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| --- | ||
| BasedOnStyle: LLVM | ||
| ColumnLimit: 100 | ||
| TabWidth: 2 | ||
| IndentPPDirectives: AfterHash | ||
| AlignConsecutiveAssignments: true | ||
| ... |
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| #ifndef CLEANTOOL | ||
| #define CLEANTOOL | ||
| #include <opencv2/core/core.hpp> | ||
| #include <opencv2/imgproc/imgproc.hpp> | ||
| #include <opencv2/highgui/highgui.hpp> | ||
| #include <iostream> | ||
| using namespace cv; | ||
| using namespace std; | ||
| float fcxcy[3];//SET THE CAMERA PARAMETERS F CX CY BEFORE USE calplanenormal. | ||
| int WINDOWSIZE=15;//SET SEARCH WINDOWSIZE(SUGGEST 15) BEFORE USE calplanenormal. | ||
| float Tthrehold;//SET THE threshold (SUGGEST 0.1-0.2)BEFORE USE calplanenormal. | ||
| // Ax+by+cz=D | ||
| void | ||
| CallFitPlane(const Mat& depth,int * points,int i,int j,float *plane12) { | ||
| float f =fcxcy[0]; | ||
| float cx=fcxcy[1]; | ||
| float cy=fcxcy[2]; | ||
| vector<float>X_vector; | ||
| vector<float>Y_vector; | ||
| vector<float>Z_vector; | ||
| for(int num_point=0; num_point<WINDOWSIZE*WINDOWSIZE;num_point++ ) | ||
| if (points[num_point]==1) {//search 已经处理了边界,此处不需要再处理了 | ||
| int point_i,point_j; | ||
| point_i=floor(num_point/WINDOWSIZE); | ||
| point_j=num_point-(point_i*WINDOWSIZE); | ||
| point_i+=i-int(WINDOWSIZE/2);point_j+=j-int(WINDOWSIZE/2); | ||
| float x = (point_j - cx) * depth.at<float>(point_i, point_j ) * 1.0 / f; | ||
| float y = (point_i - cy) * depth.at<float>(point_i, point_j )* 1.0 / f; | ||
| float z = depth.at<float>(point_i,point_j); | ||
| X_vector.push_back(x); | ||
| Y_vector.push_back(y); | ||
| Z_vector.push_back(z); | ||
| } | ||
| CvMat*points_mat = cvCreateMat(X_vector.size(), 3, CV_32FC1);//定义用来存储需要拟合点的矩阵 | ||
| if(X_vector.size()<3){ plane12[0]=-1;plane12[1]=-1;plane12[2]=-1;plane12[3]=-1;return;} | ||
| for (int ii=0;ii < X_vector.size(); ++ii){ | ||
| points_mat->data.fl[ii * 3 + 0] = X_vector[ii];//矩阵的值进行初始化 X的坐标值 | ||
| points_mat->data.fl[ii * 3 + 1] = Y_vector[ii];// Y的坐标值 | ||
| points_mat->data.fl[ii * 3 + 2] = Z_vector[ii];// | ||
| } | ||
| // float plane12[4] = { 0 };//定义用来储存平面参数的数组 | ||
| cvFitPlane(points_mat, plane12);//调用方程 | ||
| if( telldirection(plane12,i,j,depth.at<float>(i,j)) ){ | ||
| plane12[0]=-plane12[0]; | ||
| plane12[1]=-plane12[1]; | ||
| plane12[2]=-plane12[2];} | ||
| X_vector.clear(); | ||
| Y_vector.clear(); | ||
| Z_vector.clear(); | ||
| cvReleaseMat(&points_mat); | ||
| } | ||
|
|
||
| void | ||
| cvFitPlane(const CvMat* points, float* plane){ | ||
| // Estimate geometric centroid. | ||
| int nrows = points->rows; | ||
| int ncols = points->cols; | ||
| int type = points->type; | ||
| CvMat* centroid = cvCreateMat(1, ncols, type); | ||
| cvSet(centroid, cvScalar(0)); | ||
| for (int c = 0; c<ncols; c++){ | ||
| for (int r = 0; r < nrows; r++) | ||
| { | ||
| centroid->data.fl[c] += points->data.fl[ncols*r + c]; | ||
