Repository: ram-lab/plycal
Branch: master
Commit: d04d1451338a
Files: 47
Total size: 766.6 KB
Directory structure:
gitextract_smbq0rmy/
├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── PlyCal/
│ ├── CMakeLists.txt
│ ├── calibrator.cpp
│ ├── calibrator.h
│ ├── image_polygon.cpp
│ ├── image_polygon.h
│ ├── pointcloud_polygon.cpp
│ ├── pointcloud_polygon.h
│ └── utils.h
├── PlyCal_qt/
│ ├── CMakeLists.txt
│ ├── cqtopencvviewergl.cpp
│ ├── cqtopencvviewergl.h
│ ├── data_reader.cpp
│ ├── data_reader.h
│ ├── imageviewer.cpp
│ ├── imageviewer.h
│ ├── imageviewer.ui
│ ├── main.cpp
│ ├── mainwindow.cpp
│ ├── mainwindow.h
│ ├── mainwindow.ui
│ ├── pointcloudviewer.cpp
│ ├── pointcloudviewer.h
│ ├── pointcloudviewer.ui
│ ├── tfwindow.cpp
│ ├── tfwindow.h
│ └── tfwindow.ui
├── PlyCal_test/
│ ├── CMakeLists.txt
│ ├── test_image_polygon.cpp
│ ├── test_image_polygons.cpp
│ └── test_pointcloud_polygon.cpp
├── README.md
├── data/
│ ├── config.json
│ └── pointcloud/
│ ├── 0.pcd
│ ├── 1.pcd
│ ├── 2.pcd
│ ├── 3.pcd
│ ├── 4.pcd
│ ├── 5.pcd
│ ├── 6.pcd
│ └── 7.pcd
├── doc/
│ └── README.md
└── thirdParty/
├── edlines/
│ ├── EDLineDetector.cpp
│ └── EDLineDetector.h
└── json/
└── json.hpp
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
/build
.ycm_extra_conf.py
*.swp
CMakeLists.txt.user
================================================
FILE: CMakeLists.txt
================================================
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
project(PlyCal)
#cmake_policy(SET CMP0028 OLD)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
add_definitions(-std=c++11) # for qt creator
# Optionally compiling part
option(BUILD_PlyCal_GUI "enables PlyCal viewer" true)
option(BUILD_PlyCal_TEST "enables PlyCal test" false)
# default built type
IF(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." FORCE)
ENDIF(NOT CMAKE_BUILD_TYPE)
include_directories(
thirdParty
PlyCal
)
# The library prefix
set(LIB_PREFIX plycal)
# Include the subdirectories
add_subdirectory(PlyCal)
if(BUILD_PlyCal_GUI)
add_subdirectory(PlyCal_qt)
endif(BUILD_PlyCal_GUI)
if(BUILD_PlyCal_TEST)
add_subdirectory(PlyCal_test)
endif(BUILD_PlyCal_TEST)
================================================
FILE: LICENSE
================================================
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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
Copyright (C)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
Copyright (C)
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
.
================================================
FILE: PlyCal/CMakeLists.txt
================================================
if( CMAKE_BUILD_TYPE EQUAL "Release")
add_definitions( -DNODEBUG )
endif(CMAKE_BUILD_TYPE EQUAL "Release")
file(GLOB LIB_SRC
"*.cpp"
)
file(GLOB LIB_HEADER
"*.h"
)
find_package(
OpenCV
REQUIRED
)
find_package(
PCL
QUIET
REQUIRED
)
find_package(
Ceres
REQUIRED
)
find_package(
Boost
REQUIRED
COMPONENTS
system
thread
)
find_package(
Eigen3
REQUIRED
)
# Fix a compilation bug under ubuntu 16.04 (Xenial)
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
add_definitions(${PCL_DEFINITIONS})
include_directories(
${PCL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
link_directories(
${PCL_LIBRARY_DIRS}
${Boost_LIBRARY_DIRS}
)
set(
EDLINE_SRC
${PROJECT_SOURCE_DIR}/thirdParty/edlines/EDLineDetector.cpp
)
add_library(
plycal
SHARED
${LIB_SRC}
${LIB_HEADER}
${EDLINE_SRC}
)
target_link_libraries(
plycal
${OpenCV_LIBS}
${Boost_LIBRARIES}
${PCL_LIBRARIES}
${CERES_LIBRARIES}
)
set_target_properties(
plycal
PROPERTIES
OUTPUT_NAME
${LIB_PREFIX}
)
================================================
FILE: PlyCal/calibrator.cpp
================================================
/**
******************************************************************************
* @file calibrator.cpp
* @author Nick.Liao
* @version V1.0.0
* @date 2017-12-28
* @brief calibrator.cpp
******************************************************************************
* @attention
*
* Copyright (C) 2017 Nick.Liao
* Distributed under terms of the MIT license.
