Пример #1
0
  void MeshGenerator :: generatePointCloudMesh(const RGBDImage& image,
                                               const Pose3D& depth_pose,
                                               const Pose3D& rgb_pose)
  {
    m_mesh.clear();
    m_mesh.vertices.reserve(image.depth().rows*image.depth().cols);
    m_mesh.colors.reserve(image.depth().rows*image.depth().cols);
    m_mesh.normals.reserve(image.depth().rows*image.depth().cols);

    const cv::Mat1f& depth_im = image.depth();
    const cv::Mat1b& mask_im = image.depthMask();
    cv::Mat3f voxels (depth_im.size());
    cv::Mat3f rgb_points (depth_im.size());

    cv::Mat1b subsample_mask(mask_im.size());
    subsample_mask = 0;
    for (float r = 0; r < subsample_mask.rows-1; r += 1.0/m_resolution_factor)
      for (float c = 0; c < subsample_mask.cols-1; c += 1.0/m_resolution_factor)
        subsample_mask(ntk::math::rnd(r),ntk::math::rnd(c)) = 1;
    subsample_mask = mask_im & subsample_mask;

    depth_pose.unprojectFromImage(depth_im, subsample_mask, voxels);
    if (m_use_color && image.hasRgb())
      rgb_pose.projectToImage(voxels, subsample_mask, rgb_points);

    for (int r = 0; r < voxels.rows; ++r)
    {
      Vec3f* voxels_data = voxels.ptr<Vec3f>(r);
      const uchar* mask_data = subsample_mask.ptr<uchar>(r);
      for (int c = 0; c < voxels.cols; ++c)
      {
        if (!mask_data[c])
          continue;

        Vec3b color (0,0,0);
        if (m_use_color)
        {
          Point3f prgb = rgb_points(r,c);
          int i_y = ntk::math::rnd(prgb.y);
          int i_x = ntk::math::rnd(prgb.x);
          if (is_yx_in_range(image.rgb(), i_y, i_x))
          {
            Vec3b bgr = image.rgb()(i_y, i_x);
            color = Vec3b(bgr[2], bgr[1], bgr[0]);
          }
        }
        else
        {
          int g = 0;
          if (image.intensity().data)
            g = image.intensity()(r,c);
          else
            g = 255 * voxels_data[c][2] / 10.0;
          color = Vec3b(g,g,g);
        }

        m_mesh.vertices.push_back(voxels_data[c]);
        m_mesh.colors.push_back(color);
      }
    }
  }
Пример #2
0
  void RGBDFrameRecorder :: writeFrame(const RGBDImage& image, const std::string& frame_dir)
  {
      std::string raw_frame_dir = format("%s/raw", frame_dir.c_str(), m_frame_index);

      QDir dir (frame_dir.c_str());
      dir.mkpath("raw");

      std::string filename;

      if (m_save_rgb_pose && image.calibration())
      {
        filename = cv::format("%s/rgb_pose.avs", frame_dir.c_str());
        image.rgbPose().saveToAvsFile(filename.c_str());
      }

      if (!m_only_raw)
      {
        filename = cv::format("%s/color.png", frame_dir.c_str());
        imwrite(filename, image.rgb());
      }

      if (m_save_pcl_point_cloud)
      {
        filename = cv::format("%s/cloud.pcd", frame_dir.c_str());
#ifdef NESTK_USE_PCL
        pcl::PointCloud<pcl::PointXYZ> cloud;
        rgbdImageToPointCloud(cloud, image);
        pcl::io::savePCDFileASCII(filename.c_str(), cloud);
#endif
      }

      if (m_use_compressed_format)
          filename = cv::format("%s/raw/color.png", frame_dir.c_str());
      else
          filename = cv::format("%s/raw/color.bmp", frame_dir.c_str());
      imwrite(filename, image.rawRgb());

      if (!m_only_raw && image.mappedDepth().data)
      {
        filename = cv::format("%s/mapped_depth.png", frame_dir.c_str());
        imwrite_normalized(filename, image.mappedDepth());

        filename = cv::format("%s/mapped_color.png", frame_dir.c_str());
        imwrite(filename, image.mappedRgb());

        filename = cv::format("%s/depth.yml", frame_dir.c_str());
        imwrite_yml(filename, image.mappedDepth());
      }

      if (!m_only_raw)
      {
        filename = cv::format("%s/raw/depth.png", frame_dir.c_str());
        if (image.rawDepth().data)
          imwrite_normalized(filename.c_str(), image.rawDepth());

