Subversion Repositories seema-scanner

#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);

}