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "calibrator.h"
#include
#include
#include
#include
#include
#include
#include
using namespace lqh;
/* Private define ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
using PCC = pcl::PointCloud;
using PCI = pcl::PointCloud;
namespace
{
template
static void ProjectPoint2Image(const T* const q_ptr, const T* const t_ptr,
const Eigen::Matrix& k,
const Eigen::Matrix& p3,
Eigen::Matrix& p2)
{
Eigen::Map > q(q_ptr);
Eigen::Map > t(t_ptr);
p2 = (q.matrix()*p3);
// p2.colwise() += t;
for(uint32_t i=0; i
bool operator()(const T* const q, const T* const p, T* residuals)const
{
Eigen::Matrix points;
ProjectPoint2Image(q,p, K.cast(), pts.cast(), points);
Eigen::Matrix tmp = (coef.transpose().cast())*points;
residuals[0] = tmp.cwiseAbs().sum();
return true; // important
}
};
struct Point2PolygonError
{
const Eigen::Matrix3d& K;
const Eigen::Matrix3Xd& pts;
const Eigen::Matrix3Xd& vertex;
Eigen::Matrix3Xd edge_normal;
Point2PolygonError(const Eigen::Matrix3d& k, const Eigen::Matrix3Xd& ps, const Eigen::Matrix3Xd& vx ):
K(k), pts(ps), vertex(vx)
{
Eigen::Vector3d center = vx.rowwise().mean();
edge_normal.resize(3, vx.cols());
edge_normal.row(2).setZero();
for(uint32_t i=0; i
bool operator()(const T* const q, const T* const t, T* residuals)const
{
using Matrix3XT = Eigen::Matrix;
Matrix3XT vtx = vertex.cast();
Matrix3XT normals = edge_normal.cast();
Matrix3XT points;
ProjectPoint2Image(q, t, K.cast(), pts.cast(), points);
residuals[0] = T(0);
for(uint32_t i=0; i();
if(size_ < 3 )
{
std::cerr << "E: size must >= 3\n " << __FUNCTION__;
return;
}
imgply_.reset( new ImagePolygon(js["img"], size_) );
pcply_.reset( new PointcloudPolygon(js["pc"], size_) );
polygons_.clear();
polygons_v_.clear();
polygons_v_.reserve(10);
track_error_threshold_ = js["track_error_threshold"].get();
K_.setIdentity();
T_.setIdentity();
auto& k = js["cam"]["K"];
assert( k.size() == 3 );
for(uint8_t i=0; i<2; i++)
{
assert( k[i].size() == 3 );
K_.row(i) << k[i][0], k[i][1], k[i][2];
}
K_.row(2) << 0,0,1;
auto& t = js["tf"];
assert( t.size() == 4 );
for(uint8_t i=0; i<3; i++)
{
assert( t[i].size() == 4 );
T_.row(i) << t[i][0], t[i][1], t[i][2], t[i][3];
}
T_.row(3) << 0,0,0,1;
is_valid_ = true;
}
uint32_t Calibrator::Add(const cv::Mat& img, const PCI& pc,
cv::Mat& img_out, pcl::PointCloud& pcc)
{
polygons_.emplace_back(size_);
auto& ply = polygons_.back();
polygons_v_.push_back(&ply);
ply.img = imgply_->Add(img,img_out);
ply.pc = pcply_->Add(pc, pcc);
if(ply.img != nullptr && ply.pc != nullptr)
{
MatchLines(ply);
}
// if( polygons_.size() == 1)
// {
// MatchLines(ply);
// }
// else
// {
// auto it = std::prev(polygons_.end(),2);
// TrackLines(*it, ply);
// }
//return id
return polygons_v_.size()-1;
}
bool Calibrator::RefineImage(const cv::Mat& img,
cv::Mat& img_out, const std::vector& pts)
{
assert(pts.size() == size_);
Eigen::Matrix3Xd vtx(3, size_);
vtx.row(2).setOnes();
for(uint8_t i=0; iInit(img, img_out, vtx);
if(ply.img == nullptr)
{
return false;
}
if(ply.pc == nullptr)
{
return true;
}
// both valid, match
MatchLines(ply);
// if( polygons_.size() == 1)
// {
// MatchLines(ply);
// }
// else
// {
// auto it = std::prev(polygons_.end(),2);
// TrackLines(*it, ply);
// }
return true;
}
bool Calibrator::RefinePointcloud(const PCI& pc, PCC& pcc, const Eigen::Vector4d& param )
{
auto& ply = polygons_.back();
pcply_->SetFilterParameters(param);
ply.pc = pcply_->Add(pc, pcc);
if(ply.pc == nullptr)
{
return false;
}
if(ply.img == nullptr)
{
return true;
}
// both valid, match
MatchLines(ply);
// if( polygons_.size() == 1)
// {
// MatchLines(ply);
// }
// else
// {
// auto it = std::prev(polygons_.end(),2);
// TrackLines(*it, ply);
// }
return true;
}
/**
* @brief Calibrator::Remove
* @todo: maybe we should use !!!skip
* @param id
* @return
*/
bool Calibrator::Remove(uint32_t id)
{
if(id >= polygons_v_.size())
{
return false;
}
polygons_v_.erase(polygons_v_.begin()+id);
auto it = polygons_.begin();
std::advance(it, id);
polygons_.erase(it);
return true;
}
// remove last one
bool Calibrator::Remove()
{
if(polygons_.size() == 0)
{
return false;
}
polygons_.pop_back();
polygons_v_.pop_back();
}
bool Calibrator::Compute(Eigen::Matrix4d &tf)
{
if(polygons_.size() == 0)
{
return false;
}
Optimize(tf);
T_ = tf;
return true;
}
void Calibrator::Optimize(Eigen::Matrix4d& tf)
{
Eigen::Matrix3d rot = T_.topLeftCorner(3,3);
Eigen::Quaterniond q (rot);
Eigen::Vector3d p = T_.topRightCorner(3,1);
//std::cout << "Before \nq:\n" << q.coeffs() << "\nt:\n" << p << std::endl;
ceres::Problem problem;
ceres::Solver::Summary summary;
ceres::Solver::Options options;
ceres::LossFunction* loss_function_edge (new ceres::SoftLOneLoss(1));
ceres::HuberLoss* loss_function_inlier (new ceres::HuberLoss(500));
ceres::LocalParameterization* quaternion_local_parameterization =
new ceres::EigenQuaternionParameterization;
for(const auto& ply : polygons_)
{
// add edge
for(uint32_t i=0; iedges[i].points.cols() == 0)
{
continue;
}
ceres::CostFunction* cost =
new ceres::AutoDiffCostFunction(
new Edge2EdgeError( K_, ply.pc->edges[i].points, ply.img->edges[ply.ids[i]].coef ));
problem.AddResidualBlock(cost, loss_function_edge,
q.coeffs().data(), p.data() );
}
// add inlier points
ceres::CostFunction* cost = new ceres::AutoDiffCostFunction(
new Point2PolygonError(K_, ply.pc->inliers, ply.img->vertexs) );
problem.AddResidualBlock(cost, NULL, q.coeffs().data(), p.data());
// problem.AddResidualBlock(cost, loss_function_inlier, q.coeffs().data(), p.data());
}
problem.SetParameterization(q.coeffs().data(), quaternion_local_parameterization);
//options.linear_solver_type = ceres::DENSE_SCHUR;
options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
options.max_num_iterations = 5000;
// or use all cpu cores
options.num_threads= boost::thread::hardware_concurrency() - 1;
#if (CERES_VERSION_MAJOR < 2)
options.num_linear_solver_threads = options.num_threads;
#endif
