Subversion Repositories seema-scanner

Rev

Rev 214 | Rev 216 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 214 Rev 215
Line 43... Line 43...
43 
    scanDir = strsplit(initialAlign(i).FileName, '/');
 43 
    scanDir = strsplit(initialAlign(i).FileName, '/');
44 
    scanDir = fullfile(scanDir{1:end-1});
 44 
    scanDir = fullfile(scanDir{1:end-1});
45 
    frame0 = imread(fullfile(scanDir, ['sequence_' idString], 'frames0_0.png'));
 45 
    frame0 = imread(fullfile(scanDir, ['sequence_' idString], 'frames0_0.png'));
46 
    frame1 = imread(fullfile(scanDir, ['sequence_' idString], 'frames1_0.png'));
 46 
    frame1 = imread(fullfile(scanDir, ['sequence_' idString], 'frames1_0.png'));
47 
 
 47 
 
48 
    %e0Coords = autoDetectMarkers(frame0, P0, Q);
 48 
    e0Coords = autoDetectMarkers(frame0, P0, Q);
49 
    %e1Coords = autoDetectMarkers(frame1, P1, Q);
 49 
    e1Coords = autoDetectMarkers(frame1, P1, Q);
50
50
51 
    e0Coords = manuallyDetectMarkers(frame0, P0, Q);
 51 
    %e0Coords = manuallyDetectMarkers(frame0, P0, Q);
52 
    e1Coords = manuallyDetectMarkers(frame1, P1, Q);
 52 
    %e1Coords = manuallyDetectMarkers(frame1, P1, Q);
53
53
54 
    e0Coords = undistortPoints(e0Coords, camParams0);
 54 
    e0Coords = undistortPoints(e0Coords, camParams0);
55 
    e1Coords = undistortPoints(e1Coords, camParams1);
 55 
    e1Coords = undistortPoints(e1Coords, camParams1);
56 
 
 56 
 
57 
    % match ellipse candidates between cameras based on projection
 57 
    % match ellipse candidates between cameras based on projection
Line 93... Line 93...
93 
    % fix Ri to be orthogonal
 93 
    % fix Ri to be orthogonal
94 
    [U,~,V] = svd(initialAlign(i).Rotation);
 94 
    [U,~,V] = svd(initialAlign(i).Rotation);
95 
    Ri = U*V';
 95 
    Ri = U*V';
96
96
97 
    % bring point cloud into initial alignment
 97 
    % bring point cloud into initial alignment
98 
    pc = pcread(fullfile(scanDir, initialAlign(i).FileName));
 98 
    pc = pcread(initialAlign(i).FileName);
99 
    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
 99 
    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
100 
    pcg = pctransform(pc, tform);
 100 
    pcg = pctransform(pc, tform);
101
101
102 
    pcshow(pcg);
 102 
    pcshow(pcg);
103 
    xlabel('x');
 103 
    xlabel('x');
Line 146... Line 146...
146 
    Ti = alignment(i).Translation;
 146 
    Ti = alignment(i).Translation;
147
147
148 
    Ea = E{i}*Ri' + repmat(Ti', size(E{i}, 1), 1);
 148 
    Ea = E{i}*Ri' + repmat(Ti', size(E{i}, 1), 1);
149
149
150 
    % bring point cloud into optimized alignment
 150 
    % bring point cloud into optimized alignment
151 
    pc = pcread(fullfile(scanDir, initialAlign(i).FileName));
 151 
    pc = pcread(initialAlign(i).FileName);
152 
    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
 152 
    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
153 
    pcg = pctransform(pc, tform);
 153 
    pcg = pctransform(pc, tform);
154
154
155 
    pcshow(pcg);
 155 
    pcshow(pcg);
156 
    xlabel('x');
 156 
    xlabel('x');
Line 248... Line 248...
248
248
249 
        % determine 3D points that are part of the marker
 249 
        % determine 3D points that are part of the marker
250 
        % note: we should probably undistort labelMask
 250 
        % note: we should probably undistort labelMask
251 
        pointMask = false(size(q, 1), 1);
 251 
        pointMask = false(size(q, 1), 1);
252 
        for j=1:size(q,1)
 252 
        for j=1:size(q,1)
- 
 
 253 
            if(round(q(j,2)) > size(labelMask, 1) || round(q(j,1)) > size(labelMask, 2) || round(q(j,2)) < 1 || round(q(j,1)) < 1)
- 
 
 254 
                continue;
- 
 
 255 
            end
- 
 
 256
253 
            if(labelMask(round(q(j,2)), round(q(j,1))))
 257 
            if(labelMask(round(q(j,2)), round(q(j,1))))
254 
                pointMask(j) = true;
 258 
                pointMask(j) = true;
255 
            end
 259 
            end
256 
        end
 260 
        end
257
261
258 
        if(sum(pointMask)) < 50
 262 
        if(sum(pointMask)) < 10
259 
            continue;
 263 
            continue;
260 
        end
 264 
        end
261
265
262 
        % project 3D points onto local plane
 266 
        % project 3D points onto local plane
263 
        [~, sc, ~] = pca(Q(pointMask, :));
 267 
        [~, sc, ~] = pca(Q(pointMask, :));