| } | ||
| centroid->data.fl[c] /= nrows; | ||
| } | ||
| // Subtract geometric centroid from each point. | ||
| CvMat* points2 = cvCreateMat(nrows, ncols, type); | ||
| for (int r = 0; r<nrows; r++) | ||
| for (int c = 0; c<ncols; c++) | ||
| points2->data.fl[ncols*r + c] = points->data.fl[ncols*r + c] - centroid->data.fl[c]; | ||
| // Evaluate SVD of covariance matrix. | ||
| CvMat* A = cvCreateMat(ncols, ncols, type); | ||
| CvMat* W = cvCreateMat(ncols, ncols, type); | ||
| CvMat* V = cvCreateMat(ncols, ncols, type); | ||
| cvGEMM(points2, points, 1, NULL, 0, A, CV_GEMM_A_T); | ||
| cvSVD(A, W, NULL, V, CV_SVD_V_T); | ||
| // Assign plane coefficients by singular vector corresponding to smallest singular value. | ||
| plane[ncols] = 0; | ||
| for (int c = 0; c<ncols; c++){ | ||
| plane[c] = V->data.fl[ncols*(ncols - 1) + c]; | ||
| plane[ncols] += plane[c] * centroid->data.fl[c]; | ||
| } | ||
| // Release allocated resources. | ||
| cvReleaseMat(¢roid); | ||
| cvReleaseMat(&points2); | ||
| cvReleaseMat(&A); | ||
| cvReleaseMat(&W); | ||
| cvReleaseMat(&V); | ||
| } | ||
| void | ||
| search_plane_neighbor(Mat &img,int i,int j ,float threhold,int* result){ | ||
| int cols =img.cols; | ||
| int rows =img.rows; | ||
| for (int ii=0; ii<WINDOWSIZE*WINDOWSIZE;ii++) | ||
| result[ii]=0; | ||
| float center_depth = img.at<float>(i,j); | ||
| for (int idx=0; idx<WINDOWSIZE;idx++) | ||
| for (int idy=0; idy<WINDOWSIZE;idy++){ | ||
| int rx= i-int(WINDOWSIZE/2)+idx; | ||
| int ry= j-int(WINDOWSIZE/2)+idy; | ||
| if( rx>= rows || ry>=cols )continue; | ||
| if( img.at<float>(rx,ry)==0.0)continue; | ||
| if( abs(img.at<float>(rx,ry)-center_depth)<=Tthrehold*center_depth ) | ||
| result[idx*WINDOWSIZE+idy]=1; | ||
| } | ||
| } | ||
| int | ||
| telldirection(float * abc,int i,int j,float d){ | ||
| float f =fcxcy[0]; | ||
| float cx=fcxcy[1]; | ||
| float cy=fcxcy[2]; | ||
| float x = (j - cx) *d * 1.0 / f; | ||
| float y = (i - cy) *d * 1.0 / f; | ||
| float z = d; | ||
| // Vec3f camera_center=Vec3f(cx,cy,0); | ||
| Vec3f cor = Vec3f(0-x, 0-y, 0-z); | ||
| Vec3f abcline = Vec3f(abc[0],abc[1],abc[2]); | ||
| float corner = cor.dot(abcline); | ||
| // float corner =(cx-x)*abc[0]+(cy-y) *abc[1]+(0-z)*abc[2]; | ||
| if (corner>=0) | ||
| return 1; | ||
| else return 0; | ||
|
|
||
| } | ||
| Mat | ||
| calplanenormal(Mat &src){ | ||
| float f =fcxcy[0]; | ||
| float cx=fcxcy[1]; | ||
| float cy=fcxcy[2]; | ||
| Mat normals = Mat::zeros(src.size(),CV_32FC3); | ||
| src.convertTo(src,CV_32FC1); | ||
| src*=1.0; | ||
| int cols =src.cols; | ||
| int rows =src.rows; | ||
| // int plane_points[WINDOWSIZE*WINDOWSIZE]={0}; | ||
| int * plane_points = new int[WINDOWSIZE*WINDOWSIZE]; | ||
| float * plane12 = new float[4]; | ||
| for (int i=0;i< rows;i++) | ||
| for (int j=0;j< cols;j++){ | ||
| //for kitti and nyud test | ||
| if(src.at<float>(i,j)==0.0)continue; | ||
