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masterarbeit-kai
Commit 63e925bc by wester
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pntsHeader

parent eee6612f
Showing with 125 additions and 32 deletions
3_PointCloud/Camera.h
......@@ -16,7 +16,7 @@ private:
glm::vec3 position;
glm::vec3 up;
float speed = 0.1f;
float speed = 0.05f;
float mouseSpeed = 0.005f;
float horizontalAngle = (float) -M_PI/2;
......
3_PointCloud/example.txt deleted 100644 → 0
pnts128
\ No newline at end of file
3_PointCloud/frames/pnts_0.txt 0 → 100644
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3_PointCloud/frames/pnts_1.txt 0 → 100644
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3_PointCloud/main.cpp
......@@ -52,9 +52,9 @@ float KinectSizeZ = 0.067;
float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
float KinectOriginOffsetY = KinectSizeY/2.0f;
glm::vec3 FrameTranslation(0.0,0.0,0.0);
float minTrackingKinect = 0.2f;//0.8f;
float maxTrackingKinect = 0.8f;// 2.5f;
//Vive Tracking
SteamTracking* steamTracking = nullptr;
......@@ -67,7 +67,7 @@ std::vector<glm::vec3> controllerPositions;
bool toggleCam = true;
bool toggleCam = false;
Camera mainCam;
static bool trackControllerPos = true;
......@@ -77,20 +77,29 @@ static bool captureFrame = false;
int lastX, lastY;
float degreeToRadioan(float degree) {
return degree*M_PI / 180.0;
}
//Filter Settings
float minTrackingKinect = 0.2f;//0.8f;
float maxTrackingKinect = 1.8f;// 2.5f;
//Custom
//float angleDegrees = 20.0f;
float maxNormalAngle = degreeToRadioan(25.0f);
bool enableDepthFilter = false;
bool enableNormalFilter = true;//true;
bool enableNormalFilter = false;//true;
//Bilateral / FastDepthNoise
bool enableFastDepthNoiseFilter = true;
float repairThreshold = 100.0f;
float degreeToRadioan(float degree) {
return degree*M_PI / 180.0;
}
void DrawCoordinateSystem() {
//TETAEDRON BY HAND
glBegin(GL_LINES);
......@@ -191,28 +200,24 @@ void getDepthData(IMultiSourceFrame* frame) {
cv::Mat OriginalDepthFrame(height, width, CV_16UC1);// , &buf);
const unsigned short* curr = (const unsigned short*)buf;
for (unsigned int y = 0; y < height; y++)
{
for (unsigned int x = 0; x < width; x++)
if (enableFastDepthNoiseFilter) {
for (unsigned int y = 0; y < height; y++)
{
OriginalDepthFrame.ptr<unsigned short>(y)[x] = curr[x + y* width];
for (unsigned int x = 0; x < width; x++)
{
OriginalDepthFrame.ptr<unsigned short>(y)[x] = curr[x + y* width];
}
}
}
cv::Mat FilerdDepth;
FilerdDepth.create(OriginalDepthFrame.size(), OriginalDepthFrame.type());
FastDepthNoiseRemoval filter(3,0.0f,3, repairThreshold);
filter.setKillBorder(true);
filter.setInput(OriginalDepthFrame);
filter.filter(OriginalDepthFrame);
// cv::imshow("Input", OriginalDepthFrame);
//cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80);
//const unsigned short* curr = (const unsigned short*)buf;
curr = (const unsigned short*)OriginalDepthFrame.data;
FastDepthNoiseRemoval filter(3, 0.0f, 3, repairThreshold);
filter.setKillBorder(true);
filter.setInput(OriginalDepthFrame);
filter.filter(OriginalDepthFrame);
// cv::imshow("Input", OriginalDepthFrame);
//cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80);
curr = (const unsigned short*)OriginalDepthFrame.data;
}
// Write vertex coordinates
mapper->MapDepthFrameToCameraSpace(width*height, curr, width*height, depth2xyz);
......@@ -369,6 +374,8 @@ void getKinectData() {
}
int counter = 0;
void processCurrentFrameForExport() {
points.reserve(points.size() + width*height);
colors.reserve(colors.size() + width*height * 3);
......@@ -378,10 +385,15 @@ void processCurrentFrameForExport() {
float maxx, maxy, maxz;
maxx = maxy = maxz = -std::numeric_limits<float>::max();
std::ofstream myfile;
char buffer[64]; // make sure it's big enough
snprintf(buffer, sizeof(buffer), "frames/pnts_%d.txt", counter++);
myfile.open(buffer, std::ios::out | std::ios::binary);
for (unsigned int i = 0; i < width*height; i++) {
if (frameValidPoints[i]) {
glm::vec3 position = framePositions[i];
glm::vec3 positionGlobal = glm::vec3(*currentControlerPos * controlerToKinect * glm::vec4(position, 1.0f));
