WebSVN – seema-scanner – Diff – /src/SMReconstructionWorker.cpp


#include "SMReconstructionWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmPhaseShiftTwoFreq.h"
#include "AlgorithmPhaseShiftThreeFreq.h"
#include "AlgorithmLineShift.h"
 
#include <QCoreApplication>
#include <QSettings>
 
#include <iostream>
#include <opencv2/opencv.hpp>
 
#include "cvtools.h"
 
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
 
 
void SMReconstructionWorker::setup(){
 
    QSettings settings;
 
    // Get current calibration
    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
 
    // Create Algorithm
    int resX = settings.value("projector/resX").toInt();
    int resY = settings.value("projector/resY").toInt();
    QString codec = settings.value("algorithm", "GrayCode").toString();
    if(codec == "GrayCode")
        algorithm = new AlgorithmGrayCode(resX, resY);
    else if(codec == "GrayCodeHorzVert")
        algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);
    else if(codec == "PhaseShiftTwoFreq")
        algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);
    else if(codec == "PhaseShiftThreeFreq")
        algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);
    else if(codec == "LineShift")
        algorithm = new AlgorithmLineShift(resX, resY);
    else
        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
 
 
//    // Precompute lens correction maps
//    cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);
//    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap0Horz, lensMap0Vert);
//    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap1Horz, lensMap1Vert);
 
    //cv::Mat mapHorz, mapVert;
    //cv::normalize(lensMap0Horz, mapHorz, 0, 255, cv::NORM_MINMAX, CV_8U);
    //cv::normalize(lensMap0Vert, mapVert, 0, 255, cv::NORM_MINMAX, CV_8U);
    //cv::imwrite("mapHorz.png", mapHorz);
    //cv::imwrite("mapVert.png", mapVert);
}
 
void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
 
    time.start();
 
    // Get 3D Points
    std::vector<cv::Point3f> Q;
    std::vector<cv::Vec3b> color;
    algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);
 
    // Convert point cloud to PCL format
    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 
    pointCloudPCL->width = Q.size();
    pointCloudPCL->height = 1;
    pointCloudPCL->is_dense = true;
 
    pointCloudPCL->points.resize(Q.size());
 
    for(unsigned int i=0; i<Q.size(); i++){
        pcl::PointXYZRGBNormal point;
        point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;
        point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];
        pointCloudPCL->points[i] = point;
    }
 
    // Estimate surface normals
    pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;
    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    pcl::copyPointCloud(*pointCloudPCL, *pointCloudPCLCopy);
    //ne.setKSearch(10);
    ne.setRadiusSearch(0.5);
    ne.setViewPoint(0.0, 0.0, 0.0);
    ne.setInputCloud(pointCloudPCLCopy);
    ne.compute(*pointCloudPCL);
 
    // Assemble SMPointCloud data structure
    SMPointCloud smPointCloud;
    smPointCloud.id = frameSequence.id;
    smPointCloud.pointCloud = pointCloudPCL;
    smPointCloud.rotationAngle = frameSequence.rotationAngle;
 
    // Determine transform in world (camera0) coordinate system
    float angleRadians = frameSequence.rotationAngle/180.0*M_PI;
    cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);
    cv::Mat R;
    cv::Rodrigues(rot_rvec, R);
    smPointCloud.R = calibration.Rr.t()*cv::Matx33f(R)*calibration.Rr;
    smPointCloud.T = calibration.Rr.t()*cv::Matx33f(R)*calibration.Tr - calibration.Rr.t()*calibration.Tr;
 
    // Emit result
    emit newPointCloud(smPointCloud);
 
    std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;
 
}
 
void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){
 
    // Process sequentially
    for(int i=0; i<frameSequences.size(); i++){
        reconstructPointCloud(frameSequences[i]);
    }
 
}
 
void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){
 
    cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));
    cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));
 
    cv::Mat temp(3,4,CV_32F);
    cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));
    cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));
    cv::Mat P1 = cv::Mat(calibration.K1) * temp;
 
    cv::Mat QMatHomogenous, QMat;
    cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);
    cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
    cvtools::matToPoints3f(QMat, Q);
 
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMReconstructionWorker.cpp – Rev 123 → 128

