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/features/normal_3d_omp.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 (does not produce proper normals...)
//    std::cout << "Estimating normals..." << std::endl;
//    pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);
//    pcl::copyPointCloud(*pointCloudPCL, *points);
//    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
//    pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
//    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>());
//    tree->setInputCloud(points);
//    ne.setSearchMethod(tree);
//    ne.setRadiusSearch(1.0);
//    //ne.setKSearch(50);
//    ne.setViewPoint(0.0, 0.0, 0.0);
//    ne.setInputCloud(points);
//    ne.compute(*normals);
//    pcl::copyPointCloud(*normals, *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 183 → 185

Rev 183		Rev 185
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/features/normal_3d_omp.h>`
21	`#include <pcl/common/transforms.h>`	22	`#include <pcl/common/transforms.h>`
22		23
23		24
24	`void SMReconstructionWorker::setup(){`	25	`void SMReconstructionWorker::setup(){`
25		26
26		27
27	`}`	28	`}`
28		29
29	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`	30	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`
30		31
31	`QSettings settings;`	32	`QSettings settings;`
32		33
33	`// Get current calibration`	34	`// Get current calibration`
34	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	35	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
35		36
36	`// Create Algorithm`	37	`// Create Algorithm`
37	`QString codec = frameSequence.codec;`	38	`QString codec = frameSequence.codec;`
38	`int resX = settings.value("projector/resX").toInt();`	39	`int resX = settings.value("projector/resX").toInt();`
39	`int resY = settings.value("projector/resY").toInt();`	40	`int resY = settings.value("projector/resY").toInt();`
40		41
41	`if(codec == "GrayCode")`	42	`if(codec == "GrayCode")`
42	`algorithm = new AlgorithmGrayCode(resX, resY);`	43	`algorithm = new AlgorithmGrayCode(resX, resY);`
43	`else if(codec == "GrayCodeHorzVert")`	44	`else if(codec == "GrayCodeHorzVert")`
44	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`	45	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`
45	`else if(codec == "PhaseShiftTwoFreq")`	46	`else if(codec == "PhaseShiftTwoFreq")`
46	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`	47	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`
47	`else if(codec == "PhaseShiftThreeFreq")`	48	`else if(codec == "PhaseShiftThreeFreq")`
48	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`	49	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`
49	`else if(codec == "LineShift")`	50	`else if(codec == "LineShift")`
50	`algorithm = new AlgorithmLineShift(resX, resY);`	51	`algorithm = new AlgorithmLineShift(resX, resY);`
51	`else`	52	`else`
52	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	53	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
53		54
54	`time.start();`	55	`time.start();`
55		56
56	`// Get 3D Points`	57	`// Get 3D Points`
57	`std::vector<cv::Point3f> Q;`	58	`std::vector<cv::Point3f> Q;`
58	`std::vector<cv::Vec3b> color;`	59	`std::vector<cv::Vec3b> color;`
59	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`	60	`algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);`
60		61
61	`// Convert point cloud to PCL format`	62	`// Convert point cloud to PCL format`
62	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	63	`pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`
63		64
64	`pointCloudPCL->width = Q.size();`	65	`pointCloudPCL->width = Q.size();`
65	`pointCloudPCL->height = 1;`	66	`pointCloudPCL->height = 1;`
66	`pointCloudPCL->is_dense = true;`	67	`pointCloudPCL->is_dense = true;`
67		68
68	`pointCloudPCL->points.resize(Q.size());`	69	`pointCloudPCL->points.resize(Q.size());`
69		70
70	`for(unsigned int i=0; i<Q.size(); i++){`	71	`for(unsigned int i=0; i<Q.size(); i++){`
71	`pcl::PointXYZRGBNormal point;`	72	`pcl::PointXYZRGBNormal point;`
72	`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;`
73	`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];`
74	`pointCloudPCL->points[i] = point;`	75	`pointCloudPCL->points[i] = point;`
75	`}`	76	`}`
76		77
77	`// // Transform point cloud to rotation axis coordinate system`	78	`// // Transform point cloud to rotation axis coordinate system`
78	`// cv::Mat TRCV(3, 4, CV_32F);`	79	`// cv::Mat TRCV(3, 4, CV_32F);`
79	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`	80	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`
80	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`	81	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`
81	`// Eigen::Affine3f TR;`	82	`// Eigen::Affine3f TR;`
82	`// cv::cv2eigen(TRCV, TR.matrix());`	83	`// cv::cv2eigen(TRCV, TR.matrix());`
83	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`	84	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`
84		85
85	`// Estimate surface normals`	86	`// // Estimate surface normals (does not produce proper normals...)`