| //for:nyud train | ||
| // if(src.at<float>(i,j)<=4000.0)continue; | ||
|
|
||
| search_plane_neighbor(src,i,j,15.0,plane_points); | ||
| CallFitPlane(src,plane_points,i,j,plane12); | ||
| Vec3f d = Vec3f(plane12[0],plane12[1],plane12[2]); | ||
| Vec3f n = normalize(d); | ||
| normals.at<Vec3f>(i, j) = n; | ||
| } | ||
| Mat res = Mat::zeros(src.size(),CV_32FC3); | ||
| for (int i=0;i<rows;i++) | ||
| for (int j=0;j<cols;j++){ | ||
| res.at<Vec3f>(i, j)[0] = -1.0 * normals.at<Vec3f>(i, j)[0]; | ||
| res.at<Vec3f>(i, j)[2] = -1.0 * normals.at<Vec3f>(i, j)[1]; | ||
| res.at<Vec3f>(i, j)[1] = -1.0 * normals.at<Vec3f>(i, j)[2]; | ||
| } | ||
|
|
||
| delete[] plane12; | ||
| delete[] plane_points; | ||
| normals.release(); | ||
| for (int i=0;i<rows;i++) | ||
| for (int j=0;j<cols;j++){ | ||
| if(!(res.at<Vec3f>(i, j)[0]==0&&res.at<Vec3f>(i, j)[1]==0&&res.at<Vec3f>(i, j)[2]==0)){ | ||
| res.at<Vec3f>(i, j)[0] += 1.0 ; | ||
| res.at<Vec3f>(i, j)[2] += 1.0 ; | ||
| res.at<Vec3f>(i, j)[1] += 1.0; | ||
| } | ||
| } | ||
|
|
||
| res =res * 127.5; | ||
| res.convertTo(res, CV_8UC3); | ||
| cvtColor(res, res, COLOR_BGR2RGB); | ||
| return res; | ||
| } | ||
|
|
||
| void | ||
| demo{ | ||
| //set parameters here:fcxcy[0]=0;fcxcy[1]=0;fcxcy[2]=0; | ||
| Mat src=imread(INPUT_FILE_NAME,CV_LOAD_IMAGE_ANYDEPTH); | ||
| Mat res=calplanenormal(src); | ||
| imwrite(OUTPUT_NAME,res); | ||
| } | ||
| #endif | ||
| #ifndef CLEANTOOL | ||
| #define CLEANTOOL | ||
| #include <iostream> | ||
| #include <opencv2/core/core.hpp> | ||
| #include <opencv2/highgui/highgui.hpp> | ||
| #include <opencv2/imgproc/imgproc.hpp> | ||
| using namespace cv; | ||
| using namespace std; | ||
| float fcxcy[3]; // SET THE CAMERA PARAMETERS F CX CY BEFORE USE calplanenormal. | ||
| int WINDOWSIZE = 15; // SET SEARCH WINDOWSIZE(SUGGEST 15) BEFORE USE calplanenormal. | ||
| float Tthrehold; // SET THE threshold (SUGGEST 0.1-0.2)BEFORE USE | ||
| // calplanenormal. | ||
| // Ax+by+cz=D | ||
| void CallFitPlane(const Mat &depth, int *points, int i, int j, float *plane12) { | ||
| float f = fcxcy[0]; | ||
| float cx = fcxcy[1]; | ||
| float cy = fcxcy[2]; | ||
| vector<float> X_vector; | ||
| vector<float> Y_vector; | ||
| vector<float> Z_vector; | ||
| for (int num_point = 0; num_point < WINDOWSIZE * WINDOWSIZE; num_point++) | ||
| if (points[num_point] == 1) { // search 已经处理了边界,此处不需要再处理了 | ||
| int point_i, point_j; | ||
| point_i = floor(num_point / WINDOWSIZE); | ||
| point_j = num_point - (point_i * WINDOWSIZE); | ||
| point_i += i - int(WINDOWSIZE / 2); | ||
| point_j += j - int(WINDOWSIZE / 2); | ||
| float x = (point_j - cx) * depth.at<float>(point_i, point_j) * 1.0 / f; | ||
| float y = (point_i - cy) * depth.at<float>(point_i, point_j) * 1.0 / f; | ||
| float z = depth.at<float>(point_i, point_j); | ||
| X_vector.push_back(x); | ||
| Y_vector.push_back(y); | ||
| Z_vector.push_back(z); | ||
| } | ||