glm::vec3 positionGlobal = glm::vec3(*currentControlerPos * glm::translate(glm::mat4(), FrameTranslation) * controlerToKinect * glm::vec4(position, 1.0f));
if (isinf(position.x) || isinf(position.y) || isinf(position.z))
continue;
......@@ -399,9 +411,17 @@ void processCurrentFrameForExport() {
colors.push_back(frameColors[i * 3]);
colors.push_back(frameColors[i * 3 + 1]);
colors.push_back(frameColors[i * 3 + 2]);
myfile << positionGlobal.x << " "<<positionGlobal.y << " " << positionGlobal.z << " "
<< (int)frameColors[i * 3] << " " << (int)frameColors[i * 3 + 1] << " " << (int)frameColors[i * 3 + 2] << std::endl;
}
}
myfile.close();
std::cout << "Frame Local Boundingbox Min: [" << minx << "|" << miny << "|" << minz << "] Max: [" << maxx << "|" << maxy << "|" << maxz << "]"<< std::endl;
//update Buffers
if (points.size() == 0) return;
......@@ -511,6 +531,8 @@ void mainRenderLoop() {
glm::vec3 current = controllerPositions.back();
std::cout << "Current Position [" << current.x << "/" << current.y << "/" << current.z << "] distance " << distance(lastClicketControlelrPos, current) << std::endl ;
lastClicketControlelrPos = controllerPositions.back();
FrameTranslation = glm::vec3(0.0, 0.0, 0.0);
captureFrame = false;
}
......@@ -583,7 +605,9 @@ void mainRenderLoop() {
{//Kinect Space
glPushMatrix();
glTranslatef(FrameTranslation.x, FrameTranslation.y, FrameTranslation.z);
glMultMatrixf(glm::value_ptr(controlerToKinect));
DrawCoordinateSystem();
glColor4f(0.2f, 0.2f, 0.2f, 1.0f);
......@@ -604,6 +628,15 @@ void mainRenderLoop() {
}
void moveCurrentFrame(glm::vec3 dir) {
float factor = 0.002;
FrameTranslation += factor*dir;
std::cout << "Frame Transformation ";
printVector(FrameTranslation);
std::cout << std::endl;
}
void keyPressed(unsigned char key, int x, int y)
{
mainCam.keyPressed(key, x, y);
......@@ -624,6 +657,27 @@ void keyPressed(unsigned char key, int x, int y)
case 'q':
toggleCam = !toggleCam;
break;
case 'u':
moveCurrentFrame(glm::vec3(1.0, 0.0, 0.0));
break;
case 'j':
moveCurrentFrame(glm::vec3(-1.0, 0.0, 0.0));
break;
case 'i':
moveCurrentFrame(glm::vec3(0.0, 1.0, 0.0));
break;
case 'k':
moveCurrentFrame(glm::vec3(0.0, -1.0, 0.0));
break;
case 'o':
moveCurrentFrame(glm::vec3(0.0, 0.0, 1.0));
break;
case 'l':
moveCurrentFrame(glm::vec3(0.0, 0.0, -1.0));
break;
case 'p':
FrameTranslation = glm::vec3(0.0, 0.0, 0.0);
break;
case 27: // Escape key
exit(0);
break;
......@@ -721,9 +775,9 @@ int main(int argc, char* argv[]) {
controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 1.0f, 0.0f));
//controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 0.0f, 1.0f));
float dx = 0.00;// KinectOriginOffsetX - KinectSizeX / 2;
float dy = KinectSizeY / 2.0f + 0.004 /*HAlterung Platte*/ + 0.011 /* Conroller*/;// -0.01;
float dz = 0.00; //-0.023 + 0.02; // 0.045f /*= versatz auf der Halterung; Distanz zur Halterung:*/ + (KinectSizeZ - (0.066 /*halterung z*/ - 0.012 /*halterung berstand*/));
float dx = 0.010;// 0.00;
float dy = KinectSizeY / 2.0f + 0.004 /*HAlterung Platte*/ + 0.011 /* Conroller*/;
float dz = -0.01; //-0.023 + 0.02; // 0.045f /*= versatz auf der Halterung; Distanz zur Halterung:*/ + (KinectSizeZ - (0.066 /*halterung z*/ - 0.012 /*halterung berstand*/));
controlerToKinect = glm::translate(controlerToKinect, (glm::vec3(dx, -dy, dz)));
......
3_PointCloud/main.h
......@@ -45,6 +45,7 @@ void setupFrameBuffer();
void reshapeFunction(int width, int height);
void printVector(glm::vec3 vector);
float degreeToRadioan(float degree);
struct pntsHeader {
......
3_PointCloud/tileset2.json 0 → 100644
{
"asset": {
"version": "0.0"
},
"geometricError": 0,
"root": {
"boundingVolume": {
"sphere": [
0,
0,
0,
5
]
},
"geometricError": 0,
"refine": "add",
"children": [
{
"transform": [
1.0, 0.0, 0.0, 1.0,
0.0, 1.0, 0.0, 1.0,
0.0, 0.0, 1.0, 1.0,
0.0, 0.0, 0.0, 1.0
],
"boundingVolume": {
"sphere": [
0,
0,
0,
5
]
},
"geometricError": 0,
"content": {
"url": "example2.pnts"
}
}
]
}
}
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