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


#include "SMReconstructionWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmGrayCodeMax.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(){
 
 
}
 
void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
 
    QSettings settings;
 
    // Get current calibration
    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
 
    // Create Algorithm
    QString codec = frameSequence.codec;
    int resX = settings.value("projector/resX").toInt();
    int resY = settings.value("projector/resY").toInt();
 
    if(codec == "GrayCode")
        algorithm = new AlgorithmGrayCode(resX, resY);
    else if(codec == "GrayCodeHorzVert")
        algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);
    else if(codec == "GrayCodeMax")
        algorithm = new AlgorithmGrayCodeMax(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;
 
    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 137 → 162

Rev 137		Rev 162
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 "AlgorithmGrayCodeMax.h"`
5	`#include "AlgorithmPhaseShiftTwoFreq.h"`	6	`#include "AlgorithmPhaseShiftTwoFreq.h"`
6	`#include "AlgorithmPhaseShiftThreeFreq.h"`	7	`#include "AlgorithmPhaseShiftThreeFreq.h"`
7	`#include "AlgorithmLineShift.h"`	8	`#include "AlgorithmLineShift.h"`
8		9
9	`#include <QCoreApplication>`	10	`#include <QCoreApplication>`
10	`#include <QSettings>`	11	`#include <QSettings>`
11		12
12	`#include <iostream>`	13	`#include <iostream>`
13	`#include <opencv2/opencv.hpp>`	14	`#include <opencv2/opencv.hpp>`
14		15
15	`#include "cvtools.h"`	16	`#include "cvtools.h"`
16		17
17	`#include <pcl/filters/statistical_outlier_removal.h>`	18	`#include <pcl/filters/statistical_outlier_removal.h>`
18	`#include <pcl/io/pcd_io.h>`	19	`#include <pcl/io/pcd_io.h>`
19	`#include <pcl/features/normal_3d.h>`	20	`#include <pcl/features/normal_3d.h>`
20		21
21		22
22	`void SMReconstructionWorker::setup(){`	23	`void SMReconstructionWorker::setup(){`
23		24
24		25
25	`}`	26	`}`
26		27
27	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`	28	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`
28		29
29	`QSettings settings;`	30	`QSettings settings;`
30		31
31	`// Get current calibration`	32	`// Get current calibration`
32	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	33	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
33		34
34	`// Create Algorithm`	35	`// Create Algorithm`
35	`QString codec = frameSequence.codec;`	36	`QString codec = frameSequence.codec;`
36	`int resX = settings.value("projector/resX").toInt();`	37	`int resX = settings.value("projector/resX").toInt();`
37	`int resY = settings.value("projector/resY").toInt();`	38	`int resY = settings.value("projector/resY").toInt();`
38		39
39	`if(codec == "GrayCode")`	40	`if(codec == "GrayCode")`
40	`algorithm = new AlgorithmGrayCode(resX, resY);`	41	`algorithm = new AlgorithmGrayCode(resX, resY);`
41	`else if(codec == "GrayCodeHorzVert")`	42	`else if(codec == "GrayCodeHorzVert")`
42	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`	43	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`
-		44	`else if(codec == "GrayCodeMax")`
-		45	`algorithm = new AlgorithmGrayCodeMax(resX, resY);`
43	`else if(codec == "PhaseShiftTwoFreq")`	46	`else if(codec == "PhaseShiftTwoFreq")`
44	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`	47	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`
45	`else if(codec == "PhaseShiftThreeFreq")`	48	`else if(codec == "PhaseShiftThreeFreq")`
46	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`	49	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`
47	`else if(codec == "LineShift")`	50	`else if(codec == "LineShift")`
48	`algorithm = new AlgorithmLineShift(resX, resY);`	51	`algorithm = new AlgorithmLineShift(resX, resY);`
49	`else`	52	`else`
50	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	53	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
51		54
52	`time.start();`	55	`time.start();`
53		56
54	`// Get 3D Points`	57	`// Get 3D Points`
55	`std::vector<cv::Point3f> Q;`	58	`std::vector<cv::Point3f> Q;`
56	`std::vector<cv::Vec3b> color;`	59	`std::vector<cv::Vec3b> color;`
57	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`	60	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`
58		61
59	`// Convert point cloud to PCL format`	62	`// Convert point cloud to PCL format`
60	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	63	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
61		64
62	`pointCloudPCL->width = Q.size();`	65	`pointCloudPCL->width = Q.size();`