//options.minimizer_progress_to_stdout = true;
ceres::Solve(options, &problem, &summary);
std::cout << summary.FullReport() << std::endl;
tf = Eigen::Matrix4d::Identity();
tf.topLeftCorner(3,3) = q.matrix();
tf.topRightCorner(3,1) = p;
std::cout << "T: \n" << tf << std::endl;
}
void Calibrator::TrackLines(const Polygon& ply_prev, Polygon& ply) const
{
// image polygon keep orders, no futhur processing
// tracking pointcloud edge
// using PC = pcl::PointCloud;
// auto Mat2PC = [](const Eigen::Matrix3Xd& mat, PC& pc)
// {
// pc.points.reserve(mat.cols());
// for(uint32_t i=0; iinliers, *pc_prev);
// Mat2PC(ply.pc->inliers, *pc);
// pcl::IterativeClosestPoint icp;
// icp.setInputSource(pc);
// icp.setInputTarget(pc_prev);
// icp.setMaximumIterations(200);
// icp.setTransformationEpsilon(1e-6);
// icp.setEuclideanFitnessEpsilon(1);
// icp.align(pc_out, Eigen::Matrix4d::Identity());
// Eigen::Matrix4d T = icp.getFinalTransformation();
// using PairUD = std::pair;
// std::vector offsets(size_);
// for(uint32_t i=0; iedges[(j+i)%size_];
// const auto& cur = ply.pc->edges[j];
// if(prev.coef.norm() < 0.1 || cur.points.cols() == 0)
// {
// continue;
// }
// for(uint32_t k=0; k ids(size_);
for(uint32_t i=0; iedges[a].points.cols() >
ply.pc->edges[b].points.cols();
});
const auto& edge_0 = ply.pc->edges[ids[0]];
const auto& edge_1 = ply.pc->edges[ids[1]];
int32_t gap = ids[1] - ids[0];
using PairUD = std::pair;
std::vector offsets(size_);
Eigen::Matrix3d rot = T_.topLeftCorner(3,3);
Eigen::Vector3d trans = T_.topRightCorner(3,1);
auto err_proj = [this, &rot, &trans](const ImagePolygon::Edge2D& img,
const PointcloudPolygon::Edge3D& pc,
double& err)
{
Eigen::Vector2d dir_proj = (K_*(rot*pc.coef + trans)).head(2);
dir_proj.normalize();
Eigen::Vector2d dir_img(img.coef(1), -img.coef(0));
dir_img.normalize();
double err_angle = std::acos(dir_proj.dot(dir_img))/MATH_PI*180;
Eigen::Matrix3Xd pt_proj = rot*pc.points;
pt_proj.colwise() += trans;
pt_proj = K_*pt_proj;
for(uint32_t i=0; i 2d edge i
uint32_t id1 = (static_cast(i)+gap) < 0 ? i+gap +size_ : (i+gap)%size_;
err_proj(ply.img->edges[i], edge_0, offsets[i].second);
err_proj(ply.img->edges[id1], edge_1, offsets[i].second);
}
// increase order, offsets[0] has smallest error
std::sort(offsets.begin(), offsets.end(), [](const PairUD& a, const PairUD&b)
{
return a.second < b.second;
});
// ids[0] 3d edge <----> offsets[0].first 2d edge
uint32_t id_img = offsets[0].first > ids[0] ? offsets[0].first - ids[0]:
offsets[0].first + size_ - ids[0];
std::cout << "pc[0-4]: ";
for(uint32_t i=0; iinliers.format(csvfmt);
pc_inlier.close();
uint32_t num = 0;
for(const auto& it: ply.pc->edges)
{
num += it.points.cols();
}
Eigen::Matrix4Xd edges(4, num);
uint32_t id =0;
for(uint32_t j=0; jedges.size(); j++)
{
const auto& it = ply.pc->edges[j].points;
if(it.cols() == 0)
{
continue;
}
edges.block(0,id, 1, it.cols() ).setConstant(j);
edges.block(1,id, 3, it.cols() ) = it;
id += it.cols();
}
pc_edge << edges.format(csvfmt);
pc_edge.close();
Eigen::Matrix3Xd coef(3, size_);
for(uint32_t j=0; jedges.size(); j++)
{
coef.col(j) = ply.img->edges[ply.ids[j]].coef;
}
img_coef << coef.format(csvfmt);
img_coef.close();
img_vertex << ply.img->vertexs.format(csvfmt);
img_vertex.close();
i++;
}
}
bool Calibrator::Project(pcl::PointCloud& pc, cv::Mat& img,
const Eigen::Matrix4d& tf)
{
const double resolution = 0.1;
const double depth_min = 1.0;
const double depth_gap = 10.0;
if(img_width_ != img.cols || img_height_ != img.rows)
{
img_width_ = img.cols;
img_height_ = img.rows;
}
// Eigen::Vector4f pt_min, pt_max;
// pcl::getMinMax3D(pc, pt_min, pt_max);
// double depth_gap = std::sqrt(pt_max(0)*pt_max(0) + pt_max(1)+pt_max(1)) - depth_gap + 0.01;
// if(depth_gap > 5)
// {
// depth_gap = 5.0;
// }
uint32_t num = static_cast(depth_gap/resolution);
lqh::utils::color::rgbs colors = lqh::utils::color::get_rgbs(num);
cv::Mat im;
img.copyTo(im);
for(auto& p : pc.points)
{
Eigen::Vector3d pt = K_*(tf*Eigen::Vector4d(p.x, p.y, p.z, 1)).topRows(3);
if(pt(2) < 0.5)
{
continue;
}
int32_t u = static_cast(pt(0)/pt(2));
int32_t v = static_cast(pt(1)/pt(2));
if(u < 0 || u >= img.cols || v<0 || v >= img.rows)
{
continue;
}
cv::Vec3b color = im.at(cv::Point(u,v));
p.r = color[2];
p.g = color[1];
p.b = color[0];
double f = std::sqrt(p.x*p.x + p.y*p.y) - depth_min;
uint32_t idx = static_cast(f/resolution);
if(idx >= num)
{
idx = num -1;
}
auto& c = colors[idx];
cv::circle(img, cv::Point2d(u,v), 2, cv::Scalar(c[2], c[1], c[0]), -1);
}
}
void Calibrator::SetTranformation(const Eigen::Matrix4d& tf)
{
T_ = tf;
// check pointcloud filter
if(img_height_ == 0 || img_width_ == 0)
{
return;
}
Eigen::Vector4d orig = pcply_->GetFilterParameters();
auto getYaw = [this](double x, double y)->double
{
Eigen::Vector4d v (0,0,0,1);
v.head(3) = K_.inverse()*Eigen::Vector3d(x,y,1);
v = T_.inverse()*v;
double angle = std::atan2(v(1), v(0))/MATH_PI*180;
return angle <0? 360+angle : angle;
};
double angle0 = getYaw(0,0);
double angle1 = getYaw(img_width_-1, img_height_-1);
if(angle0 > angle1)
{
std::swap(angle0, angle1);
}
if(angle1-angle0 <180)
{
if(orig(0)< angle0 || orig(0)>angle1 )
{
orig(0) = angle0;
}
if(angle1 - orig(0) > orig(1))
{
orig(1) = angle1 - orig(0);
}
}
else
{
if(orig(0)> angle0 && orig(0)= angle1 ? 360-angle1+angle0 : angle0-orig(0);
if(orig(1) > gap)
{
orig(1) = gap;
}
}
pcply_->SetFilterParameters(orig);
}
/*****************************END OF FILE**************************************/
================================================
FILE: PlyCal/calibrator.h
================================================
/**
******************************************************************************
* @file calibrator.h
* @author Nick.Liao
* @version V1.0.0
* @date 2017-12-28
* @brief calibrator.h
******************************************************************************
* @attention
*
* Copyright (C) 2017 Nick.Liao
* Distributed under terms of the MIT license.
