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 <opencv2/core/eigen.hpp>
 
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/common/transforms.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 == "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;
    }
 
 
 
 
 
//    // Transform point cloud to rotation axis coordinate system
//    cv::Mat TRCV(3, 4, CV_32F);
//    cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));
//    cv::Mat(calibration.Tr).copyTo(TRCV.col(3));
//    Eigen::Affine3f TR;
//    cv::cv2eigen(TRCV, TR.matrix());
//    pcl::transformPointCloud(*pointCloudPCL, *pointCloudPCL, TR);
 
 
 
 
    // Estimate surface normals
    std::cout << "Estimating normals..." << std::endl;
    // This is much too slow to leave it on by default
    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(pointCloudPCL);
    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;
 
 
//    // 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 = cv::Matx33f(R);
//    smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);
 
 
 
 
    // Emit result
    emit newPointCloud(smPointCloud);
 
    std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;
 
}
 
void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){
 
    // Process sequentially
    for(unsigned 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 182 → 183

Rev 182		Rev 183
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 "AlgorithmPhaseShiftTwoFreq.h"`	5	`#include "AlgorithmPhaseShiftTwoFreq.h"`
6	`#include "AlgorithmPhaseShiftThreeFreq.h"`	6	`#include "AlgorithmPhaseShiftThreeFreq.h"`
7	`#include "AlgorithmLineShift.h"`	7	`#include "AlgorithmLineShift.h"`
8		8
9	`#include <QCoreApplication>`	9	`#include <QCoreApplication>`
10	`#include <QSettings>`	10	`#include <QSettings>`
11		11
12	`#include <iostream>`	12	`#include <iostream>`
13	`#include <opencv2/opencv.hpp>`	13	`#include <opencv2/opencv.hpp>`
14		14
15	`#include "cvtools.h"`	15	`#include "cvtools.h"`
16	`#include <opencv2/core/eigen.hpp>`	16	`#include <opencv2/core/eigen.hpp>`
17		17
18	`#include <pcl/filters/statistical_outlier_removal.h>`	18	`#include <pcl/filters/statistical_outlier_removal.h>`
19	`#include <pcl/io/pcd_io.h>`	19	`#include <pcl/io/pcd_io.h>`
20	`#include <pcl/features/normal_3d.h>`	20	`#include <pcl/features/normal_3d.h>`
21	`#include <pcl/common/transforms.h>`	21	`#include <pcl/common/transforms.h>`
22		22
23		23
24	`void SMReconstructionWorker::setup(){`	24	`void SMReconstructionWorker::setup(){`
25		25
26		26
27	`}`	27	`}`
28		28
29	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`	29	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`
30		30
31	`QSettings settings;`	31	`QSettings settings;`
32		32
33	`// Get current calibration`	33	`// Get current calibration`
34	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	34	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
35		35
36	`// Create Algorithm`	36	`// Create Algorithm`
37	`QString codec = frameSequence.codec;`	37	`QString codec = frameSequence.codec;`
38	`int resX = settings.value("projector/resX").toInt();`	38	`int resX = settings.value("projector/resX").toInt();`
39	`int resY = settings.value("projector/resY").toInt();`	39	`int resY = settings.value("projector/resY").toInt();`
40		40
41	`if(codec == "GrayCode")`	41	`if(codec == "GrayCode")`
42	`algorithm = new AlgorithmGrayCode(resX, resY);`	42	`algorithm = new AlgorithmGrayCode(resX, resY);`
43	`else if(codec == "GrayCodeHorzVert")`	43	`else if(codec == "GrayCodeHorzVert")`
44	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`	44	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`
45	`else if(codec == "PhaseShiftTwoFreq")`	45	`else if(codec == "PhaseShiftTwoFreq")`
46	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`	46	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`
47	`else if(codec == "PhaseShiftThreeFreq")`	47	`else if(codec == "PhaseShiftThreeFreq")`
48	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`	48	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`
49	`else if(codec == "LineShift")`	49	`else if(codec == "LineShift")`
50	`algorithm = new AlgorithmLineShift(resX, resY);`	50	`algorithm = new AlgorithmLineShift(resX, resY);`
51	`else`	51	`else`
52	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	52	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
53		53
54	`time.start();`	54	`time.start();`
55		55
56	`// Get 3D Points`	56	`// Get 3D Points`
57	`std::vector<cv::Point3f> Q;`	57	`std::vector<cv::Point3f> Q;`
58	`std::vector<cv::Vec3b> color;`	58	`std::vector<cv::Vec3b> color;`
59	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`	59	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`
60		60
61	`// Convert point cloud to PCL format`	61	`// Convert point cloud to PCL format`
62	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	62	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
63		63
64	`pointCloudPCL->width = Q.size();`	64	`pointCloudPCL->width = Q.size();`
65	`pointCloudPCL->height = 1;`	65	`pointCloudPCL->height = 1;`
66	`pointCloudPCL->is_dense = true;`	66	`pointCloudPCL->is_dense = true;`
67		67
68	`pointCloudPCL->points.resize(Q.size());`	68	`pointCloudPCL->points.resize(Q.size());`
69		69
70	`for(unsigned int i=0; i<Q.size(); i++){`	70	`for(unsigned int i=0; i<Q.size(); i++){`
71	`pcl::PointXYZRGBNormal point;`	71	`pcl::PointXYZRGBNormal point;`
72	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`	72	`point.x = Q[i].x; point.y = Q[i].y; point.z = Q[i].z;`
73	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`	73	`point.r = color[i][0]; point.g = color[i][1]; point.b = color[i][2];`
