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;
}
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());
}
}
}
void calibrate_kinect_depth(std::vector< DepthCalibrationPoint >& depth_values)
{
std::vector< std::vector<Point3f> > pattern_points;
calibrationPattern(pattern_points,
global::opt_pattern_width(), global::opt_pattern_height(), global::opt_square_size(),
global::images_list.size());
for (int i_image = 0; i_image < global::images_list.size(); ++i_image)
{
// Generate depth calibration points
QString filename = global::images_list[i_image];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename = cur_image_dir.absoluteFilePath("raw/color.png").toStdString();
RGBDImage image;
OpenniRGBDProcessor processor;
processor.setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);
image.loadFromDir(cur_image_dir.absolutePath().toStdString(), &global::calibration, &processor);
imshow_normalized("mapped depth", image.mappedDepth());
imshow("color", image.rgb());
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, image.rgb(), 1, global::pattern_type);
if (current_view_corners.size() != (global::opt_pattern_width()*global::opt_pattern_height()))
{
ntk_dbg(1) << "Corners not detected in " << cur_image_dir.absolutePath().toStdString();
continue;
}
// FIXME: why rvecs and tvecs from calibrateCamera seems to be nonsense ?
// calling findExtrinsics another time to get good chessboard estimations.
cv::Mat1f H;
estimate_checkerboard_pose(pattern_points[0],
current_view_corners,
global::calibration.rgb_intrinsics,
H);
Pose3D pose;
pose.setCameraParametersFromOpencv(global::calibration.rgb_intrinsics);
pose.setCameraTransform(H);
ntk_dbg_print(pose, 1);
cv::Mat3b debug_img;
image.rgb().copyTo(debug_img);
foreach_idx(pattern_i, pattern_points[0])
{
Point3f p = pose.projectToImage(pattern_points[0][pattern_i]);
ntk_dbg_print(p, 1);
float kinect_raw = image.mappedDepth()(p.y, p.x);
ntk_dbg_print(kinect_raw, 1);
if (kinect_raw < 1e-5) continue;
float err = kinect_raw-p.z;
cv::putText(debug_img, format("%d", (int)(err*1000)), Point(p.x, p.y), CV_FONT_NORMAL, 0.4, Scalar(255,0,0));
ntk_dbg_print(pattern_points[0][pattern_i], 1);
ntk_dbg_print(p, 1);
ntk_dbg_print(kinect_raw, 1);
depth_values.push_back(DepthCalibrationPoint(kinect_raw, p.z));
}
imshow("errors", debug_img);
cv::waitKey(0);
}