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CALIBRATOR_H
#define __CALIBRATOR_H
/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include
#include
#include
#include
#include
#include
#include "image_polygon.h"
#include "pointcloud_polygon.h"
#include "json/json.hpp"
#include "utils.h"
/* Exported macro ------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
namespace lqh
{
class Calibrator
{
public:
explicit Calibrator(const nlohmann::json& js);
uint32_t Add(const cv::Mat& img, const pcl::PointCloud& pc,
cv::Mat& img_out, pcl::PointCloud& pcc);
bool RefineImage(const cv::Mat& img, cv::Mat& img_out, const std::vector& pts);
bool RefinePointcloud(const pcl::PointCloud& pc,
pcl::PointCloud& pcc,
const Eigen::Vector4d& param );
uint32_t SavePolygonData(const std::string& dir);
void SetCameraK(const Eigen::Matrix3d& k)
{
K_ = k;
}
void SetTranformation(const Eigen::Matrix4d& tf);
bool Remove(uint32_t id);
bool Remove();
bool Compute(Eigen::Matrix4d& tf);
bool Compute()
{
return Compute(T_);
}
const Eigen::Matrix4d& GetTransformation()
{
return T_;
}
bool ImageGood(uint32_t id)
{
if(id >= polygons_v_.size())
{
return false;
}
return (polygons_v_[id]->img != nullptr);
}
bool PointcloudGood(uint32_t id)
{
if(id >= polygons_v_.size())
{
return false;
}
return (polygons_v_[id]->pc != nullptr);
}
bool Good()
{
return is_valid_;
}
bool Project(pcl::PointCloud& pc, cv::Mat& img)
{
Project(pc, img, T_);
}
bool Project(pcl::PointCloud& pc, cv::Mat& img,
const Eigen::Matrix4d& tf);
private:
struct Polygon
{
/**
* ids: corroesponences of 2d/3d Polygon
* same edge: $i$th 3d edge <---> ids[i] 2d edge
*/
std::vector ids;
ImagePolygon::Polygon2D::ConstPtr img;
PointcloudPolygon::Polygon3D::ConstPtr pc;
Polygon(uint32_t size):img(nullptr), pc(nullptr)
{
ids.resize(size);
for(uint32_t i=0; i imgply_;
std::unique_ptr pcply_;
std::vector polygons_v_;
std::list polygons_;
void TrackLines(const Polygon& ply_prev, Polygon& ply) const;
void MatchLines(Polygon& ply) const;
void Optimize(Eigen::Matrix4d& tf);
};
}
/* Exported constants --------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#endif /* !__CALIBRATOR_H */
/*****************************END OF FILE**************************************/
================================================
FILE: PlyCal/image_polygon.cpp
================================================
/**
******************************************************************************
* @file image_polygon.cpp
* @author Nick.Liao
* @version V1.0.0
* @date 2017-12-22
* @brief image_polygon.cpp
******************************************************************************
* @attention
*
* Copyright (C) 2017 Nick.Liao
* Distributed under terms of the MIT license.
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "image_polygon.h"
#include
#include
#include "utils.h"
using namespace lqh;
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/**
* @brief
* @param
* @note
* @return None
*/
ImagePolygon::ImagePolygon(const nlohmann::json& js, uint8_t size):
size_(size), polygon_(nullptr)
{
//!!! we don't set default
// config line detector
auto ed = js["edlines"];
EDLineParam para;
para.minLineLen = ed["minLineLen"];
para.lineFitErrThreshold = ed["lineFitErrThreshold"];
para.ksize = ed["ksize"];
para.sigma = ed["sigma"];
para.gradientThreshold = ed["gradientThreshold"];
para.scanIntervals = ed["scanIntervals"];
para.anchorThreshold = ed["anchorThreshold"];
detector_.reset(new EDLineDetector(para));
feature_size_ = js["feature"]["size"];
feature_offset_ = js["feature"]["offset"];
feature_threshold_ = js["feature"]["threshold"];
merge_distance_threshold_ = js["merge"]["distance_threshold"];
merge_angle_threshold_ = js["merge"]["angle_threshold"];
merge_endpoint_distance_threshold_ = js["merge"]["endpoint_distance_threshold"];
filter_point_line_threshold_ = js["filter"]["point_line_threshold"];
filter_line_angle_threshold_ = js["filter"]["line_angle_threshold"];
filter_point_center_factor_ = js["filter"]["point_center_factor"];
if(filter_point_center_factor_ >1 || filter_point_center_factor_ <0)
{
std::cout << "W: point_dis_factor in (0,1) get " <<
filter_point_center_factor_ << "\n";
filter_point_center_factor_ = 0.2;
}
// random
// center to line distance
filter_point_center_max_ = 100;
filter_line_center_min_ = 50;
width_ = 0;
length_ = 0;
angle_width_ = 0;
angle_length_ = 0;
Eigen::Matrix3Xd pts(3,4);
pts.row(2).setOnes();
for(uint8_t i=0; i<4; i++)
{
pts(0,i) = js["init"][i][0].get();
pts(1,i) = js["init"][i][1].get();
}
polygon_ = InitPolygon(pts);
}
ImagePolygon::Polygon2D::Ptr ImagePolygon::InitPolygon(const Eigen::Matrix3Xd& pts)
{
// currently, only apply to rectangular
// @TODO
assert(pts.cols() == 4);
assert(pts.cols() == size_ );
using PairUD = std::pair;
// sort the points(clock wise)
Eigen::Vector3d center = pts.rowwise().mean();
center(2) = 1;
std::vector verts( size_ );
for(uint32_t i=0; i(size_);
ply->center = center;
auto EistimateCoef = [](const Eigen::Vector3d& p0,
const Eigen::Vector3d& p1,
Eigen::Vector3d& coef)
{
Eigen::Vector3d dir = (p0-p1).normalized();
Eigen::Vector3d c = (p0+p1)/2;
coef(0) = -1*dir(1);
coef(1) = dir(0);
coef(2) = -1*(coef(0)*c(0) + coef(1)*c(1));
