Subversion Repositories seema-scanner

#include "SMReconstructionWorker.h"

#include "CodecGrayCode.h"
#include "CodecPhaseShift.h"

#include <QCoreApplication>
#include <QSettings>

#include <iostream>
#include <opencv2/opencv.hpp>

#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/io/pcd_io.h>


void SMReconstructionWorker::setup(){

    QSettings settings;

    // Get current calibration
    calibration = settings.value("calibration").value<SMCalibrationParameters>();

    // Create decoder
    dir = (CodecDir)settings.value("pattern/direction", CodecDirHorizontal).toInt();
    if(dir == CodecDirNone)
        std::cerr << "SMCaptureWorker: invalid coding direction " << std::endl;

    QString codec = settings.value("codec", "GrayCode").toString();
    if(codec == "PhaseShift")
        decoder = new DecoderPhaseShift(dir);
    else if(codec == "GrayCode")
        decoder = new DecoderGrayCode(dir);
    else
        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;


    // Precompute lens correction maps
    cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);
    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap0Horz, lensMap0Vert);
    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap1Horz, lensMap1Vert);

    //cv::Mat mapHorz, mapVert;
    //cv::normalize(lensMap0Horz, mapHorz, 0, 255, cv::NORM_MINMAX, CV_8U);
    //cv::normalize(lensMap0Vert, mapVert, 0, 255, cv::NORM_MINMAX, CV_8U);
    //cv::imwrite("mapHorz.png", mapHorz);
    //cv::imwrite("mapVert.png", mapVert);
}

void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){

    time.start();

    // Decode frames
    cv::Mat up0, vp0, up1, vp1, shading0, mask0, shading1, mask1;
    decoder->decodeFrames(frameSequence.frames0, up0, vp0, mask0, shading0);
    decoder->decodeFrames(frameSequence.frames1, up1, vp1, mask1, shading1);

    // Triangulate
    cv::Mat pointCloud;
    if(dir == CodecDirBoth)
        triangulateFromUpVp(up0, vp0, mask0, up1, vp1, mask1, pointCloud);
    else if(dir == CodecDirHorizontal)
        triangulateFromUp(up0, mask0, up1, mask1, pointCloud);
    else if(dir == CodecDirVertical)
        triangulateFromVp(vp0, mask0, vp1, mask1, pointCloud);

    // Simply use shading information from camera 0 (for now)
    cv::Mat shading = shading0;

    // Convert point cloud to PCL format
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);

    // Interprete as organized point cloud
    pointCloudPCL->width = pointCloud.cols;
    pointCloudPCL->height = pointCloud.rows;
    pointCloudPCL->is_dense = false;

    pointCloudPCL->points.resize(pointCloud.rows*pointCloud.cols);

    for(int row=0; row<pointCloud.rows; row++){
        int offset = row * pointCloudPCL->width;
        for(int col=0; col<pointCloud.cols; col++){
            const cv::Vec3f pnt = pointCloud.at<cv::Vec3f>(row,col);
            unsigned char shade = shading.at<unsigned short>(row,col) >> 8;
            pcl::PointXYZRGB point;
            point.x = pnt[0]; point.y = pnt[1]; point.z = pnt[2];
            point.r = shade; point.g = shade; point.b = shade;
            pointCloudPCL->points[offset + col] = point;
        }
    }

/*    // stack xyz data
    std::vector<cv::Mat> xyz;
    cv::split(pointCloud, xyz);
    std::vector<cv::Mat> pointCloudChannels;
    pointCloudChannels.push_back(xyz[0]);
    pointCloudChannels.push_back(xyz[1]);
    pointCloudChannels.push_back(xyz[2]);

    // 4 byte padding
    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    // triple uchar color information
    std::vector<cv::Mat> rgb;
    rgb.push_back(shading);
    rgb.push_back(shading);
    rgb.push_back(shading);
    rgb.push_back(cv::Mat::zeros(shading.size(), CV_8U));

    cv::Mat rgb8UC4;
    cv::merge(rgb, rgb8UC4);

    cv::Mat rgb32F(rgb8UC4.size(), CV_32F, rgb8UC4.data);

    pointCloudChannels.push_back(rgb32F);

    // 12 bytes padding
    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));
    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));
    pointCloudChannels.push_back(cv::Mat::zeros(pointCloud.size(), CV_32F));

    // merge channels
    cv::Mat pointCloudPadded;
    cv::merge(pointCloudChannels, pointCloudPadded);

    // memcpy everything
    memcpy(&pointCloudPCL->points[0], pointCloudPadded.data, pointCloudPadded.rows*pointCloudPadded.cols*sizeof(pcl::PointXYZRGB));*/


    // Emit result
    emit newPointCloud(pointCloudPCL);

    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::triangulateFromUp(cv::Mat up0, cv::Mat mask0,cv::Mat up1, cv::Mat mask1,cv::Mat &xyz){}
void SMReconstructionWorker::triangulateFromVp(cv::Mat vp0, cv::Mat mask0, cv::Mat vp1, cv::Mat mask1, cv::Mat &xyz){}
void SMReconstructionWorker::triangulateFromUpVp(cv::Mat up0, cv::Mat vp0, cv::Mat mask0, cv::Mat up1, cv::Mat vp1, cv::Mat mask1, cv::Mat &xyz){}

//void SMReconstructionWorker::triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz){

//    std::cerr << "WARNING! NOT FULLY IMPLEMENTED!" << std::endl;
//    int N = up.rows * up.cols;

//    cv::Mat projPointsCam(2, N, CV_32F);
//    uc.reshape(0,1).copyTo(projPointsCam.row(0));
//    vc.reshape(0,1).copyTo(projPointsCam.row(1));

//    cv::Mat projPointsProj(2, N, CV_32F);
//    up.reshape(0,1).copyTo(projPointsProj.row(0));
//    vp.reshape(0,1).copyTo(projPointsProj.row(1));

//    cv::Mat Pc(3,4,CV_32F,cv::Scalar(0.0));
//    cv::Mat(calibration.Kc).copyTo(Pc(cv::Range(0,3), cv::Range(0,3)));

//    cv::Mat Pp(3,4,CV_32F), temp(3,4,CV_32F);
//    cv::Mat(calibration.Rp).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));
//    cv::Mat(calibration.Tp).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));
//    Pp = cv::Mat(calibration.Kp) * temp;

//    cv::Mat xyzw;
//    cv::triangulatePoints(Pc, Pp, projPointsCam, projPointsProj, xyzw);

//    xyz.create(3, N, CV_32F);
//    for(int i=0; i<N; i++){
//        xyz.at<float>(0,i) = xyzw.at<float>(0,i)/xyzw.at<float>(3,i);
//        xyz.at<float>(1,i) = xyzw.at<float>(1,i)/xyzw.at<float>(3,i);
//        xyz.at<float>(2,i) = xyzw.at<float>(2,i)/xyzw.at<float>(3,i);
//    }

//    xyz = xyz.t();
//    xyz = xyz.reshape(3, up.rows);
//}