74	`pointCloudPCL->points[i] = point;`	74	`pointCloudPCL->points[i] = point;`
75	`}`	75	`}`
76		76
77		-
78		-
79		-
80		-
81	`// // Transform point cloud to rotation axis coordinate system`	77	`// // Transform point cloud to rotation axis coordinate system`
82	`// cv::Mat TRCV(3, 4, CV_32F);`	78	`// cv::Mat TRCV(3, 4, CV_32F);`
83	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`	79	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`
84	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`	80	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`
85	`// Eigen::Affine3f TR;`	81	`// Eigen::Affine3f TR;`
86	`// cv::cv2eigen(TRCV, TR.matrix());`	82	`// cv::cv2eigen(TRCV, TR.matrix());`
87	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`	83	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`
88		84
89		-
90		-
91		-
92	`// // Estimate surface normals`	85	`// Estimate surface normals`
-		86	`std::cout << "Estimating normals..." << std::endl;`
93	`// This is much to slow to leave it on by default`	87	`// This is much too slow to leave it on by default`
94	`// pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`	88	`pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`
95	`// pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	89	`// pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
96	`// pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`	90	`// pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`
97	`// //ne.setKSearch(10);`	91	`ne.setKSearch(10);`
98	`// ne.setRadiusSearch(0.5);`	92	`//ne.setRadiusSearch(0.5);`
99	`// ne.setViewPoint(0.0, 0.0, 0.0);`	93	`ne.setViewPoint(0.0, 0.0, 0.0);`
100	`// ne.setInputCloud(pointCloudPCLCopy);`	94	`ne.setInputCloud(pointCloudPCL);`
101	`// ne.compute(*pointCloudPCL);`	95	`ne.compute(*pointCloudPCL);`
102		96
103	`// Assemble SMPointCloud data structure`	97	`// Assemble SMPointCloud data structure`
104	`SMPointCloud smPointCloud;`	98	`SMPointCloud smPointCloud;`
105	`smPointCloud.id = frameSequence.id;`	99	`smPointCloud.id = frameSequence.id;`
106	`smPointCloud.pointCloud = pointCloudPCL;`	100	`smPointCloud.pointCloud = pointCloudPCL;`
107	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`	101	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`
108		102
109	`// Determine transform in world (camera0) coordinate system`	103	`// Determine transform in world (camera0) coordinate system`
110	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	104	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
111	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	105	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
112	`cv::Mat R;`	106	`cv::Mat R;`
113	`cv::Rodrigues(rot_rvec, R);`	107	`cv::Rodrigues(rot_rvec, R);`
114	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`	108	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`
115	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`	109	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`
116		110
117		111
118	`// // Determine transform in world (camera0) coordinate system`	112	`// // Determine transform in world (camera0) coordinate system`
119	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	113	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
120	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	114	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
121	`// cv::Mat R;`	115	`// cv::Mat R;`
122	`// cv::Rodrigues(rot_rvec, R);`	116	`// cv::Rodrigues(rot_rvec, R);`
123	`// smPointCloud.R = cv::Matx33f(R);`	117	`// smPointCloud.R = cv::Matx33f(R);`
124	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`	118	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`
125		119
126		-
127		-
128		-
129	`// Emit result`	120	`// Emit result`
130	`emit newPointCloud(smPointCloud);`	121	`emit newPointCloud(smPointCloud);`
131		122
132	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`	123	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`
133		-
134	`}`	124	`}`
135		125
136	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`	126	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`
137		127
138	`// Process sequentially`	128	`// Process sequentially`
139	`for(unsigned int i=0; i<frameSequences.size(); i++){`	129	`for(unsigned int i=0; i<frameSequences.size(); i++){`
140	`reconstructPointCloud(frameSequences[i]);`	130	`reconstructPointCloud(frameSequences[i]);`
141	`}`	131	`}`
142		132
143	`}`	133	`}`
144		134
145	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`	135	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`
146		136
147	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`	137	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`
148	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`	138	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`
149		139
150	`cv::Mat temp(3,4,CV_32F);`	140	`cv::Mat temp(3,4,CV_32F);`
151	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`	141	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`
152	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`	142	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`
153	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`	143	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`
154		144
155	`cv::Mat QMatHomogenous, QMat;`	145	`cv::Mat QMatHomogenous, QMat;`
156	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`	146	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`
157	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	147	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
158	`cvtools::matToPoints3f(QMat, Q);`	148	`cvtools::matToPoints3f(QMat, Q);`
159		149
160		150
161	`}`	151	`}`
162		152