        filename = cv::format("%s/depth.png", frame_dir.c_str());
        if (image.depth().data)
          imwrite_normalized(filename.c_str(), image.depth());

        filename = cv::format("%s/intensity.png", frame_dir.c_str());
        if (image.intensity().data)
            imwrite_normalized(filename.c_str(), image.intensity());
      }

      if (image.rawDepth().data)
      {
        if (m_use_binary_raw)
        {
          filename = cv::format("%s/raw/depth.raw", frame_dir.c_str());
          imwrite_Mat1f_raw(filename.c_str(), image.rawDepth());
        }
        else
        {
          filename = cv::format("%s/raw/depth.yml", frame_dir.c_str());
          imwrite_yml(filename.c_str(), image.rawDepth());
        }
      }

      if (m_save_intensity && image.rawIntensity().data)
      {
        if (m_use_binary_raw)
        {
          filename = cv::format("%s/raw/intensity.raw", frame_dir.c_str());
          imwrite_Mat1f_raw(filename.c_str(), image.rawIntensity());
        }
        else
        {
          filename = cv::format("%s/raw/intensity.yml", frame_dir.c_str());
          imwrite_yml(filename.c_str(), image.rawIntensity());
        }
      }

      if (!m_only_raw)
      {
        filename = cv::format("%s/raw/amplitude.png", frame_dir.c_str());
        if (image.rawAmplitude().data)
          imwrite_normalized(filename.c_str(), image.rawAmplitude());

        filename = cv::format("%s/amplitude.png", frame_dir.c_str());
        if (image.amplitude().data)
          imwrite_normalized(filename.c_str(), image.amplitude());
      }

      if (image.rawAmplitude().data)
      {
        if (m_use_binary_raw)
        {
          filename = cv::format("%s/raw/amplitude.raw", frame_dir.c_str());
          imwrite_Mat1f_raw(filename.c_str(), image.rawAmplitude());
        }
        else
        {
          filename = cv::format("%s/raw/amplitude.yml", frame_dir.c_str());
          imwrite_yml(filename.c_str(), image.rawAmplitude());
        }
      }
  }
Пример #3
0
  void MeshGenerator :: generateTriangleMesh(const RGBDImage& image,
                                             const Pose3D& depth_pose,
                                             const Pose3D& rgb_pose)
  {
    const Mat1f& depth_im = image.depth();
    const Mat1b& mask_im = image.depthMask();
    m_mesh.clear();
    if (m_use_color)
      image.rgb().copyTo(m_mesh.texture);
    else if (image.intensity().data)
      toMat3b(normalize_toMat1b(image.intensity())).copyTo(m_mesh.texture);
    else
    {
      m_mesh.texture.create(depth_im.size());
      m_mesh.texture = Vec3b(255,255,255);
    }
    m_mesh.vertices.reserve(depth_im.cols*depth_im.rows);
    m_mesh.texcoords.reserve(depth_im.cols*depth_im.rows);
    m_mesh.colors.reserve(depth_im.cols*depth_im.rows);
    Mat1i vertice_map(depth_im.size());
    vertice_map = -1;
    for_all_rc(depth_im)
    {
      if (!mask_im(r,c))
        continue;
      double depth = depth_im(r,c);
      Point3f p3d = depth_pose.unprojectFromImage(Point3f(c,r,depth));
      Point3f p2d_rgb;
      Point2f texcoords;
      if (m_use_color)
      {
        p2d_rgb = rgb_pose.projectToImage(p3d);
        texcoords = Point2f(p2d_rgb.x/image.rgb().cols, p2d_rgb.y/image.rgb().rows);
      }
      else
      {
        p2d_rgb = Point3f(c,r,depth);
        texcoords = Point2f(p2d_rgb.x/image.intensity().cols, p2d_rgb.y/image.intensity().rows);
      }
      vertice_map(r,c) = m_mesh.vertices.size();
      m_mesh.vertices.push_back(p3d);
      // m_mesh.colors.push_back(bgr_to_rgb(im.rgb()(p2d_rgb.y, p2d_rgb.x)));
      m_mesh.texcoords.push_back(texcoords);
    }

    for_all_rc(vertice_map)
    {
      if (vertice_map(r,c) < 0)
        continue;

      if ((c < vertice_map.cols - 1) &&  (r < vertice_map.rows - 1) &&
          (vertice_map(r+1,c)>=0) && (vertice_map(r,c+1) >= 0) &&
          (std::abs(depth_im(r,c) - depth_im(r+1, c)) < m_max_delta_depth) &&
          (std::abs(depth_im(r,c) - depth_im(r, c+1)) < m_max_delta_depth))
      {
        Face f;
        f.indices[2] = vertice_map(r,c);
        f.indices[1] = vertice_map(r,c+1);
        f.indices[0] = vertice_map(r+1,c);
        m_mesh.faces.push_back(f);
      }