};
for(uint32_t i=0; ivertexs.col(i) = pts.col(verts[i].first);
EistimateCoef(pts.col(verts[i].first), pts.col(verts[next].first),
ply->edges[i].coef);
ply->edges[i].length = (pts.col(verts[i].first) - pts.col(verts[next].first)).norm();
double dir = std::atan2(-ply->edges[i].coef(0), ply->edges[i].coef(1))/MATH_PI*180;
ply->edges[i].dir = (dir<0)?dir+180:dir;
//ExtractLineFeature(img, pts.col(verts[i].first), pts.col(verts[next].first),
//center, polygon_->edges[i].feature);
}
UpdateParameters(ply);
return ply;
}
ImagePolygon::Polygon2D::ConstPtr ImagePolygon::Init(const cv::Mat& img,
cv::Mat& img_out, const Eigen::Matrix3Xd& pts)
{
Polygon2D::Ptr ply = InitPolygon(pts);
// SaveMarkedImage("init.png", img, ply);
return ExtractPolygon(img, img_out,ply);
}
ImagePolygon::Polygon2D::ConstPtr ImagePolygon::Add(const cv::Mat& img, cv::Mat& img_out)
{
if(polygon_ == nullptr)
{
std::cerr << "E: init first\n";
return nullptr;
}
return ExtractPolygon(img, img_out, polygon_);
}
ImagePolygon::Polygon2D::ConstPtr ImagePolygon::ExtractPolygon(const cv::Mat& img,
cv::Mat& img_out, Polygon2D::ConstPtr prev)
{
// we require color image
assert(img.channels() == 3);
std::list lines;
Polygon2D::Ptr ply;
bool res = ExtractLines(img, lines);
if(!res)
{
MarkImage(img_out, lines);
return nullptr;
}
// SaveMarkedImage("ExtractLines.png", img, lines);
res &= FilterLines(lines, prev);
if(!res)
{
MarkImage(img_out, lines);
return nullptr;
}
// SaveMarkedImage("FilterLines.png", img, lines);
res &= MergeLines(lines);
if(!res)
{
MarkImage(img_out, lines);
return nullptr;
}
// SaveMarkedImage("EMergeLines.png", img, lines);
res &= FilterLinesByRectangule(lines, prev);
if(!res)
{
MarkImage(img_out, lines);
return nullptr;
}
// SaveMarkedImage("FilterLinesByRectangule.png", img, lines);
res &= SortLines(lines, prev, ply);
if(res)
{
polygon_ = ply;
UpdateParameters();
MarkImage(img_out, ply);
return ply;
}
else
{
return nullptr;
}
}
bool ImagePolygon::ExtractLines(const cv::Mat& img, std::list& ls)
{
//cv::Mat img_hsv;
//cv::Mat imgs[3];
//cv::cvtColor(img, img_hsv, cv::COLOR_BGR2HSV);
//cv::split(img_hsv, imgs);
//auto& img_h = imgs[2];
//ls.clear();
//// set circle
//double x = polygon_->center(0);
//double y = polygon_->center(1);
//uint16_t r_max = static_cast(filter_point_center_max_);
//uint16_t r_min = static_cast(filter_line_center_min_);
//std::cout << "cx: " << x <<" cy: " << y
//<< "\n r_max: " << r_max << " r_min: " << r_min << std::endl;
////cv::Mat img_mask(img_h.rows, img_h.cols, CV_8U);
////cv::circle(img_mask, cv::Point2d(x,y), r_max, cv::Scalar(255), -1);
////cv::Mat img_roi;
////img_h.copyTo(img_roi, img_mask);
//double sum = 0;
//uint8_t p_max = 0;
//uint8_t p_min = 255;
//for(uint16_t i=y-r_min; i(i,j);
//sum += pixel;
//if( p_max < pixel)
//{
//p_max = pixel;
//}
//if(p_min > pixel)
//{
//p_min = pixel;
//}
//}
//}
//uint8_t average = static_cast(sum/(4*r_min*r_min));
//std::cout << "average: " << static_cast(average)
//<< " p_min: " << static_cast(p_min)
//<< " p_max: " << static_cast(p_max) << std::endl;
//p_max += 4;
//p_min -= 4;
//for(uint16_t i=0; i(i,j);
//if(d >= filter_point_center_max_)
//{
//pixel = 0;
//}
//else
//{
//if(pixel > p_max)
//{
//pixel = 255 - (p_max - pixel);
////pixel = 0;
//}
//else if(pixel < p_min)
//{
//pixel = 255 - (pixel-p_min);
////pixel = 0;
//}
//else
//{
//pixel = 255;
//}
//}
//}
//}
//cv::threshold(img_h, img_h,0,180,cv::THRESH_BINARY+cv::THRESH_OTSU);
//img_h = img_h*255/180;
cv::Mat img_h;
cv::cvtColor(img, img_h, cv::COLOR_BGR2GRAY);
// cv::imwrite("img_gray.png", img_h);
if(detector_->EDline(img_h) < 0 )
{
std::cerr << "E: EDline detector fail to detect lines in the image\n";
return false;
}
for (uint16_t i =0; ilineEquations_.size(); i++)
{
ls.emplace_back();
Line2D& last = ls.back();
// ax+by+c=0 direction vector=(-b a)
last.dir = std::atan2(-detector_->lineEquations_[i][0],
detector_->lineEquations_[i][1])/MATH_PI*180;
if(last.dir<0)
{
last.dir += 180;
}
last.p0 << detector_->lineEndpoints_[i][0],
detector_->lineEndpoints_[i][1],
1;
last.p1 << detector_->lineEndpoints_[i][2],
detector_->lineEndpoints_[i][3],
1;
last.coef << detector_->lineEquations_[i][0],
detector_->lineEquations_[i][1],
detector_->lineEquations_[i][2];
last.coef = last.coef/(last.coef.head(2).norm());
last.points.resize(2, detector_->lines_.sId[i+1]-detector_->lines_.sId[i]);
uint16_t col_index = 0;
for(uint16_t j=detector_->lines_.sId[i]; jlines_.sId[i+1]; j++)
{
last.points.col(col_index++) << detector_->lines_.xCors[j],
detector_->lines_.yCors[j];
}
}
return true;
}
/**
* filter criteria
* 1. center to endpoint distances
* 2. center to line distance
* 3. endpoints to line distances
* 4. line direction angle error
*/
bool ImagePolygon::FilterLines(std::list& ls, Polygon2D::ConstPtr prev)
{
if(ls.size() < size_ )
{
return false;
}
auto l = ls.begin();
while( l != ls.end() )
{
auto ln = l;
l++;
double center2point_0 = (prev->center - ln->p0).norm();
double center2point_1 = (prev->center - ln->p1).norm();
double center2line = std::abs(prev->center.dot(ln->coef));
if( center2point_0 > filter_point_center_max_ ||
center2point_1 > filter_point_center_max_ ||