| CvMat *points_mat = cvCreateMat(X_vector.size(), 3, CV_32FC1); //定义用来存储需要拟合点的矩阵 | ||
| if (X_vector.size() < 3) { | ||
| plane12[0] = -1; | ||
| plane12[1] = -1; | ||
| plane12[2] = -1; | ||
| plane12[3] = -1; | ||
| return; | ||
| } | ||
| for (int ii = 0; ii < X_vector.size(); ++ii) { | ||
| points_mat->data.fl[ii * 3 + 0] = X_vector[ii]; //矩阵的值进行初始化 X的坐标值 | ||
| points_mat->data.fl[ii * 3 + 1] = Y_vector[ii]; // Y的坐标值 | ||
| points_mat->data.fl[ii * 3 + 2] = Z_vector[ii]; // | ||
| } | ||
| // float plane12[4] = { 0 };//定义用来储存平面参数的数组 | ||
| cvFitPlane(points_mat, plane12); //调用方程 | ||
| if (telldirection(plane12, i, j, depth.at<float>(i, j))) { | ||
| plane12[0] = -plane12[0]; | ||
| plane12[1] = -plane12[1]; | ||
| plane12[2] = -plane12[2]; | ||
| } | ||
| X_vector.clear(); | ||
| Y_vector.clear(); | ||
| Z_vector.clear(); | ||
| cvReleaseMat(&points_mat); | ||
| } | ||
|
|
||
| void cvFitPlane(const CvMat *points, float *plane) { | ||
| // Estimate geometric centroid. | ||
| int nrows = points->rows; | ||
| int ncols = points->cols; | ||
| int type = points->type; | ||
| CvMat *centroid = cvCreateMat(1, ncols, type); | ||
| cvSet(centroid, cvScalar(0)); | ||
| for (int c = 0; c < ncols; c++) { | ||
| for (int r = 0; r < nrows; r++) { | ||
| centroid->data.fl[c] += points->data.fl[ncols * r + c]; | ||
| } | ||
| centroid->data.fl[c] /= nrows; | ||
| } | ||
| // Subtract geometric centroid from each point. | ||
| CvMat *points2 = cvCreateMat(nrows, ncols, type); | ||
| for (int r = 0; r < nrows; r++) | ||
| for (int c = 0; c < ncols; c++) | ||
| points2->data.fl[ncols * r + c] = points->data.fl[ncols * r + c] - centroid->data.fl[c]; | ||
| // Evaluate SVD of covariance matrix. | ||
| CvMat *A = cvCreateMat(ncols, ncols, type); | ||
| CvMat *W = cvCreateMat(ncols, ncols, type); | ||
| CvMat *V = cvCreateMat(ncols, ncols, type); | ||
| cvGEMM(points2, points, 1, NULL, 0, A, CV_GEMM_A_T); | ||
| cvSVD(A, W, NULL, V, CV_SVD_V_T); | ||
| // Assign plane coefficients by singular vector corresponding to smallest | ||
| // singular value. | ||
| plane[ncols] = 0; | ||
| for (int c = 0; c < ncols; c++) { | ||
| plane[c] = V->data.fl[ncols * (ncols - 1) + c]; | ||
| plane[ncols] += plane[c] * centroid->data.fl[c]; | ||
| } | ||
| // Release allocated resources. | ||
| cvReleaseMat(¢roid); | ||
| cvReleaseMat(&points2); | ||
| cvReleaseMat(&A); | ||
| cvReleaseMat(&W); | ||
| cvReleaseMat(&V); | ||
| } | ||
| void search_plane_neighbor(Mat &img, int i, int j, float threhold, int *result) { | ||
| int cols = img.cols; | ||
| int rows = img.rows; | ||
| for (int ii = 0; ii < WINDOWSIZE * WINDOWSIZE; ii++) | ||
| result[ii] = 0; | ||
| float center_depth = img.at<float>(i, j); | ||
| for (int idx = 0; idx < WINDOWSIZE; idx++) | ||
| for (int idy = 0; idy < WINDOWSIZE; idy++) { | ||
| int rx = i - int(WINDOWSIZE / 2) + idx; | ||
| int ry = j - int(WINDOWSIZE / 2) + idy; | ||
| if (rx >= rows || ry >= cols) | ||