      if ((c > 0) &&  (r < vertice_map.rows - 1) &&
          (vertice_map(r+1,c)>=0) && (vertice_map(r+1,c-1) >= 0) &&
          (std::abs(depth_im(r,c) - depth_im(r+1, c)) < m_max_delta_depth) &&
          (std::abs(depth_im(r,c) - depth_im(r+1, c-1)) < m_max_delta_depth))
      {
        Face f;
        f.indices[2] = vertice_map(r,c);
        f.indices[1] = vertice_map(r+1,c);
        f.indices[0] = vertice_map(r+1,c-1);
        m_mesh.faces.push_back(f);
      }
    }
    m_mesh.computeNormalsFromFaces();
  }
Пример #4
0
  void RGBDFrameRecorder :: saveCurrentFrame(const RGBDImage& image)
  {
    std::string frame_dir = format("%s/view%04d", m_dir.absolutePath().toStdString().c_str(), m_frame_index);
    std::string raw_frame_dir = format("%s/raw", frame_dir.c_str(), m_frame_index);

    QDir dir (frame_dir.c_str());
    dir.mkpath("raw");

    std::string filename;

    if (!m_only_raw)
    {
      filename = cv::format("%s/color.png", frame_dir.c_str());
      imwrite(filename, image.rgb());
    }

    filename = cv::format("%s/raw/color.png", frame_dir.c_str());
    imwrite(filename, image.rawRgb());

    if (!m_only_raw && image.mappedDepth().data)
    {
      filename = cv::format("%s/mapped_depth.png", frame_dir.c_str());
      imwrite_normalized(filename, image.mappedDepth());

      filename = cv::format("%s/mapped_color.png", frame_dir.c_str());
      imwrite(filename, image.mappedRgb());

      filename = cv::format("%s/depth.yml", frame_dir.c_str());
      imwrite_yml(filename, image.mappedDepth());
    }

    if (!m_only_raw)
    {
      filename = cv::format("%s/raw/depth.png", frame_dir.c_str());
      if (image.rawDepth().data)
        imwrite_normalized(filename.c_str(), image.rawDepth());

      filename = cv::format("%s/depth.png", frame_dir.c_str());
      if (image.depth().data)
        imwrite_normalized(filename.c_str(), image.depth());

      filename = cv::format("%s/intensity.png", frame_dir.c_str());
      if (image.intensity().data)
        imwrite_normalized(filename.c_str(), image.intensity());
    }

    if (image.rawDepth().data)
    {
      if (m_use_binary_raw)
      {
        filename = cv::format("%s/raw/depth.raw", frame_dir.c_str());
        imwrite_Mat1f_raw(filename.c_str(), image.rawDepth());
      }
      else
      {
        filename = cv::format("%s/raw/depth.yml", frame_dir.c_str());
        imwrite_yml(filename.c_str(), image.rawDepth());
      }
    }

    if (image.rawIntensity().data)
    {
      if (m_use_binary_raw)
      {
        filename = cv::format("%s/raw/intensity.raw", frame_dir.c_str());
        imwrite_Mat1f_raw(filename.c_str(), image.rawIntensity());
      }
      else
      {
        filename = cv::format("%s/raw/intensity.yml", frame_dir.c_str());
        imwrite_yml(filename.c_str(), image.rawIntensity());
      }
    }

    if (!m_only_raw)
    {
      filename = cv::format("%s/raw/amplitude.png", frame_dir.c_str());
      if (image.rawAmplitude().data)
        imwrite_normalized(filename.c_str(), image.rawAmplitude());

      filename = cv::format("%s/amplitude.png", frame_dir.c_str());
      if (image.amplitude().data)
        imwrite_normalized(filename.c_str(), image.amplitude());
    }

    if (image.rawAmplitude().data)
    {
      if (m_use_binary_raw)
      {
        filename = cv::format("%s/raw/amplitude.raw", frame_dir.c_str());
        imwrite_Mat1f_raw(filename.c_str(), image.rawAmplitude());
      }
      else
      {
        filename = cv::format("%s/raw/amplitude.yml", frame_dir.c_str());
        imwrite_yml(filename.c_str(), image.rawAmplitude());
      }
    }

    ++m_frame_index;
  }