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#include "SMSMTriangulator.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 SMSMTriangulator::setup(){
// Initialize SMTriangulator with calibration
calibration = new SMCalibrationParams;
calibration->load("calibration.yml");
SMTriangulator = new SMTriangulator(*calibration, frameWidth, frameHeight);
QSettings settings("SLStudio");
writeToDisk = settings.value("writeToDisk/pointclouds",false).toBool();
}
void SMSMTriangulator::triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading){
time.start();
// Reconstruct point cloud
cv::Mat pointCloud;
cv::Mat empty;
SMTriangulator->triangulate(up, vp, mask, shading, pointCloud);
std::vector<cv::Mat> xyz;
cv::split(pointCloud, xyz);
// emit imshow("x", xyz[0], 1400, 100);
// emit imshow("y", xyz[1], 1400, 450);
// emit imshow("z", xyz[2], 1400, 800);
// 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 col=0; col<pointCloud.cols; col++){
// for(int row=0; row<pointCloud.rows; row++){
// const cv::Vec3f pnt = pointCloud.at<cv::Vec3f>(row,col);
// unsigned char shade = shading.at<unsigned char>(row,col);
// pcl::PointXYZRGBRGB point;
// point.x = pnt[0]; point.y = pnt[1]; point.z = pnt[2];
// point.r = shade; point.g = shade; point.b = shade;
// pointCloudPCL->at(col, row) = point;
// }
// }
// stack xyz data
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));
// // filtering
// pcl::StatisticalOutlierRemoval<pcl::PointXYZRGB> filter;
// filter.setMeanK(5);
// filter.setStddevMulThresh(1.0);
// filter.setInputCloud(pointCloudPCL);
// pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
// filter.filter(*pointCloudFiltered);
// Emit result
emit newPointCloud(pointCloudPCL);
std::cout << "SMTriangulator: " << time.elapsed() << "ms" << std::endl;
if(writeToDisk){
QString fileName = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmsszzz");
fileName.append(".pcd");
pcl::io::savePCDFileBinary(fileName.toStdString(), *pointCloudPCL);
}
//emit finished();
}
SMTriangulator::SMTriangulator(SMCalibrationParams _calibration, unsigned int frameWidth, unsigned int frameHeight) : calibration(_calibration){
// Precompute uc, vc maps
uc.create(frameHeight, frameWidth, CV_32F);
vc.create(frameHeight, frameWidth, CV_32F);
for(unsigned int row=0; row<frameHeight; row++){
for(unsigned int col=0; col<frameWidth; col++){
uc.at<float>(row, col) = col;
vc.at<float>(row, col) = row;
}
}
// Precompute determinant tensor
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 e = cv::Mat::eye(4, 4, CV_32F);
int sz[] = {4, 3, 3, 3};
cv::Mat C(4, sz, CV_32F, cv::Scalar::all(0));
for(int k=0; k<4; k++){
for(int i=0; i<3; i++){
for(int j=0; j<3; j++){
for(int l=0; l<3; l++){
cv::Mat op(4, 4, CV_32F);
Pc.row(i).copyTo(op.row(0));
Pc.row(j).copyTo(op.row(1));
Pp.row(l).copyTo(op.row(2));
e.row(k).copyTo(op.row(3));
C.at<float>(cv::Vec4i(k,i,j,l)) = cv::determinant(op.t());
}
}
}
}
determinantTensor = C;
// Precompute lens correction maps
cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);
cv::initUndistortRectifyMap(calibration.Kc, calibration.kc, eye, calibration.Kc, cv::Size(frameWidth, frameHeight), CV_32FC1, lensMap1, lensMap2);
//cv::Mat map1, map2;
//cv::normalize(lensMap1, map1, 0, 255, cv::NORM_MINMAX, CV_8U);
//cv::normalize(lensMap2, map2, 0, 255, cv::NORM_MINMAX, CV_8U);
//cv::imwrite("map1.png", map1);
//cv::imwrite("map2.png", map2);
}
void SMTriangulator::triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud){
// Undistort up, mask and shading
if(!up.empty()){
cv::Mat upUndistort;
cv::remap(up, upUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);
up = upUndistort;
}
if(!vp.empty()){
cv::Mat vpUndistort;
cv::remap(vp, vpUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);
vp = vpUndistort;
}
cv::Mat maskUndistort, shadingUndistort;
cv::remap(mask, maskUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);
cv::remap(shading, shadingUndistort, lensMap1, lensMap2, cv::INTER_LINEAR);
mask = maskUndistort;
shading = shadingUndistort;
// Triangulate
cv::Mat xyz;
if(!up.empty() && vp.empty())
triangulateFromUp(up, xyz);
else if(!vp.empty() && up.empty())
triangulateFromVp(vp, xyz);
else if(!up.empty() && !vp.empty())
triangulateFromUpVp(up, vp, xyz);
// Merge and mask
pointCloud = cv::Mat(up.size(), CV_32FC3, cv::Scalar(NAN, NAN, NAN));
xyz.copyTo(pointCloud, mask);
}
void SMTriangulator::triangulateFromUp(cv::Mat &up, cv::Mat &xyz){
// Solve for xyzw using determinant tensor
cv::Mat C = determinantTensor;
std::vector<cv::Mat> xyzw(4);
for(unsigned int i=0; i<4; i++){
xyzw[i].create(up.size(), CV_32F);
xyzw[i] = C.at<float>(cv::Vec4i(i,0,1,0)) - C.at<float>(cv::Vec4i(i,2,1,0))*uc - C.at<float>(cv::Vec4i(i,0,2,0))*vc -
C.at<float>(cv::Vec4i(i,0,1,2))*up + C.at<float>(cv::Vec4i(i,2,1,2))*up.mul(uc) + C.at<float>(cv::Vec4i(i,0,2,2))*up.mul(vc);
}
// Convert to non homogenous coordinates
for(unsigned int i=0; i<3; i++)
xyzw[i] /= xyzw[3];
// Merge and mask
cv::merge(std::vector<cv::Mat>(xyzw.begin(), xyzw.begin()+3), xyz);
}
void SMTriangulator::triangulateFromVp(cv::Mat &vp, cv::Mat &xyz){
// Solve for xyzw using determinant tensor
cv::Mat C = determinantTensor;
std::vector<cv::Mat> xyzw(4);
for(unsigned int i=0; i<4; i++){
xyzw[i].create(vp.size(), CV_32F);
xyzw[i] = C.at<float>(cv::Vec4i(i,0,1,1)) - C.at<float>(cv::Vec4i(i,2,1,1))*uc - C.at<float>(cv::Vec4i(i,0,2,1))*vc -
C.at<float>(cv::Vec4i(i,0,1,2))*vp + C.at<float>(cv::Vec4i(i,2,1,2))*vp.mul(uc) + C.at<float>(cv::Vec4i(i,0,2,2))*vp.mul(vc);
}
// Convert to non homogenous coordinates
for(unsigned int i=0; i<3; i++)
xyzw[i] /= xyzw[3];
// Merge and mask
cv::merge(std::vector<cv::Mat>(xyzw.begin(), xyzw.begin()+3), xyz);
}
void SMTriangulator::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);
}
SMSMTriangulator::~SMSMTriangulator(){
delete calibration;
delete SMTriangulator;
std::cout<<"SMTriangulatorWorker deleted\n"<<std::flush;
}