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));
    }
Пример #2
0
  void MeshGenerator :: generateSurfelsMesh(const RGBDImage& image,
                                            const Pose3D& depth_pose,
                                            const Pose3D& rgb_pose)
  {
    double min_val = 0, max_val = 0;
    if (image.amplitude().data)
      minMaxLoc(image.amplitude(), &min_val, &max_val);

    m_mesh.clear();

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

    for_all_rc(depth_im)
    {
      int i_r = r;
      int i_c = c;
      if (!is_yx_in_range(depth_im, i_r, i_c))
        continue;

      if (!mask_im(r,c))
        continue;

      double depth = depth_im(i_r,i_c);
      cv::Point3f p = depth_pose.unprojectFromImage(Point2f(c,r), depth);

      Point3f normal = image.normal().data ? image.normal()(i_r, i_c) : Vec3f(0,0,1);

      Vec3b color (0,0,0);
      if (m_use_color)
      {
        cv::Point3f prgb = rgb_pose.projectToImage(p);
        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.amplitude().data)
          g = 255.0 * (image.amplitude()(i_r,i_c) - min_val) / (max_val-min_val);
        else
          g = 255 * depth / 10.0;
        color = Vec3b(g,g,g);
      }

      Surfel s;
      s.color = color;
      s.confidence = 0;
      s.location = p;
      s.normal = normal;
      s.n_views = 1;
      double normal_z = std::max(normal.z, 0.5f);
      s.radius = m_resolution_factor * ntk::math::sqrt1_2 * depth
          / (depth_pose.focalX() * normal_z);
      m_mesh.addSurfel(s);
    }
  }
Пример #3
0
  void PlaneEstimator :: estimate(RGBDImage& image, Mat1b& plane_points)
  {

      // Passing from 3D to the optimizer

      const cv::Mat3f& normal_image = image.normal();
      const cv::Mat1f& distance_image = image.depth();
      cv::Mat1b& mask_image = image.depthMaskRef();
      cv::Mat1b objfilter;
      mask_image.copyTo(objfilter);
      plane_points = image.normal().clone();
      plane_points = 0;

    if (!image.normal().data)
    {
      ntk_dbg(0) << "WARNING: you must active the normal filter to get plane estimation!";
      return;
    }

    double min[dim];
    double max[dim];
    int i;

    for (i=0;i<dim;i++)
    {
      max[i] = 1000.0;
      min[i] = -1000.0;
    }
    m_solver.Setup(min,max,DifferentialEvolutionSolver::stBest1Exp,0.8,0.75);


   // Early estimation of plane points projecting the normal values

    for (int r = 1; r < plane_points.rows-1; ++r)
    for (int c = 1; c < plane_points.cols-1; ++c)
    {
      if (objfilter.data && objfilter(r,c))
      {
        cv::Vec3f normal = normal_image(r,c);
        double prod = normal.dot(m_ref_plane);
        if (prod > 0.95)
          plane_points(r,c) = 255;
        else
          plane_points(r,c) = 0;
      }
    }

    // cleaning of the surface very first estimation
    dilate(plane_points,plane_points,cv::Mat());
    erode(plane_points,plane_points,cv::Mat());
    //imwrite("plane-initial.png",plane_points);

    std::vector<Point3f>& g = m_solver.planePointsRef();

    g.clear();
    
    for (int r = 1; r < plane_points.rows-1; ++r)
    for (int c = 1; c < plane_points.cols-1; ++c)
    {
      if (plane_points(r,c))
      {
        // possible table member!
        Point3f p3d = image.calibration()->depth_pose->unprojectFromImage(Point2f(c,r), distance_image(r,c));
        g.push_back(p3d);
      }
    }
    
    // Calculating...
    m_solver.Solve(max_generations);

    double *solution = m_solver.Solution();

    // Plane normalizer
    float suma = solution[0] + solution[1] + solution[2] + solution[3] ;
    for (int i = 0; i < 4; i++)
      solution[i] = solution[i]/ suma;

    ntk::Plane plano (solution[0], solution[1], solution[2], solution[3]);
    //Update RGBD object
    m_plane.set(solution[0], solution[1], solution[2], solution[3]);


    // Final estimation of plane points projecting the normal values

     cv::Vec3f diffevolnormal(solution[0], solution[1], solution[2]);

     for (int r = 1; r < plane_points.rows-1; ++r)
     for (int c = 1; c < plane_points.cols-1; ++c)
     {
       if (objfilter.data && objfilter(r,c))
       {
         cv::Vec3f normal = normal_image(r,c);
         double prod = normal.dot(diffevolnormal);

         if (prod > 0.5)
           plane_points(r,c) = 255;
         else
           plane_points(r,c) = 0;
       }
     }

     // Cleaning of the DE plane-pixels solution
     dilate(plane_points,plane_points,cv::Mat());
     erode(plane_points,plane_points,cv::Mat());
    // imwrite("plane-DE.png",plane_points);


  }