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2221 lines (1681 loc) · 76.2 KB
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#include "include/Utilities.h"
std::string output_dir;
std::string input_dir;
std::vector<std::string> images_filenames;
const std::string red("\033[0;31m");
const std::string blue("\033[0;34m");
const std::string yellow("\033[0;33m");
const std::string reset("\033[0m");
const std::string green("\033[0;32m");
inline bool exists_file (const std::string& name) {
struct stat buffer;
return (stat (name.c_str(), &buffer) == 0);
}
// This function displays the help
void Utilities::help(){
std::cout << green << "===============================================\n"
"The program estimate dendrometric features of an individual tree from a 3D real scale mapping using "
"a images sequence with:openMVG and PMVS2."
<< std::endl << "Enter:\n" << "<project name> and press \"Enter\"." << "\n"
<< "<path image sequence> and press \"Enter\"." << "\n"
<< "<output path> and press \"Enter\"." << std::endl
<< "<focal length> and press \"Enter\"." << std::endl
<< "===============================================" << reset << std::endl;
}
bool Utilities::run_openMVG(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& Map3D, std::string& output_path,bool& projectFound){
std::cout << "\n************************************************" << std::endl;
std::cout << " 3D MAPPING " << std::endl;
std::cout << "************************************************" << std::endl;
//COMMAND LINE INPUT
std::string focal_length;
std::string project_name;
auto start = std::chrono::high_resolution_clock::now();
/*PROJECT NAME*/
while(true){
std::string answer;
bool nameOk = false;
if(project_name.size()<=0){
std::cout << blue << "\nEnter the project name: (don't use space)" << reset << std::endl;
std::cout << "------------------------------------------" << "\n" << "->" << std::flush;
std::getline(std::cin, project_name);
if(project_name.empty()){
PCL_ERROR("Nothing entered.\n");
project_name.clear();
continue;
}else if(project_name.size()<=1){
PCL_ERROR("The input name is not valid. Please enter at least 2 characters!\n");
project_name.clear();
continue;
}
if(project_name.find_first_not_of("abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ01234567890_")!= std::string::npos){
PCL_ERROR("%s %s",project_name.c_str(),"is not a valid project name.\n");
project_name.clear();
continue;
}
}
if(project_name.size()>0){
std::cout << "\nproject name = " << yellow << project_name << reset << " are you sure? (yes/no)" << std::endl;
std::cout << "->" << std::flush;
std::getline(std::cin, answer);
if(answer.empty()){
PCL_ERROR("Nothing entered.\n");
answer.clear();
continue;
}
if(answer == "yes"){
nameOk = true;
}else if(answer == "no"){
nameOk = false;
project_name.clear();
answer.clear();
continue;
}else{
PCL_ERROR("%s %s",answer.c_str(),"is not a valid answer.\n");
nameOk = false;
answer.clear();
continue;
}
}
if(nameOk){
std::cout << yellow << "Using project name as:" << project_name << reset << std::endl;
break;
}
}
/*INPUT PATH*/
while(true){
bool imagesOk = false;
if(input_dir.size()<=0){
std::cout << blue << "\nEnter the images directorie path:" << reset << std::endl;
std::cout << "------------------------------------------" << "\n" << "->" << std::flush;
std::getline(std::cin, input_dir);
if(input_dir.empty()){
PCL_ERROR("Nothing entered.\n");
input_dir.clear();
continue;
}
}
if(input_dir.size()>0){
boost::filesystem::path dirPath(input_dir);
if(not boost::filesystem::exists(dirPath) or not boost::filesystem::is_directory(dirPath)){
std::cout << red << "Error. cannot open directory: " << input_dir << reset <<std::endl;
input_dir.clear();
continue;
}
bool foundImages = false;
for(boost::filesystem::directory_entry& x : boost::filesystem::directory_iterator(dirPath)){
std::string extension = x.path().extension().string();
boost::algorithm::to_lower(extension);
if(extension == ".jpg" or extension == ".png"){
imagesOk = true;
foundImages = true;
break;
}else{
foundImages = false;
break;
}
}
if(not foundImages){
std::cout << red << "Unable to find images files in directory (\"" << input_dir << "\")."