63	`pointCloudPCL->height = 1;`	66	`pointCloudPCL->height = 1;`
64	`pointCloudPCL->is_dense = true;`	67	`pointCloudPCL->is_dense = true;`
65		68
66	`pointCloudPCL->points.resize(Q.size());`	69	`pointCloudPCL->points.resize(Q.size());`
67		70
68	`for(unsigned int i=0; i<Q.size(); i++){`	71	`for(unsigned int i=0; i<Q.size(); i++){`
69	`pcl::PointXYZRGBNormal point;`	72	`pcl::PointXYZRGBNormal point;`
70	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`	73	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`
71	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`	74	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`
72	`pointCloudPCL->points[i] = point;`	75	`pointCloudPCL->points[i] = point;`
73	`}`	76	`}`
74		77
75	`// Estimate surface normals`	78	`// Estimate surface normals`
76	`pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`	79	`pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`
77	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	80	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
78	`pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`	81	`pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`
79	`//ne.setKSearch(10);`	82	`//ne.setKSearch(10);`
80	`ne.setRadiusSearch(0.5);`	83	`ne.setRadiusSearch(0.5);`
81	`ne.setViewPoint(0.0, 0.0, 0.0);`	84	`ne.setViewPoint(0.0, 0.0, 0.0);`
82	`ne.setInputCloud(pointCloudPCLCopy);`	85	`ne.setInputCloud(pointCloudPCLCopy);`
83	`ne.compute(*pointCloudPCL);`	86	`ne.compute(*pointCloudPCL);`
84		87
85	`// Assemble SMPointCloud data structure`	88	`// Assemble SMPointCloud data structure`
86	`SMPointCloud smPointCloud;`	89	`SMPointCloud smPointCloud;`
87	`smPointCloud.id = frameSequence.id;`	90	`smPointCloud.id = frameSequence.id;`
88	`smPointCloud.pointCloud = pointCloudPCL;`	91	`smPointCloud.pointCloud = pointCloudPCL;`
89	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`	92	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`
90		93
91	`// Determine transform in world (camera0) coordinate system`	94	`// Determine transform in world (camera0) coordinate system`
92	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	95	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
93	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	96	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
94	`cv::Mat R;`	97	`cv::Mat R;`
95	`cv::Rodrigues(rot_rvec, R);`	98	`cv::Rodrigues(rot_rvec, R);`
96	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`	99	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`
97	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`	100	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`
98		101
99	`// Emit result`	102	`// Emit result`
100	`emit newPointCloud(smPointCloud);`	103	`emit newPointCloud(smPointCloud);`
101		104
102	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`	105	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`
103		106
104	`}`	107	`}`
105		108
106	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`	109	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`
107		110
108	`// Process sequentially`	111	`// Process sequentially`
109	`for(int i=0; i<frameSequences.size(); i++){`	112	`for(int i=0; i<frameSequences.size(); i++){`
110	`reconstructPointCloud(frameSequences[i]);`	113	`reconstructPointCloud(frameSequences[i]);`
111	`}`	114	`}`
112		115
113	`}`	116	`}`
114		117
115	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`	118	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`
116		119
117	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`	120	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`
118	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`	121	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`
119		122
120	`cv::Mat temp(3,4,CV_32F);`	123	`cv::Mat temp(3,4,CV_32F);`
121	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`	124	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`
122	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`	125	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`
123	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`	126	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`
124		127
125	`cv::Mat QMatHomogenous, QMat;`	128	`cv::Mat QMatHomogenous, QMat;`
126	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`	129	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`
127	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	130	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
128	`cvtools::matToPoints3f(QMat, Q);`	131	`cvtools::matToPoints3f(QMat, Q);`
129		132
130		133
131	`}`	134	`}`
132		135