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


#include "SMReconstructionWorker.h"
 
#include "AlgorithmGrayCode.h"
#include "AlgorithmGrayCodeHorzVert.h"
#include "AlgorithmPhaseShiftTwoFreq.h"
#include "AlgorithmPhaseShiftTwoFreqHorzVert.h"
#include "AlgorithmPhaseShiftThreeFreq.h"
#include "AlgorithmPhaseShiftEmbedded.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 == "PhaseShiftTwoFreqHorzVert")
        algorithm = new AlgorithmPhaseShiftTwoFreqHorzVert(resX, resY);
    else if(codec == "PhaseShiftThreeFreq")
        algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);
    else if(codec == "PhaseShiftEmbedded")
        algorithm = new AlgorithmPhaseShiftEmbedded(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 192 → 200

Rev 192		Rev 200
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 "AlgorithmPhaseShiftTwoFreqHorzVert.h"`
6	`#include "AlgorithmPhaseShiftThreeFreq.h"`	7	`#include "AlgorithmPhaseShiftThreeFreq.h"`
7	`#include "AlgorithmPhaseShiftEmbedded.h"`	8	`#include "AlgorithmPhaseShiftEmbedded.h"`
8	`#include "AlgorithmLineShift.h"`	9	`#include "AlgorithmLineShift.h"`
9		10
10	`#include <QCoreApplication>`	11	`#include <QCoreApplication>`
11	`#include <QSettings>`	12	`#include <QSettings>`
12		13
13	`#include <iostream>`	14	`#include <iostream>`
14	`#include <opencv2/opencv.hpp>`	15	`#include <opencv2/opencv.hpp>`
15		16
16	`#include "cvtools.h"`	17	`#include "cvtools.h"`
17	`#include <opencv2/core/eigen.hpp>`	18	`#include <opencv2/core/eigen.hpp>`
18		19
19	`#include <pcl/filters/statistical_outlier_removal.h>`	20	`#include <pcl/filters/statistical_outlier_removal.h>`
20	`#include <pcl/io/pcd_io.h>`	21	`#include <pcl/io/pcd_io.h>`
21	`#include <pcl/features/normal_3d.h>`	22	`#include <pcl/features/normal_3d.h>`
22	`#include <pcl/features/normal_3d_omp.h>`	23	`#include <pcl/features/normal_3d_omp.h>`
23	`#include <pcl/common/transforms.h>`	24	`#include <pcl/common/transforms.h>`
24		25
25		26
26	`void SMReconstructionWorker::setup(){`	27	`void SMReconstructionWorker::setup(){`
27		28
28		29
29	`}`	30	`}`
30		31
31	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`	32	`void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){`
32		33
33	`QSettings settings;`	34	`QSettings settings;`
34		35
35	`// Get current calibration`	36	`// Get current calibration`
36	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`	37	`calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();`
37		38
38	`// Create Algorithm`	39	`// Create Algorithm`
39	`QString codec = frameSequence.codec;`	40	`QString codec = frameSequence.codec;`
40	`int resX = settings.value("projector/resX").toInt();`	41	`int resX = settings.value("projector/resX").toInt();`
41	`int resY = settings.value("projector/resY").toInt();`	42	`int resY = settings.value("projector/resY").toInt();`
42		43
43	`if(codec == "GrayCode")`	44	`if(codec == "GrayCode")`
44	`algorithm = new AlgorithmGrayCode(resX, resY);`	45	`algorithm = new AlgorithmGrayCode(resX, resY);`
45	`else if(codec == "GrayCodeHorzVert")`	46	`else if(codec == "GrayCodeHorzVert")`
46	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`	47	`algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);`
47	`else if(codec == "PhaseShiftTwoFreq")`	48	`else if(codec == "PhaseShiftTwoFreq")`
48	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`	49	`algorithm = new AlgorithmPhaseShiftTwoFreq(resX, resY);`
-		50	`else if(codec == "PhaseShiftTwoFreqHorzVert")`
-		51	`algorithm = new AlgorithmPhaseShiftTwoFreqHorzVert(resX, resY);`
49	`else if(codec == "PhaseShiftThreeFreq")`	52	`else if(codec == "PhaseShiftThreeFreq")`
50	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`	53	`algorithm = new AlgorithmPhaseShiftThreeFreq(resX, resY);`
51	`else if(codec == "PhaseShiftEmbedded")`	54	`else if(codec == "PhaseShiftEmbedded")`
52	`algorithm = new AlgorithmPhaseShiftEmbedded(resX, resY);`	55	`algorithm = new AlgorithmPhaseShiftEmbedded(resX, resY);`
53	`else if(codec == "LineShift")`	56	`else if(codec == "LineShift")`
54	`algorithm = new AlgorithmLineShift(resX, resY);`	57	`algorithm = new AlgorithmLineShift(resX, resY);`
55	`else`	58	`else`
56	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`	59	`std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;`
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::PointXYZRGBNormal>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGBNormal>);`	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 = true;`	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::PointXYZRGBNormal 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	`// // Transform point cloud to rotation axis coordinate system`	84	`// // Transform point cloud to rotation axis coordinate system`
82	`// cv::Mat TRCV(3, 4, CV_32F);`	85	`// cv::Mat TRCV(3, 4, CV_32F);`
83	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`	86	`// cv::Mat(calibration.Rr).copyTo(TRCV.colRange(0, 3));`
84	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`	87	`// cv::Mat(calibration.Tr).copyTo(TRCV.col(3));`
85	`// Eigen::Affine3f TR;`	88	`// Eigen::Affine3f TR;`
86	`// cv::cv2eigen(TRCV, TR.matrix());`	89	`// cv::cv2eigen(TRCV, TR.matrix());`
87	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`	90	`// pcl::transformPointCloud(pointCloudPCL, pointCloudPCL, TR);`
88		91
89	`// // Estimate surface normals (does not produce proper normals...)`	92	`// // Estimate surface normals (does not produce proper normals...)`
