void Mesh::applyTransform(const Pose3D& pose)
{
foreach_idx(i, vertices)
vertices[i] = pose.cameraTransform(vertices[i]);
ntk::Pose3D normal_pose;
normal_pose.applyTransformBefore(cv::Vec3f(0.f,0.f,0.f), pose.cvEulerRotation());
foreach_idx(i, normals)
normals[i] = normal_pose.cameraTransform(normals[i]);
}
void MeshRenderer :: setPose(const Pose3D& pose, float* arg_near_plane, float* arg_far_plane)
{
VertexBufferObject& vbo = m_vertex_buffer_object;
pose.cvCameraTransform().copyTo(vbo.model_view_matrix);
// Transpose the matrix for OpenGL column-major.
vbo.model_view_matrix = vbo.model_view_matrix.t();
if (!(arg_near_plane && arg_far_plane))
{
estimateOptimalPlanes(pose, &m_last_near_plane, &m_last_far_plane);
}
else
{
m_last_near_plane = *arg_near_plane;
m_last_far_plane = *arg_far_plane;
}
m_pbuffer->makeCurrent();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
cv::Vec3f euler_angles = pose.cvEulerRotation();
glTranslatef(pose.cvTranslation()[0], pose.cvTranslation()[1], pose.cvTranslation()[2]);
glRotatef(euler_angles[2]*180.0/M_PI, 0, 0, 1);
glRotatef(euler_angles[1]*180.0/M_PI, 0, 1, 0);
glRotatef(euler_angles[0]*180.0/M_PI, 1, 0, 0);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
double dx = pose.imageCenterX() - (m_pbuffer->width() / 2.0);
double dy = pose.imageCenterY() - (m_pbuffer->height() / 2.0);
glViewport(dx, -dy, m_pbuffer->width(), m_pbuffer->height());
if (pose.isOrthographic())
{
ntk_dbg_print(pose.focalX()/2, 0);
ntk_dbg_print(pose.focalY()/2, 0);
glOrtho(-pose.focalX()/2, pose.focalX()/2, -pose.focalY()/2, pose.focalY()/2, m_last_near_plane, m_last_far_plane);
}
else
{
double fov = (180.0/M_PI) * 2.0*atan(m_pbuffer->height()/(2.0*pose.focalY()));
// double fov2 = (180.0/M_PI) * 2.0*atan(image.cols/(2.0*pose.focalX()));
// ntk_dbg_print(fov2, 2);
// gluPerspective(fov2, double(image.rows)/image.cols, near_plane, far_plane);
gluPerspective(fov, double(m_pbuffer->width())/m_pbuffer->height(), m_last_near_plane, m_last_far_plane);
}
glMatrixMode (GL_MODELVIEW);
}
void CalibrationMeshViewer::onCameraPositionUpdate(const cv::Vec3f &translation, const cv::Vec3f &rotation)
{
if (!m_calibration_mode)
{
MeshViewer::onCameraPositionUpdate(translation, rotation);
return;
}
GLdouble m[16];
GLdouble deltam[16];
const float rotation_scale = 0.2;
const float translation_scale = 0.2;
// Get the delta transformation is visualization frame.
makeCurrent();
glMatrixMode(GL_MODELVIEW);
glGetDoublev(GL_MODELVIEW_MATRIX, m);
glLoadIdentity();
glTranslatef(translation_scale*translation[0],translation_scale*translation[1],translation_scale*translation[2]);
glTranslatef(m_display_center.x,m_display_center.y,m_display_center.z);
glRotatef(rotation_scale*rotation[0], 0,1,0);
glRotatef(rotation_scale*rotation[1], 1,0,0);
glTranslatef(-m_display_center.x,-m_display_center.y,-m_display_center.z);
glGetDoublev(GL_MODELVIEW_MATRIX, deltam);
glLoadMatrixd(m);
cv::Vec3f t,r;
window->getCalibration(t, r);
Pose3D p_old;
p_old.applyTransformBefore(t, r);
cv::Mat1d H_old = p_old.cvCameraTransformd();
cv::Mat1d H(4,4,(double*)deltam); H = H.t(); // delta rotation AFTER model view matrix
cv::Mat1d M(4,4,(double*)m); M = M.t(); // model view matrix
cv::Mat1d Hp = (M.inv() * H * M * H_old.inv()).inv(); // delta rotation BEFORE model view matrix
Pose3D p;
p.setCameraTransform(Hp);
window->updateFromCalibration(p.cvTranslation(), p.cvEulerRotation());
window->updateToCalibration();
}
void MeshRenderer :: computeProjectionMatrix(cv::Mat4b& image, const Pose3D& pose)
{
double near_plane, far_plane;
estimateOptimalPlanes(pose, &near_plane, &far_plane);
