Exemplo n.º 1
0
void SceneCloudView::generateCloud(KinfuTracker& kinfu, bool integrate_colors)
{
  viewer_pose_ = kinfu.getCameraPose();

  ScopeTimeT time ("PointCloud Extraction");
  cout << "\nGetting cloud... " << flush;

  valid_combined_ = false;
  bool valid_extracted_ = false;

  if (extraction_mode_ != GPU_Connected6)     // So use CPU
  {
    kinfu.volume().fetchCloudHost (*cloud_ptr_, extraction_mode_ == CPU_Connected26);
  }
  else
  {
    DeviceArray<PointXYZ> extracted = kinfu.volume().fetchCloud (cloud_buffer_device_);

    if(extracted.size() > 0){
        valid_extracted_ = true;

        extracted.download (cloud_ptr_->points);
        cloud_ptr_->width = (int)cloud_ptr_->points.size ();
        cloud_ptr_->height = 1;

        if (integrate_colors)
        {
          kinfu.colorVolume().fetchColors(extracted, point_colors_device_);
          point_colors_device_.download(point_colors_ptr_->points);
          point_colors_ptr_->width = (int)point_colors_ptr_->points.size ();
          point_colors_ptr_->height = 1;
          //pcl::gpu::mergePointRGB(extracted, point_colors_device_, combined_color_device_);
          //combined_color_device_.download (combined_color_ptr_->points);
        }
        else
          point_colors_ptr_->points.clear();
        combined_color_ptr_->clear();
        generateXYZRGB(cloud_ptr_, point_colors_ptr_, combined_color_ptr_);

    }else{
        valid_extracted_ = false;
        cout << "Failed to Extract Cloud " << endl;

    }
  }

  cout << "Done.  Cloud size: " << cloud_ptr_->points.size () / 1000 << "K" << endl;

}
Exemplo n.º 2
0
  void
  showScene (KinfuTracker& kinfu, const PtrStepSz<const KinfuTracker::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = 0)
  {
    if (pose_ptr)
    {
        raycaster_ptr_->run(kinfu.volume(), *pose_ptr);
        raycaster_ptr_->generateSceneView(view_device_);
    }
    else
      kinfu.getImage (view_device_);

    if (paint_image_ && registration && !pose_ptr)
    {
      colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
      paint3DView (colors_device_, view_device_);
    }

    int cols;
    view_device_.download (view_host_, cols);
    viewerScene_.showRGBImage (reinterpret_cast<unsigned char*> (&view_host_[0]), view_device_.cols (), view_device_.rows ());

    //viewerColor_.showRGBImage ((unsigned char*)&rgb24.data, rgb24.cols, rgb24.rows);

#ifdef HAVE_OPENCV
    if (accumulate_views_)
    {
      views_.push_back (cv::Mat ());
      cv::cvtColor (cv::Mat (480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back (), CV_RGB2GRAY);
      //cv::copy(cv::Mat(480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back());
    }
#endif
  }
Exemplo n.º 3
0
void ImageView::showScene (KinfuTracker& kinfu, bool registration, Eigen::Affine3f* pose_ptr)
  {
    if (pose_ptr)
    {
        raycaster_ptr_->run(kinfu.volume(), *pose_ptr);
        raycaster_ptr_->generateSceneView(view_device_);
    }
    else
      kinfu.getImage (view_device_);

    int cols;
    view_device_.download (view_host_, cols);
    if (viz_)
        viewerScene_->showRGBImage (reinterpret_cast<unsigned char*> (&view_host_[0]), view_device_.cols (), view_device_.rows ());

    //viewerColor_.showRGBImage ((unsigned char*)&rgb24.data, rgb24.cols, rgb24.rows);

    if (accumulate_views_)
    {
      views_.push_back (cv::Mat ());
      cv::cvtColor (cv::Mat (480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back (), CV_RGB2GRAY);
      //cv::copy(cv::Mat(480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back());
    }

  }
Exemplo n.º 4
0
void ImageView::generateDepth (KinfuTracker& kinfu, const Eigen::Affine3f& pose, KinfuTracker::DepthMap &generated_depth_)
  {
    raycaster_ptr_->run(kinfu.volume(), pose);
    raycaster_ptr_->generateDepthImage(generated_depth_);