center2line < filter_line_center_min_ )
{
ls.erase( ln );
continue;
}
bool is_remove = true;
for(uint32_t i=0; ip0.dot(prev->edges[i].coef));
d += std::abs(ln->p1.dot(prev->edges[i].coef));
double angle = std::abs(ln->dir - prev->edges[i].dir);
if(angle > 90)
{
angle = 180 - angle;
}
if(angle < filter_line_angle_threshold_ &&
d < filter_point_line_threshold_)
{
is_remove = false;
}
}
if(is_remove )
{
ls.erase( ln );
}
}
return ls.size() >= size_ ? true : false;
}
/**
* @brief merge all paralle lines
* @param ls
* @return
*/
bool ImagePolygon::MergeLines(std::list& ls)
{
if(ls.size() < size_)
{
std::cerr << "E: no enough line segments for " << __FUNCTION__
<< "\n get " << ls.size() << " lines\n";
return false;
}
auto ln = ls.begin();
while(ln != ls.end())
{
bool flag = false;
auto ln_nx = std::next(ln);
while(ln_nx != ls.end())
{
// distance error
double d = std::abs(ln->p0.transpose()*ln_nx->coef);
d += std::abs(ln->p1.transpose()*ln_nx->coef);
d += std::abs(ln_nx->p0.transpose()*ln->coef);
d += std::abs(ln_nx->p1.transpose()*ln->coef);
Eigen::Vector4d e2e;
e2e(0) = (ln->p0 - ln_nx->p0).norm();
e2e(1) = (ln->p0 - ln_nx->p1).norm();
e2e(2) = (ln->p1 - ln_nx->p0).norm();
e2e(3) = (ln->p1 - ln_nx->p1).norm();
// direction angle error
double angle = std::abs(ln->dir - ln_nx->dir);
if(angle > 90)
{
angle = 180 - angle;
}
if(angle < merge_angle_threshold_ &&
d < merge_distance_threshold_ &&
e2e.minCoeff() < merge_endpoint_distance_threshold_)
{
// merge two line segement
flag = true;
// find endpoints
Eigen::Matrix3Xd endpoint(3,4);
endpoint.col(0) = ln->p0;
endpoint.col(1) = ln->p1;
endpoint.col(2) = ln_nx->p0;
endpoint.col(3) = ln_nx->p1;
uint32_t axis = 0; // x-axis
if(std::abs(ln->dir - 90) < 10)
{
axis = 1; // y-axis
}
uint8_t id_max =0, id_min = 1;
for(uint8_t i=0; i<4; i++)
{
if(endpoint(axis, i) > endpoint(axis, id_max))
{
id_max = i;
}
else if (endpoint(axis, i) < endpoint(axis, id_min))
{
id_min = i;
}
}
ln->p0 = endpoint.col(id_min);
ln->p1 = endpoint.col(id_max);
ln->points.conservativeResize(Eigen::NoChange,
ln->points.cols()+ln_nx->points.cols());
ln->points.topRightCorner(2,ln_nx->points.cols()) = ln_nx->points;
// erase node
ln_nx++;
ls.erase(std::prev(ln_nx));
}
else
{
ln_nx++;
}
}
if(flag)
{
ln->dir = -1;
ln->coef.setZero();
}
ln++;
}
if(ls.size() < size_)
{
std::cerr << "E: no enough line segments after merging\n"
<< " get " << ls.size() << " lines\n";
return false;
}
// re-fit lines
for(auto&ln : ls)
{
if(ln.dir >=0 )
{
continue;
}
std::vector pts;
pts.reserve(ln.points.cols());
for(uint32_t i=0; i coef(4, 0);
cv::fitLine(pts, coef, cv::DIST_L1,0, 0.01, 0.01);
ln.coef(0) = coef[1];
ln.coef(1) = -coef[0];
ln.coef(2) = -1*(ln.coef(0)*coef[2] + ln.coef(1)*coef[3]);
ln.coef = ln.coef/(ln.coef.head(2).norm());
ln.dir = std::atan2(coef[1], coef[0])/MATH_PI*180;
if(ln.dir < 0)
{
ln.dir += 180;
}
}
return true;
}
//@TODO only apply to rectangular board
bool ImagePolygon::FilterLinesByRectangule(std::list& ls, Polygon2D::ConstPtr prev)
{
assert(ls.size()>=4 );
if(ls.size() < size_)
{
std::cerr << "E: no enough lines for " << __FUNCTION__
<< "\n get " << ls.size() << "lines \n";
return false;
}
struct RectangleEdges
{
double error;
uint32_t id0;
uint32_t id1;
RectangleEdges(double error_, uint32_t id0_, uint32_t id1_):
error(error_), id0(id0_), id1(id1_) {}
};
std::list width;
std::list length;
uint32_t id0 = 0;
for(auto l=ls.cbegin(); l!=ls.cend(); l++)
{
uint32_t id1 = id0+1;
Eigen::Vector3d ep2c = prev->center - (l->p0 + l->p1)/2;
for(auto next=std::next(l); next!=ls.cend(); next++)
{
double err_angle = LineAngleError(l->dir, next->dir);
if( err_angle < 10)
{
// parallel line
double dis = std::abs(next->coef.dot(l->p0));
dis += std::abs(next->coef.dot(l->p1));
dis += std::abs(l->coef.dot(next->p0));
dis += std::abs(l->coef.dot(next->p1));
dis = dis/4;
Eigen::Vector3d c2c = (next->p0+next->p1)/2 - (l->p0 + l->p1)/2 ;
c2c.normalize();
double err_c2c = c2c.cross(ep2c).norm();
double angle_width = LineAngleError(angle_width_,
LineAngleAverage(l->dir,next->dir));
double angle_length = LineAngleError(angle_length_,
LineAngleAverage(l->dir, next->dir));
if(angle_width > angle_length)
{
double dis_rate = std::abs(dis - width_)/width_;
if(dis_rate < 0.15)
{
length.emplace_back(dis_rate*err_angle*err_c2c, id0, id1);
}
}
else
{
double dis_rate = std::abs(dis - length_)/length_;
if(dis_rate < 0.15)
{
width.emplace_back(dis_rate*err_angle*err_c2c, id0, id1);
}
}
}
id1++;
}
id0++;
}
if(width.size()<1 || length.size() <1)
{
std::cerr << "E: FilterLinesByRectangule width: " << width.size()
<< " length: " << length.size() << std::endl;
return false;
}
auto RectangleEdgesSort = [](const RectangleEdges& a, const RectangleEdges& b)
{
return a.error < b.error;
};
if(width.size() > 1)
{
width.sort(RectangleEdgesSort);
}
if(length.size() > 1)
{
length.sort(RectangleEdgesSort);
}
std::set edges;
edges.insert(width.front().id0);
edges.insert(width.front().id1);
edges.insert(length.front().id0);
edges.insert(length.front().id1);
id0 = 0;
auto ln = ls.begin();
while(ln != ls.end())
{
ln++;
if(edges.count(id0) == 0)
{
ls.erase(std::prev(ln));
}
id0++;
}
return true;
}
bool ImagePolygon::SortLines(std::list& ls, Polygon2D::ConstPtr prev, Polygon2D::Ptr& ply )