Rev 123		Rev 128
1	`#include "SMReconstructionWorker.h"`	1	`#include "SMReconstructionWorker.h"`
2		2
3	`#include "AlgorithmGrayCode.h"`	3	`#include "AlgorithmGrayCode.h"`
4	`#include "AlgorithmGrayCodeHorzVert.h"`	4	`#include "AlgorithmGrayCodeHorzVert.h"`
5	`#include "AlgorithmPhaseShift.h"`	5	`#include "AlgorithmPhaseShiftTwoFreq.h"`
-		6	`#include "AlgorithmPhaseShiftThreeFreq.h"`
6	`#include "AlgorithmLineShift.h"`	7	`#include "AlgorithmLineShift.h"`
7		8
8	`#include <QCoreApplication>`	9	`#include <QCoreApplication>`
9	`#include <QSettings>`	10	`#include <QSettings>`
10		11
11	`#include <iostream>`	12	`#include <iostream>`
12	`#include <opencv2/opencv.hpp>`	13	`#include <opencv2/opencv.hpp>`
13		14
14	`#include "cvtools.h"`	15	`#include "cvtools.h"`
15		16
16	`#include <pcl/filters/statistical_outlier_removal.h>`	17	`#include <pcl/filters/statistical_outlier_removal.h>`
17	`#include <pcl/io/pcd_io.h>`	18	`#include <pcl/io/pcd_io.h>`
18	`#include <pcl/features/normal_3d.h>`	19	`#include <pcl/features/normal_3d.h>`
19		20
20		21
21	`void SMReconstructionWorker::setup(){`	22	`void SMReconstructionWorker::setup(){`
22		23
23	`QSettings settings;`	24	`QSettings settings;`
24		25
25	`// Get current calibration`	26	`// Get current calibration`
26	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	27	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
27		28
28	`// Create Algorithm`	29	`// Create Algorithm`
29	`int resX = settings.value("projector/resX").toInt();`	30	`int resX = settings.value("projector/resX").toInt();`
30	`int resY = settings.value("projector/resY").toInt();`	31	`int resY = settings.value("projector/resY").toInt();`
31	`QString codec = settings.value("algorithm", "GrayCode").toString();`	32	`QString codec = settings.value("algorithm", "GrayCode").toString();`
32	`if(codec == "GrayCode")`	33	`if(codec == "GrayCode")`
33	`algorithm = new AlgorithmGrayCode(resX, resY);`	34	`algorithm = new AlgorithmGrayCode(resX, resY);`
34	`else if(codec == "GrayCodeHorzVert")`	35	`else if(codec == "GrayCodeHorzVert")`
35	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`	36	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`
36	`else if(codec == "PhaseShift")`	37	`else if(codec == "PhaseShiftTwoFreq")`
37	`algorithm = new AlgorithmPhaseShift(resX, resY);`	38	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`
-		39	`else if(codec == "PhaseShiftThreeFreq")`
-		40	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`
38	`else if(codec == "LineShift")`	41	`else if(codec == "LineShift")`
39	`algorithm = new AlgorithmLineShift(resX, resY);`	42	`algorithm = new AlgorithmLineShift(resX, resY);`
40	`else`	43	`else`
41	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	44	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
42		45
43		46
44	`// // Precompute lens correction maps`	47	`// // Precompute lens correction maps`
45	`// cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);`	48	`// cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);`
46	`// cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap0Horz, lensMap0Vert);`	49	`// cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap0Horz, lensMap0Vert);`
47	`// cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap1Horz, lensMap1Vert);`	50	`// cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap1Horz, lensMap1Vert);`
48		51
49	`//cv::Mat mapHorz, mapVert;`	52	`//cv::Mat mapHorz, mapVert;`
50	`//cv::normalize(lensMap0Horz, mapHorz, 0, 255, cv::NORM_MINMAX, CV_8U);`	53	`//cv::normalize(lensMap0Horz, mapHorz, 0, 255, cv::NORM_MINMAX, CV_8U);`
51	`//cv::normalize(lensMap0Vert, mapVert, 0, 255, cv::NORM_MINMAX, CV_8U);`	54	`//cv::normalize(lensMap0Vert, mapVert, 0, 255, cv::NORM_MINMAX, CV_8U);`
52	`//cv::imwrite("mapHorz.png", mapHorz);`	55	`//cv::imwrite("mapHorz.png", mapHorz);`
53	`//cv::imwrite("mapVert.png", mapVert);`	56	`//cv::imwrite("mapVert.png", mapVert);`
54	`}`	57	`}`
55		58
56	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`	59	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`
57		60
58	`time.start();`	61	`time.start();`
59		62
60	`// Get 3D Points`	63	`// Get 3D Points`
61	`std::vector<cv::Point3f> Q;`	64	`std::vector<cv::Point3f> Q;`
62	`std::vector<cv::Vec3b> color;`	65	`std::vector<cv::Vec3b> color;`
63	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`	66	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`
64		67
65	`// Convert point cloud to PCL format`	68	`// Convert point cloud to PCL format`
66	`pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);`	69	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
67		70