86	`std::cout << "Estimating normals..." << std::endl;`	87	`// std::cout << "Estimating normals..." << std::endl;`
-		88	`// pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);`
87	`// This is much too slow to leave it on by default`	89	`// pcl::copyPointCloud(pointCloudPCL, points);`
-		90	`// pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);`
88	`pcl::NormalEstimation<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> ne;`	91	`// pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;`
89	`// pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCLCopy(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	92	`// pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>());`
90	`// pcl::copyPointCloud(pointCloudPCL, pointCloudPCLCopy);`	93	`// tree->setInputCloud(points);`
91	`ne.setKSearch(10);`	94	`// ne.setSearchMethod(tree);`
92	`//ne.setRadiusSearch(0.5);`	95	`// ne.setRadiusSearch(1.0);`
-		96	`// //ne.setKSearch(50);`
93	`ne.setViewPoint(0.0, 0.0, 0.0);`	97	`// ne.setViewPoint(0.0, 0.0, 0.0);`
94	`ne.setInputCloud(pointCloudPCL);`	98	`// ne.setInputCloud(points);`
95	`ne.compute(*pointCloudPCL);`	99	`// ne.compute(*normals);`
-		100	`// pcl::copyPointCloud(normals, pointCloudPCL);`
96		101
97	`// Assemble SMPointCloud data structure`	102	`// Assemble SMPointCloud data structure`
98	`SMPointCloud smPointCloud;`	103	`SMPointCloud smPointCloud;`
99	`smPointCloud.id = frameSequence.id;`	104	`smPointCloud.id = frameSequence.id;`
100	`smPointCloud.pointCloud = pointCloudPCL;`	105	`smPointCloud.pointCloud = pointCloudPCL;`
101	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`	106	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`
102		107
103	`// Determine transform in world (camera0) coordinate system`	108	`// Determine transform in world (camera0) coordinate system`
104	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	109	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
105	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	110	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
106	`cv::Mat R;`	111	`cv::Mat R;`
107	`cv::Rodrigues(rot_rvec, R);`	112	`cv::Rodrigues(rot_rvec, R);`
108	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`	113	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`
109	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`	114	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`
110		115
111		116
112	`// // Determine transform in world (camera0) coordinate system`	117	`// // Determine transform in world (camera0) coordinate system`
113	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	118	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
114	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	119	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
115	`// cv::Mat R;`	120	`// cv::Mat R;`
116	`// cv::Rodrigues(rot_rvec, R);`	121	`// cv::Rodrigues(rot_rvec, R);`
117	`// smPointCloud.R = cv::Matx33f(R);`	122	`// smPointCloud.R = cv::Matx33f(R);`
118	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`	123	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`
119		124
120	`// Emit result`	125	`// Emit result`
121	`emit newPointCloud(smPointCloud);`	126	`emit newPointCloud(smPointCloud);`
122		127
123	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`	128	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`
124	`}`	129	`}`
125		130
126	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`	131	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`
127		132
128	`// Process sequentially`	133	`// Process sequentially`
129	`for(unsigned int i=0; i<frameSequences.size(); i++){`	134	`for(unsigned int i=0; i<frameSequences.size(); i++){`
130	`reconstructPointCloud(frameSequences[i]);`	135	`reconstructPointCloud(frameSequences[i]);`
131	`}`	136	`}`
132		137
133	`}`	138	`}`
134		139
135	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`	140	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`
136		141
137	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`	142	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`
138	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`	143	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`
139		144
140	`cv::Mat temp(3,4,CV_32F);`	145	`cv::Mat temp(3,4,CV_32F);`
141	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`	146	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`
142	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`	147	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`
143	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`	148	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`
144		149
145	`cv::Mat QMatHomogenous, QMat;`	150	`cv::Mat QMatHomogenous, QMat;`
146	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`	151	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`
147	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	152	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
148	`cvtools::matToPoints3f(QMat, Q);`	153	`cvtools::matToPoints3f(QMat, Q);`
149		154
150		155
151	`}`	156	`}`
152		157