ntk_dbg_print(near_plane, 2);
ntk_dbg_print(far_plane, 2);
m_last_near_plane = near_plane;
m_last_far_plane = far_plane;
m_pbuffer->makeCurrent();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
cv::Vec3f euler_angles = pose.cvEulerRotation();
glTranslatef(pose.cvTranslation()[0], pose.cvTranslation()[1], pose.cvTranslation()[2]);
glRotatef(euler_angles[2]*180.0/M_PI, 0, 0, 1);
glRotatef(euler_angles[1]*180.0/M_PI, 0, 1, 0);
glRotatef(euler_angles[0]*180.0/M_PI, 1, 0, 0);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
double dx = pose.imageCenterX() - (image.cols / 2.0);
double dy = pose.imageCenterY() - (image.rows / 2.0);
glViewport(dx, -dy, image.cols, image.rows);
//glViewport(0, 0, image.cols, image.rows);
if (pose.isOrthographic())
{
gluOrtho2D(-pose.focalX()/2, pose.focalX()/2, -pose.focalY()/2, pose.focalY()/2);
}
else
{
double fov = (180.0/M_PI) * 2.0*atan(image.rows/(2.0*pose.focalY()));
// double fov2 = (180.0/M_PI) * 2.0*atan(image.cols/(2.0*pose.focalX()));
// ntk_dbg_print(fov2, 2);
// gluPerspective(fov2, double(image.rows)/image.cols, near_plane, far_plane);
gluPerspective(fov, double(image.cols)/image.rows, near_plane, far_plane);
}
glMatrixMode (GL_MODELVIEW);
}
bool SurfelsRGBDModeler :: addNewView(const RGBDImage& image_, Pose3D& depth_pose)
{
ntk::TimeCount tc("SurfelsRGBDModeler::addNewView", 1);
const float max_camera_normal_angle = ntk::deg_to_rad(90);
RGBDImage image;
image_.copyTo(image);
if (!image_.normal().data)
{
OpenniRGBDProcessor processor;
processor.computeNormalsPCL(image);
}
Pose3D rgb_pose = depth_pose;
rgb_pose.toRightCamera(image.calibration()->rgb_intrinsics, image.calibration()->R, image.calibration()->T);
Pose3D world_to_camera_normal_pose;
world_to_camera_normal_pose.applyTransformBefore(cv::Vec3f(0,0,0), depth_pose.cvEulerRotation());
Pose3D camera_to_world_normal_pose = world_to_camera_normal_pose;
camera_to_world_normal_pose.invert();
const Mat1f& depth_im = image.depth();
Mat1b covered_pixels (depth_im.size());
covered_pixels = 0;
std::list<Surfel> surfels_to_reinsert;
// Surfel updating.
for (SurfelMap::iterator next_it = m_surfels.begin(); next_it != m_surfels.end(); )
{
SurfelMap::iterator surfel_it = next_it;
++next_it;
Surfel& surfel = surfel_it->second;
if (!surfel.enabled())
continue;
Point3f surfel_2d = depth_pose.projectToImage(surfel.location);
bool surfel_deleted = false;
int r = ntk::math::rnd(surfel_2d.y);
int c = ntk::math::rnd(surfel_2d.x);
int d = ntk::math::rnd(surfel_2d.z);
if (!is_yx_in_range(depth_im, r, c)
|| !image.depthMask()(r, c)
|| !image.isValidNormal(r,c))
continue;
const float update_max_dist = getCompatibilityDistance(depth_im(r,c));
Vec3f camera_normal = image.normal()(r, c);
normalize(camera_normal);
Vec3f world_normal = camera_to_world_normal_pose.cameraTransform(camera_normal);
normalize(world_normal);
Vec3f eyev = camera_eye_vector(depth_pose, r, c);
double camera_angle = acos(camera_normal.dot(-eyev));
if (camera_angle > max_camera_normal_angle)
continue;
float normal_angle = acos(world_normal.dot(surfel.normal));
// Surfels have different normals, maybe two different faces of the same object.
if (normal_angle > (m_update_max_normal_angle*M_PI/180.0))
{
// Removal check. If a surfel has a different normal and is closer to the camera
// than the new scan, remove it.
if ((-surfel_2d.z) < depth_im(r,c) && surfel.n_views < 3)
{
m_surfels.erase(surfel_it);
surfel_deleted = true;
}
continue;
}
// If existing surfel is far from new depth value:
// - If existing one had a worst point of view, and was seen only once, remove it.