| continue; | ||
| if (img.at<float>(rx, ry) == 0.0) | ||
| continue; | ||
| if (abs(img.at<float>(rx, ry) - center_depth) <= Tthrehold * center_depth) | ||
| result[idx * WINDOWSIZE + idy] = 1; | ||
| } | ||
| } | ||
| int telldirection(float *abc, int i, int j, float d) { | ||
| float f = fcxcy[0]; | ||
| float cx = fcxcy[1]; | ||
| float cy = fcxcy[2]; | ||
| float x = (j - cx) * d * 1.0 / f; | ||
| float y = (i - cy) * d * 1.0 / f; | ||
| float z = d; | ||
| // Vec3f camera_center=Vec3f(cx,cy,0); | ||
| Vec3f cor = Vec3f(0 - x, 0 - y, 0 - z); | ||
| Vec3f abcline = Vec3f(abc[0], abc[1], abc[2]); | ||
| float corner = cor.dot(abcline); | ||
| // float corner =(cx-x)*abc[0]+(cy-y) *abc[1]+(0-z)*abc[2]; | ||
| if (corner >= 0) | ||
| return 1; | ||
| else | ||
| return 0; | ||
| } | ||
| Mat calplanenormal(Mat &src) { | ||
| float f = fcxcy[0]; | ||
| float cx = fcxcy[1]; | ||
| float cy = fcxcy[2]; | ||
| Mat normals = Mat::zeros(src.size(), CV_32FC3); | ||
| src.convertTo(src, CV_32FC1); | ||
| src *= 1.0; | ||
| int cols = src.cols; | ||
| int rows = src.rows; | ||
| // int plane_points[WINDOWSIZE*WINDOWSIZE]={0}; | ||
| int *plane_points = new int[WINDOWSIZE * WINDOWSIZE]; | ||
| float *plane12 = new float[4]; | ||
| for (int i = 0; i < rows; i++) | ||
| for (int j = 0; j < cols; j++) { | ||
| // for kitti and nyud test | ||
| if (src.at<float>(i, j) == 0.0) | ||
| continue; | ||
| // for:nyud train | ||
| // if(src.at<float>(i,j)<=4000.0)continue; | ||
|
|
||
| search_plane_neighbor(src, i, j, 15.0, plane_points); | ||
| CallFitPlane(src, plane_points, i, j, plane12); | ||
| Vec3f d = Vec3f(plane12[0], plane12[1], plane12[2]); | ||
| Vec3f n = normalize(d); | ||
| normals.at<Vec3f>(i, j) = n; | ||
| } | ||
| Mat res = Mat::zeros(src.size(), CV_32FC3); | ||
| for (int i = 0; i < rows; i++) | ||
| for (int j = 0; j < cols; j++) { | ||
| res.at<Vec3f>(i, j)[0] = -1.0 * normals.at<Vec3f>(i, j)[0]; | ||
| res.at<Vec3f>(i, j)[2] = -1.0 * normals.at<Vec3f>(i, j)[1]; | ||
| res.at<Vec3f>(i, j)[1] = -1.0 * normals.at<Vec3f>(i, j)[2]; | ||
| } | ||
|
|
||
| delete[] plane12; | ||
| delete[] plane_points; | ||
| normals.release(); | ||
| for (int i = 0; i < rows; i++) | ||
| for (int j = 0; j < cols; j++) { | ||
| if (!(res.at<Vec3f>(i, j)[0] == 0 && res.at<Vec3f>(i, j)[1] == 0 && | ||
| res.at<Vec3f>(i, j)[2] == 0)) { | ||
| res.at<Vec3f>(i, j)[0] += 1.0; | ||
| res.at<Vec3f>(i, j)[2] += 1.0; | ||
| res.at<Vec3f>(i, j)[1] += 1.0; | ||
| } | ||
| } | ||
|
|
||
| res = res * 127.5; | ||
| res.convertTo(res, CV_8UC3); | ||
| cvtColor(res, res, COLOR_BGR2RGB); | ||
| return res; | ||
| } | ||
|
|
||
| void demo { | ||
| // set parameters here:fcxcy[0]=0;fcxcy[1]=0;fcxcy[2]=0; | ||
| Mat src = imread(INPUT_FILE_NAME, CV_LOAD_IMAGE_ANYDEPTH); | ||
| Mat res = calplanenormal(src); | ||
| imwrite(OUTPUT_NAME, res); | ||
| } | ||
| #endif |
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