90	`// std::cout << "Estimating normals..." << std::endl;`	93	`// std::cout << "Estimating normals..." << std::endl;`
91	`// pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);`	94	`// pcl::PointCloud<pcl::PointXYZ>::Ptr points(new pcl::PointCloud<pcl::PointXYZ>);`
92	`// pcl::copyPointCloud(pointCloudPCL, points);`	95	`// pcl::copyPointCloud(pointCloudPCL, points);`
93	`// pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);`	96	`// pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);`
94	`// pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;`	97	`// pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;`
95	`// pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>());`	98	`// pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>());`
96	`// tree->setInputCloud(points);`	99	`// tree->setInputCloud(points);`
97	`// ne.setSearchMethod(tree);`	100	`// ne.setSearchMethod(tree);`
98	`// ne.setRadiusSearch(1.0);`	101	`// ne.setRadiusSearch(1.0);`
99	`// //ne.setKSearch(50);`	102	`// //ne.setKSearch(50);`
100	`// ne.setViewPoint(0.0, 0.0, 0.0);`	103	`// ne.setViewPoint(0.0, 0.0, 0.0);`
101	`// ne.setInputCloud(points);`	104	`// ne.setInputCloud(points);`
102	`// ne.compute(*normals);`	105	`// ne.compute(*normals);`
103	`// pcl::copyPointCloud(normals, pointCloudPCL);`	106	`// pcl::copyPointCloud(normals, pointCloudPCL);`
104		107
105	`// Assemble SMPointCloud data structure`	108	`// Assemble SMPointCloud data structure`
106	`SMPointCloud smPointCloud;`	109	`SMPointCloud smPointCloud;`
107	`smPointCloud.id = frameSequence.id;`	110	`smPointCloud.id = frameSequence.id;`
108	`smPointCloud.pointCloud = pointCloudPCL;`	111	`smPointCloud.pointCloud = pointCloudPCL;`
109	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`	112	`smPointCloud.rotationAngle = frameSequence.rotationAngle;`
110		113
111	`// Determine transform in world (camera0) coordinate system`	114	`// Determine transform in world (camera0) coordinate system`
112	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	115	`float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
113	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	116	`cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
114	`cv::Mat R;`	117	`cv::Mat R;`
115	`cv::Rodrigues(rot_rvec, R);`	118	`cv::Rodrigues(rot_rvec, R);`
116	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`	119	`smPointCloud.R = calibration.Rr.t()cv::Matx33f(R)calibration.Rr;`
117	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`	120	`smPointCloud.T = calibration.Rr.t()cv::Matx33f(R)calibration.Tr - calibration.Rr.t()*calibration.Tr;`
118		121
119		122
120	`// // Determine transform in world (camera0) coordinate system`	123	`// // Determine transform in world (camera0) coordinate system`
121	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`	124	`// float angleRadians = frameSequence.rotationAngle/180.0*M_PI;`
122	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	125	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
123	`// cv::Mat R;`	126	`// cv::Mat R;`
124	`// cv::Rodrigues(rot_rvec, R);`	127	`// cv::Rodrigues(rot_rvec, R);`
125	`// smPointCloud.R = cv::Matx33f(R);`	128	`// smPointCloud.R = cv::Matx33f(R);`
126	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`	129	`// smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);`
127		130
128	`// Emit result`	131	`// Emit result`
129	`emit newPointCloud(smPointCloud);`	132	`emit newPointCloud(smPointCloud);`
130		133
131	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`	134	`std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;`
132	`}`	135	`}`
133		136
134	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`	137	`void SMReconstructionWorker::reconstructPointClouds(std::vector<SMFrameSequence> frameSequences){`
135		138
136	`// Process sequentially`	139	`// Process sequentially`
137	`for(unsigned int i=0; i<frameSequences.size(); i++){`	140	`for(unsigned int i=0; i<frameSequences.size(); i++){`
138	`reconstructPointCloud(frameSequences[i]);`	141	`reconstructPointCloud(frameSequences[i]);`
139	`}`	142	`}`
140		143
141	`}`	144	`}`
142		145
143	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`	146	`void SMReconstructionWorker::triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q){`
144		147
145	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`	148	`cv::Mat P0(3,4,CV_32F,cv::Scalar(0.0));`
146	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`	149	`cv::Mat(calibration.K0).copyTo(P0(cv::Range(0,3), cv::Range(0,3)));`
147		150
148	`cv::Mat temp(3,4,CV_32F);`	151	`cv::Mat temp(3,4,CV_32F);`
149	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`	152	`cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));`
150	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`	153	`cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));`
151	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`	154	`cv::Mat P1 = cv::Mat(calibration.K1) * temp;`
152		155
153	`cv::Mat QMatHomogenous, QMat;`	156	`cv::Mat QMatHomogenous, QMat;`
154	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`	157	`cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);`
155	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`	158	`cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);`
156	`cvtools::matToPoints3f(QMat, Q);`	159	`cvtools::matToPoints3f(QMat, Q);`
157		160
158		161
159	`}`	162	`}`
160		163