{
if(ls.size() != size_)
{
std::cerr << "E: too many/fewer line segments to sort\n"
<< " get " << ls.size() << " lines\n";
return false;
}
using PairUD = std::pair;
Eigen::Vector3d center;
for(const auto& it:ls)
{
center += it.p0;
center += it.p1;
}
center = center / (ls.size()*2);
for(auto& it:ls)
{
Eigen::Vector3d mid = (it.p0 + it.p1)/2;
it.dir = std::atan2(mid(1)-center(1), mid(0)-center(0)) + MATH_PI;
}
ls.sort([](Line2D& a, Line2D& b)
{
return a.dir < b.dir;
});
// find all vertexs
std::vectorvertexs(size_);
{
auto l = ls.cbegin();
for(auto& it:vertexs)
{
Eigen::Matrix2d A;
Eigen::Vector2d B;
A.row(0) = l->coef.head(2);
B(0) = -1*l->coef(2);
if(l != ls.cbegin())
{
auto pre = std::prev(l);
A.row(1) = pre->coef.head(2);
B(1) = -1*pre->coef(2);
}
else
{
A.row(1) = ls.back().coef.head(2);
B(1) = -1*ls.back().coef(2);
}
it.head(2) = A.inverse()*B;
it(2) = 1;
l++;
}
}
// find offset, index correspondence
uint32_t id_cors = 0;
{
double error = INT_MAX;
auto& l0 = ls.front();
double dir = std::atan2(-l0.coef(0), l0.coef(1))/MATH_PI*180;
if(dir < 0)
{
dir += 180;
}
for(uint32_t i=0; iedges[i].dir - dir)*2;
err += std::abs(l0.p0.dot(prev->edges[i].coef));
err += std::abs(l0.p1.dot(prev->edges[i].coef));
if(err < error)
{
id_cors = i;
}
}
}
ply = std::make_shared(size_);
uint32_t id = 0;
for(const auto& it: ls)
{
uint32_t pindex = (id+id_cors)%size_;
ply->edges[pindex].coef = it.coef;
double dir = std::atan2(-it.coef(0), it.coef(1))/MATH_PI*180;
if(dir < 0)
{
dir += 180;
}
ply->edges[pindex].dir = dir;
Eigen::Vector3d p01 = vertexs[id] - vertexs[(id+1)%size_];
ply->edges[pindex].length = p01.head(2).norm();
ply->vertexs.col(pindex) = vertexs[id];
id++;
}
return true;
}
void ImagePolygon::UpdateParameters()
{
UpdateParameters(polygon_);
}
void ImagePolygon::UpdateParameters(Polygon2D::Ptr ply)
{
// update threshold
// Eigen::Vector3d center;
// center.setZero();
// for(auto& it: ply->vertexs)
// {
// center += it;
// }
// center = center/size_;
Eigen::Vector3d center = ply->vertexs.rowwise().mean();
ply->center = center;
Eigen::VectorXd center2point(size_);
Eigen::VectorXd center2line(size_);
for(uint32_t i=0; ivertexs.col(i)).norm();
center2line(i) = std::abs( center.dot(ply->edges[i].coef) );
}
filter_point_center_max_ = center2point.maxCoeff()*(1+filter_point_center_factor_);
filter_line_center_min_ = center2line.minCoeff()*(1-filter_point_center_factor_);
//@TODO
double dis0=0, dis1=0;
dis0 += std::abs(ply->edges[2].coef.dot(ply->vertexs.col(0) ));
dis0 += std::abs(ply->edges[2].coef.dot(ply->vertexs.col(1) ));
dis0 += std::abs(ply->edges[0].coef.dot(ply->vertexs.col(2) ));
dis0 += std::abs(ply->edges[0].coef.dot(ply->vertexs.col(3) ));
dis0 = dis0 / 4;
double angle1 = LineAngleAverage(ply->edges[2].dir, ply->edges[0].dir);
dis1 += std::abs(ply->edges[1].coef.dot(ply->vertexs.col(0) ));
dis1 += std::abs(ply->edges[1].coef.dot(ply->vertexs.col(3) ));
dis1 += std::abs(ply->edges[3].coef.dot(ply->vertexs.col(1) ));
dis1 += std::abs(ply->edges[3].coef.dot(ply->vertexs.col(2) ));
dis1 = dis1 / 4;
double angle0 = LineAngleAverage(ply->edges[1].dir, ply->edges[3].dir);
if(dis0 < dis1)
{
width_ = dis0;
length_ = dis1;
angle_width_ = angle0;
angle_length_ = angle1;
}
else
{
width_ = dis1;
length_ = dis0;
angle_width_ = angle1;
angle_length_ = angle0;
}
std::cout << "width: " << width_ << " length: " << length_
<< "\n angle_width: " << angle_width_
<< " angle_length: " << angle_length_ << "\n";
}
double ImagePolygon::LineAngleError(double l0, double l1)
{
double e = std::abs(l0 - l1);
if(e >90)
{
e = 180 - e;
}
return e;
}
double ImagePolygon::LineAngleAverage(double l0, double l1)
{
double e = (l0+l1)/2;
if(std::abs(l0 - l1) > 90)
{
e = (l0+l1-180)/2;
}
return e;
}
void ImagePolygon::MarkImage(cv::Mat &img, const std::list &ls)
{
utils::color::rgbs colors = utils::color::get_rgbs(ls.size());
auto lines_it = ls.cbegin();
for (std::size_t i = 0; i < ls.size(); i++)
{
auto& it = *lines_it;
cv::Scalar color(colors[i][0], colors[i][1], colors[i][2]);
cv::Point2d p0(it.p0(0), it.p0(1));
cv::Point2d p1(it.p1(0), it.p1(1));
cv::line(img, p0, p1, color, 2 );
cv::circle(img, p0, 5, color);
cv::circle(img, p1, 4, color);
cv::putText(img, std::to_string(i),(p0+p1)/2,
cv::FONT_HERSHEY_SIMPLEX, 2, color, 2 );
lines_it++;
}
if(polygon_ != nullptr)
{
const auto& c = polygon_->center;
cv::circle(img, cv::Point2d(c(0), c(1)), filter_line_center_min_,
cv::Scalar(0,0,255), 2);
cv::circle(img, cv::Point2d(c(0), c(1)), filter_point_center_max_,
cv::Scalar(0,255,0), 2);
}
}
void ImagePolygon::MarkImage(cv::Mat& img, Polygon2D::ConstPtr ply)
{
utils::color::rgbs colors = utils::color::get_rgbs( size_ );
for (uint32_t i = 0; i < size_; i++)
{
uint32_t next = (i== size_-1)?0:i+1;
auto& it = ply->vertexs;
auto& ln = ply->edges[i];
cv::Scalar color(colors[i][2], colors[i][1], colors[i][0]);
cv::Point2d p0( it(0,i), it(1,i) );
cv::Point2d p1( it(0,next), it(1, next) );
// draw id
cv::putText(img, std::to_string(i),(p0+p1)/2,
cv::FONT_HERSHEY_SIMPLEX, 2, color, 2 );
// draw vertex
if(i == 0)
{
cv::circle(img, p0, 8, color, 3);
}
else
{
cv::circle(img, p0, 5, color);
}
// draw line