    //if (viz_)
      //  viewerDepth_->showShortImage (&data[0], generated_depth_.cols(), generated_depth_.rows(), 0, 1000, true);
  }
Exemplo n.º 5
0
  void
  showGeneratedDepth (KinfuTracker& kinfu, const Eigen::Affine3f& pose)
  {            
    raycaster_ptr_->run(kinfu.volume(), pose);
    raycaster_ptr_->generateDepthImage(generated_depth_);    

    int c;
    vector<unsigned short> data;
    generated_depth_.download(data, c);

    viewerDepth_.showShortImage (&data[0], generated_depth_.cols(), generated_depth_.rows(), 0, 5000, true);
  }
Exemplo n.º 6
0
  void
  publishGeneratedDepth (KinfuTracker& kinfu)
  {
	const Eigen::Affine3f& pose= kinfu.getCameraPose();
    raycaster_ptr_->run(kinfu.volume(), pose, kinfu.getCyclicalBufferStructure());
    raycaster_ptr_->generateDepthImage(generated_depth_);

    int c;
    vector<unsigned short> data;
    generated_depth_.download(data, c);

    sensor_msgs::ImagePtr msg(new sensor_msgs::Image);
    sensor_msgs::fillImage(*msg, "bgr8", view_device_.rows(), view_device_.cols(), view_device_.cols() * 3, &view_host_[0]);
    pubgen.publish(msg);
  }
Exemplo n.º 7
0
  void
  showMesh(KinfuTracker& kinfu, bool /*integrate_colors*/)
  {
    ScopeTimeT time ("Mesh Extraction");
    cout << "\nGetting mesh... " << flush;

    if (!marching_cubes_)
      marching_cubes_ = MarchingCubes::Ptr( new MarchingCubes() );

    DeviceArray<PointXYZ> triangles_device = marching_cubes_->run(kinfu.volume(), triangles_buffer_device_);    
    mesh_ptr_ = convertToMesh(triangles_device);

    cloud_viewer_.removeAllPointClouds ();
    if (mesh_ptr_)
      cloud_viewer_.addPolygonMesh(*mesh_ptr_);	

    cout << "Done.  Triangles number: " << triangles_device.size() / MarchingCubes::POINTS_PER_TRIANGLE / 1000 << "K" << endl;
  }
Exemplo n.º 8
0
  void
  show (KinfuTracker& kinfu, bool integrate_colors)
  {
    viewer_pose_ = kinfu.getCameraPose();

    ScopeTimeT time ("PointCloud Extraction");
    cout << "\nGetting cloud... " << flush;

    valid_combined_ = false;

    if (extraction_mode_ != GPU_Connected6)     // So use CPU
    {
      kinfu.volume().fetchCloudHost (*cloud_ptr_, extraction_mode_ == CPU_Connected26);
    }
    else
    {
      DeviceArray<PointXYZ> extracted = kinfu.volume().fetchCloud (cloud_buffer_device_);             

      if (compute_normals_)
      {
        kinfu.volume().fetchNormals (extracted, normals_device_);
        pcl::gpu::mergePointNormal (extracted, normals_device_, combined_device_);
        combined_device_.download (combined_ptr_->points);
        combined_ptr_->width = (int)combined_ptr_->points.size ();
        combined_ptr_->height = 1;

        valid_combined_ = true;
      }
      else
      {
        extracted.download (cloud_ptr_->points);
        cloud_ptr_->width = (int)cloud_ptr_->points.size ();
        cloud_ptr_->height = 1;
      }

      if (integrate_colors)
      {
        kinfu.colorVolume().fetchColors(extracted, point_colors_device_);
        point_colors_device_.download(point_colors_ptr_->points);
        point_colors_ptr_->width = (int)point_colors_ptr_->points.size ();
        point_colors_ptr_->height = 1;
      }
      else
        point_colors_ptr_->points.clear();
    }
    size_t points_size = valid_combined_ ? combined_ptr_->points.size () : cloud_ptr_->points.size ();
    cout << "Done.  Cloud size: " << points_size / 1000 << "K" << endl;

    cloud_viewer_.removeAllPointClouds ();    
    if (valid_combined_)
    {
      visualization::PointCloudColorHandlerRGBHack<PointNormal> rgb(combined_ptr_, point_colors_ptr_);
      cloud_viewer_.addPointCloud<PointNormal> (combined_ptr_, rgb, "Cloud");
      cloud_viewer_.addPointCloudNormals<PointNormal>(combined_ptr_, 50);
    }
    else
    {
      visualization::PointCloudColorHandlerRGBHack<PointXYZ> rgb(cloud_ptr_, point_colors_ptr_);
      cloud_viewer_.addPointCloud<PointXYZ> (cloud_ptr_, rgb);
    }    
  }