 2);
int bw = 2 * SL_NCCBLK_HW + 1;
if (scale == 1.0) {
cv::Mat cvImg(scaledImg.rows, scaledImg.cols, CV_8UC1, scaledImg.data);
cv::Size patchSize(bw, bw);
cv::Mat patch;
for (size_t i = 0; i < vecFeatPts.size(); i++) {
FeaturePoint* pFt = vecFeatPts[i];
cv::getRectSubPix(cvImg, patchSize, cv::Point2d(pFt->xo, pFt->yo),
patch);
NCCBlock* blk = new NCCBlock(pFt);
/* copy image block */
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
blk->I[j] = patch.data[j];
}
/* compute NCC parameters */
double a = 0, b = 0;
blk->avgI = 0;
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
a += blk->I[j];
b += double(blk->I[j]) * blk->I[j];
blk += blk->I[j];
}
blk->A = a;
blk->B = b;
blk->C = 1 / sqrt(SL_NCCBLK_LEN * b - a * a);
blk->avgI /= SL_NCCBLK_LEN;
nccBlks.push_back(blk);
}
} else {
cv::Mat cvOrgImg(scaledImg.rows, scaledImg.cols, CV_8UC1,
scaledImg.data);
cv::Mat cvImg;
cv::resize(cvOrgImg, cvImg, cv::Size(), scale, scale);
cv::Size patchSize(bw, bw);
cv::Mat patch;
for (size_t i = 0; i < vecFeatPts.size(); i++) {
FeaturePoint* pFt = vecFeatPts[i];
cv::getRectSubPix(cvImg, patchSize,
cv::Point2d(pFt->xo * scale, pFt->yo * scale), patch);
NCCBlock* blk = new NCCBlock(pFt);
/* copy image block */
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
blk->I[j] = patch.data[j];
}
/* compute NCC parameters */
double a = 0, b = 0;
blk->avgI = 0;
for (int j = 0; j < SL_NCCBLK_LEN; ++j) {
a += blk->I[j];
b += double(blk->I[j]) * blk->I[j];
blk->avgI += blk->I[j];
}
blk->A = a;
blk->B = b;
blk->C = 1 / sqrt(SL_NCCBLK_LEN * b - a * a);
blk->avgI /= SL_NCCBLK_LEN;
nccBlks.push_back(blk);
}
}
}
void drawLine(ImgRGB& img, double x0, double y0, double x1, double y1, uchar r,
uchar g, uchar b) {
cv::Mat cvImg(img.h, img.w, CV_8UC3, img.data);
cv::line(cvImg, cv::Point2d(x0, y0), cv::Point2d(x1, y1),cv::Scalar(r,g,b));
}