if( std::abs(ln.dir - 90 ) < 45)
{
p0.y = 0;
p0.x = -1*ln.coef(2)/ln.coef(0);
p1.y = img.rows;
p1.x = -1*(ln.coef(2) + ln.coef(1)*p1.y)/ln.coef(0);
}
else
{
p0.x = 0;
p0.y = -1*ln.coef(2)/ln.coef(1);
p1.x = img.cols;
p1.y = -1*(ln.coef(2) + ln.coef(0)*p1.x)/ln.coef(1);
}
cv::line(img, p0, p1, color, 1 );
}
}
bool ImagePolygon::SaveMarkedImage(const std::string& fn,
const cv::Mat& img, const std::list&ls)
{
cv::Mat img_line;
if(img.channels() == 1)
{
#if (CV_VERSION_MAJOR >= 4)
cv::cvtColor(img, img_line, cv::COLOR_GRAY2BGR);
#else
cv::cvtColor(img, img_line, CV_GRAY2BGR);
#endif
}
else
{
img_line = img.clone();
}
MarkImage(img_line, ls);
return cv::imwrite(fn, img_line);
}
bool ImagePolygon::SaveMarkedImage(const std::string& fn, const cv::Mat& img,
Polygon2D::ConstPtr ply)
{
cv::Mat img_line;
if(img.channels() == 1)
{
#if (CV_VERSION_MAJOR >= 4)
cv::cvtColor(img, img_line, cv::COLOR_GRAY2BGR);
#else
cv::cvtColor(img, img_line, CV_GRAY2BGR);
#endif
}
else
{
img_line = img.clone();
}
MarkImage(img_line, ply);
return cv::imwrite(fn, img_line);
}
/*****************************END OF FILE**************************************/
================================================
FILE: PlyCal/image_polygon.h
================================================
/**
******************************************************************************
* @file image_polygon.h
* @author Nick.Liao
* @version V1.0.0
* @date 2017-12-22
* @brief image_polygon.h
******************************************************************************
* @attention
*
* Copyright (C) 2017 Nick.Liao
* Distributed under terms of the MIT license.
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __IMAGE_POLYGON_H
#define __IMAGE_POLYGON_H
/* Includes ------------------------------------------------------------------*/
#include
#include
#include
#include
#include
#include "json/json.hpp"
#include "edlines/EDLineDetector.h"
/* Exported macro ------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
namespace lqh
{
class ImagePolygon
{
public:
using LineFeature = Eigen::Matrix;
struct Edge2D
{
double dir;
double length;
Eigen::Vector3d coef;
LineFeature feature;
};
struct Polygon2D
{
using ConstPtr = std::shared_ptr;
using Ptr = std::shared_ptr;
Eigen::Vector3d center;
Eigen::Matrix3Xd vertexs;
std::vector edges;
Polygon2D(uint32_t size)
{
center.setZero();
vertexs.resize(3, size);
edges.resize(size);
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
explicit ImagePolygon(const nlohmann::json& js, uint8_t size);
Polygon2D::ConstPtr Add(const cv::Mat& img, cv::Mat& img_out);
Polygon2D::ConstPtr Init(const cv::Mat& img, cv::Mat& img_out, const Eigen::Matrix3Xd& pts);
bool SaveMarkedImage(const std::string& fn, const cv::Mat& img,
Polygon2D::ConstPtr pyg);
private:
struct Line2D
{
double dir;
Eigen::Vector3d p0, p1;
Eigen::Vector3d coef;
Eigen::Matrix2Xi points;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
const uint32_t size_; // current implemention only support size_=4
uint32_t feature_size_;
uint32_t feature_offset_;
double feature_threshold_;
double merge_distance_threshold_;
double merge_angle_threshold_;
double merge_endpoint_distance_threshold_;
double filter_point_line_threshold_;
double filter_line_angle_threshold_;
double filter_point_center_factor_;
double filter_point_center_max_;
double filter_line_center_min_;
//@TODO only apply for rectangular board, size_ == 4
double width_;
double length_;
double angle_width_;
double angle_length_;
std::unique_ptr detector_; // line detector
// edge descripter
Polygon2D::Ptr polygon_; // last polygon
Polygon2D::ConstPtr ExtractPolygon(const cv::Mat& img, cv::Mat& img_out,
Polygon2D::ConstPtr prev);
Polygon2D::Ptr InitPolygon(const Eigen::Matrix3Xd& pts);
bool ExtractLines(const cv::Mat& img, std::list& ls);
bool FilterLines(std::list& ls, Polygon2D::ConstPtr prev);
bool MergeLines(std::list& ls);
bool FilterLinesByRectangule(std::list& ls, Polygon2D::ConstPtr prev);
bool SortLines(std::list& ls, Polygon2D::ConstPtr prev, Polygon2D::Ptr& ply);
void UpdateParameters();
void UpdateParameters(Polygon2D::Ptr ply);
double LineAngleError(double l0, double l1);
double LineAngleAverage(double l0, double l1);
void MarkImage(cv::Mat& img_out, const std::list&ls);
void MarkImage(cv::Mat& img_out, Polygon2D::ConstPtr ply);
bool SaveMarkedImage(const std::string& fn, const cv::Mat& img,
const std::list&ls);
};
}
/* Exported constants --------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#endif /* !__IMAGE_POLYGON_H */
/*****************************END OF FILE**************************************/
================================================
FILE: PlyCal/pointcloud_polygon.cpp
================================================
/**
******************************************************************************
* @file pointcloud_polygon.cpp
* @author Nick.Liao
* @version V1.0.0
* @date 2017-12-26
* @brief pointcloud_polygon.cpp
******************************************************************************
* @attention
*
* Copyright (C) 2017 Nick.Liao
* Distributed under terms of the MIT license.
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "pointcloud_polygon.h"
#include
#include