68	`pointCloudPCL->width = Q.size();`	71	`pointCloudPCL->width = Q.size();`
69	`pointCloudPCL->height = 1;`	72	`pointCloudPCL->height = 1;`
70	`pointCloudPCL->is_dense = false;`	73	`pointCloudPCL->is_dense = true;`
71		74
72	`pointCloudPCL->points.resize(Q.size());`	75	`pointCloudPCL->points.resize(Q.size());`
73		76
74	`for(unsigned int i=0; i<Q.size(); i++){`	77	`for(unsigned int i=0; i<Q.size(); i++){`
75	`pcl::PointXYZRGB point;`	78	`pcl::PointXYZRGBNormal point;`
76	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`	79	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`
77	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`	80	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`
78	`pointCloudPCL->points[i] = point;`	81	`pointCloudPCL->points[i] = point;`
79	`}`	82	`}`
80		83
81	`// // Estimate surface normals`	84	`// Estimate surface normals`
82	`// pcl::NormalEstimation<pcl::PointXYZRGB, pcl::PointXYZRGBNormal> ne;`	85	`pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`
83	`// pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGB>());`	86	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
-		87	`pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`
84	`// ne.setSearchMethod(tree);`	88	`//ne.setKSearch(10);`
85	`// ne.setRadiusSearch(3);`	89	`ne.setRadiusSearch(0.5);`
86	`// ne.setViewPoint(0.0, 0.0, 0.0);`	90	`ne.setViewPoint(0.0, 0.0, 0.0);`
87	`// ne.setInputCloud(pointCloudPCL);`	91	`ne.setInputCloud(pointCloudPCLCopy);`
88	`// ne.compute(*pointCloudPCL);`	92	`ne.compute(*pointCloudPCL);`
89		93
90	`// Assemble SMPointCloud data structure`	94	`// Assemble SMPointCloud data structure`
91	`SMPointCloud smPointCloud;`	95	`SMPointCloud smPointCloud;`
92	`smPointCloud.id = frameSequence.id;`	96	`smPointCloud.id = frameSequence.id;`
93	`smPointCloud.pointCloud = pointCloudPCL;`	97	`smPointCloud.pointCloud = pointCloudPCL;`
94	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`	98	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`
95		99
96	`// Determine transform in world (camera0) coordinate system`	100	`// Determine transform in world (camera0) coordinate system`
97	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	101	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
98	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	102	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
99	`cv::Mat R;`	103	`cv::Mat R;`
100	`cv::Rodrigues(rot_rvec, R);`	104	`cv::Rodrigues(rot_rvec, R);`
101	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`	105	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`
102	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`	106	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`
103		107
104	`// Emit result`	108	`// Emit result`
105	`emit newPointCloud(smPointCloud);`	109	`emit newPointCloud(smPointCloud);`
106		110
107	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`	111	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`
108		112
109	`}`	113	`}`
110		114
111	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`	115	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`
112		116
113	`// Process sequentially`	117	`// Process sequentially`
114	`for(int i=0; i<frameSequences.size(); i++){`	118	`for(int i=0; i<frameSequences.size(); i++){`
115	`reconstructPointCloud(frameSequences[i]);`	119	`reconstructPointCloud(frameSequences[i]);`
116	`}`	120	`}`
117		121
118	`}`	122	`}`
119		123
120	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`	124	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`
121		125
122	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`	126	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`
123	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`	127	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`
124		128
125	`cv::Mat temp(3,4,CV_32F);`	129	`cv::Mat temp(3,4,CV_32F);`
126	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`	130	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`
127	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`	131	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`
128	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`	132	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`
129		133
130	`cv::Mat QMatHomogenous, QMat;`	134	`cv::Mat QMatHomogenous, QMat;`
131	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`	135	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`
132	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	136	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
133	`cvtools::matToPoints3f(QMat, Q);`	137	`cvtools::matToPoints3f(QMat, Q);`
134		138
135		139
136	`}`	140	`}`
137		141