// - Otherwise do not include the new one.
if (std::abs(surfel_2d.z - depth_im(r,c)) > update_max_dist)
{
if (surfel.min_camera_angle > camera_angle && surfel.n_views < 3)
{
m_surfels.erase(surfel_it);
surfel_deleted = true;
}
else
covered_pixels(r,c) = 1;
continue;
}
// Compatible surfel found.
const float depth = depth_im(r,c) + m_global_depth_offset;
Point3f p3d = depth_pose.unprojectFromImage(Point2f(c,r), depth);
cv::Vec3b rgb_color = bgr_to_rgb(image.mappedRgb()(r, c));
Surfel image_surfel;
image_surfel.location = p3d;
image_surfel.normal = world_normal;
image_surfel.color = rgb_color;
image_surfel.min_camera_angle = camera_angle;
image_surfel.n_views = 1;
image_surfel.radius = computeSurfelRadius(depth, camera_normal[2], depth_pose.meanFocal());
mergeToLeftSurfel(surfel, image_surfel);
covered_pixels(r,c) = 1;
// needs to change the cell?
Cell new_cell = worldToCell(surfel.location);
if (new_cell != surfel_it->first)
{
surfels_to_reinsert.push_back(surfel);
m_surfels.erase(surfel_it);
}
}
foreach_const_it(it, surfels_to_reinsert, std::list<Surfel>)
{
Cell new_cell = worldToCell(it->location);
m_surfels.insert(std::make_pair(new_cell, *it));
}
void MeshViewer :: addMeshToDisplayList(const ntk::Mesh& mesh, const Pose3D& pose, MeshViewerMode mode)
{
int new_list_index = glGenLists(1);
glNewList(new_list_index, GL_COMPILE);
if (mesh.texture.data)
{
// Last texture id was just created
GLuint texture = m_upcoming_textures[m_upcoming_textures.size()-1];
glEnable(GL_TEXTURE_2D);
glBindTexture( GL_TEXTURE_2D, texture );
}
else
{
glDisable(GL_TEXTURE_2D);
}
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glTranslatef(pose.cvTranslation()[0], pose.cvTranslation()[1], pose.cvTranslation()[2]);
Vec3f euler_angles = pose.cvEulerRotation();
glRotatef(rad_to_deg(euler_angles[0]), 1, 0, 0);
glRotatef(rad_to_deg(euler_angles[1]), 0, 1, 0);
glRotatef(rad_to_deg(euler_angles[2]), 0, 0, 1);
if (mode & WIREFRAME)
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
}
else
{
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
}
int64 point_start_time = ntk::Time::getMillisecondCounter();
if (mesh.faces.size() == 0)
{
glBegin(GL_POINTS);
for (int i = 0; i < mesh.vertices.size(); ++i)
{
const Point3f& v = mesh.vertices[i];
// if (i % 1000 == 0)
// ntk_dbg_print(v, 1);
if (mesh.hasColors())
glColor3f(mesh.colors[i][0]/255.0, mesh.colors[i][1]/255.0, mesh.colors[i][2]/255.0);
glVertex3f(v.x, v.y, v.z);
}
glEnd();
}
int64 point_end_time = ntk::Time::getMillisecondCounter();
ntk_dbg_print(point_end_time-point_start_time, 1);
{
glBegin(GL_TRIANGLES);
for (int i = 0; i < mesh.faces.size(); ++i)
{
int i1 = mesh.faces[i].indices[0];
int i2 = mesh.faces[i].indices[1];
int i3 = mesh.faces[i].indices[2];
const Point3f& v1 = mesh.vertices[i1];
const Point3f& v2 = mesh.vertices[i2];
const Point3f& v3 = mesh.vertices[i3];
Vec3f nm = (Vec3f(v2-v1).cross(v3-v2));
normalize(nm);
if (!mesh.hasColors())
glColor3f(1.0f, 0.0f, 0.0f);
if (mesh.hasColors())
glColor3f(mesh.colors[i1][0]/255.0, mesh.colors[i1][1]/255.0, mesh.colors[i1][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i1].x, mesh.texcoords[i1].y);
glVertex3f(v1.x, v1.y, v1.z);
glNormal3f(nm[0], nm[1], nm[2]);
if (mesh.hasColors())
glColor3f(mesh.colors[i2][0]/255.0, mesh.colors[i2][1]/255.0, mesh.colors[i2][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i2].x, mesh.texcoords[i2].y);
glVertex3f(v2.x, v2.y, v2.z);
glNormal3f(nm[0], nm[1], nm[2]);
if (mesh.hasColors())
glColor3f(mesh.colors[i3][0]/255.0, mesh.colors[i3][1]/255.0, mesh.colors[i3][2]/255.0);
if (mesh.hasTexcoords())
glTexCoord2f(mesh.texcoords[i3].x, mesh.texcoords[i3].y);
glVertex3f(v3.x, v3.y, v3.z);
glNormal3f(nm[0], nm[1], nm[2]);
}
glEnd();
}
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glEndList();
m_upcoming_display_lists.push_back(new_list_index);
}