<< reset <<std::endl;
imagesOk = false;
input_dir.clear();
continue;
}
}
if(imagesOk){
std::cout << yellow << "Found images file." << reset << std::endl;
break;
}
}
/*OUTPUT PATH*/
while(true){
bool dirOk = false;
if(output_dir.size()<=0){
std::cout << blue << "\nEnter the output directorie path:" << reset << std::endl;
std::cout << "------------------------------------------" << "\n" << "->" << std::flush;
std::getline(std::cin, output_dir);
if(output_dir.empty()){
PCL_ERROR("Nothing entered.");
output_dir.clear();
dirOk = false;
continue;
}
}
if(output_dir.size()>0){
boost::filesystem::path dirPath(output_dir);
if(not boost::filesystem::exists(dirPath) or not boost::filesystem::is_directory(dirPath)){
std::cout << red <<"Error. cannot found directory: " << output_dir << reset << std::endl;
output_dir.clear();
dirOk = false;
continue;
}else{
dirOk = true;
}
}
if(dirOk){
break;
}
}
//std::string projectDIR = output_dir;
output_dir += "/";
output_dir += project_name;
output_path = output_dir;
std::string check1 = output_dir;
check1 += "/3D_Mapping/MAP3D.pcd";
std::string check2 = output_dir;
check2 += "/matches/geometric_matches";
std::string check3 = output_dir;
check3 += "/reconstruction_sequential/sfm_data.bin";
bool fileIsFound = false;
projectFound = false;
fileIsFound = exists_file(check1);
fileIsFound = exists_file(check2);
fileIsFound = exists_file(check3);
int dont_care;
if(fileIsFound == true and fileIsFound == true and fileIsFound == true){
std::cout << blue << "\nProject Found!" << reset << std::endl;
projectFound = true;
}else{
std::string folder_name = "mkdir ";
folder_name += output_dir;
//folder_name += "/";
//folder_name += project_name;
dont_care = std::system(folder_name.c_str());
projectFound = false;
}
/*FOCAL LENGTH*/
if(projectFound == false){
double n=-1;
while(true){
if(focal_length.size()<=0){
std::cout << blue << "\nEnter the focal length:\n" << reset
<< "------------------------------------------" << "\n" << "->" << std::flush;
std::string f;
std::getline(std::cin,f);
n = std::strtod(f.c_str(),NULL);
if(not is_number(f)){
PCL_ERROR("Error: enter a valid focal length\n");
f.clear();
n = -1;
continue;
}
if(n<=0){
PCL_ERROR("Error: enter a valid focal_length\n");
n = -1;
f.clear();
continue;
}else{
//std::ostringstream strs;
//strs << n;
//focal_length = strs.str();
focal_length = f;
//std::cout << "Using focal length:" << yellow << focal_length << reset << std::endl;
}
}
if(focal_length.size()>0){
std::string answer;
bool focalOk = false;
std::cout << "\nfocal length = " << yellow << focal_length << reset << " are you sure? (yes/no)" << std::endl;
std::cout << "->" << std::flush;
std::getline(std::cin, answer);
if(answer.empty()){
PCL_ERROR("Nothing entered.\n");
answer.clear();
continue;
}
if(answer == "yes"){
focalOk = true;
}else if(answer == "no"){
focalOk = false;
focal_length.clear();
n = -1;
answer.clear();
continue;
}else{
PCL_ERROR("%s %s",answer.c_str(),"is not a valid answer.\n");
focalOk = false;
n = -1;
answer.clear();
continue;
}
if(focalOk){
std::cout << yellow << "Using focal length:" << focal_length << reset << std::endl;
break;
}
}
}
std::string folder_name2 = "mkdir ";
folder_name2 += output_dir;
folder_name2 += "/";
folder_name2 += "3D_Mapping";
dont_care = std::system(folder_name2.c_str());
//Choose SFM approach - Incremental or Global
std::string command = "python ";
std::string openMVG = "SfM_SequentialPipeline.py ";
//std::string openMVG = "SfM_GlobalPipeline.py ";
command += openMVG;
command += input_dir;
command += " ";
command += output_dir;
command += " ";
command += focal_length;
std::cout << blue << "\n3D Mapping with openMVG initializing..." << reset << std::endl;
dont_care = std::system(command.c_str());
if(dont_care > 0){
PCL_ERROR("Failed. SfM_SequentialPipeline.py not found\n");
return false;
}
PCL_INFO("\n3D Mapping --> [COMPLETE].");
auto end = std::chrono::high_resolution_clock::now();
auto difference = std::chrono::duration_cast<std::chrono::seconds>(end - start).count();
PCL_INFO("\n3D mapping time: %li %s",difference,"seconds");
std::cout << std::endl;
}
pcl::console::TicToc tt;
std::string prefix = output_dir;
prefix += "/3D_Mapping/";
std::string prefix1 = prefix;
prefix1 +="MAP3D.pcd";
std::string prefix2 = prefix;
prefix2 += "MAP3D.ply";
std::string polyFile = output_dir;
polyFile += "/reconstruction_sequential/colorized.ply";
pcl::PolygonMesh polyMesh;
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>());
std::cout << "\nGetting cloud from 3D reconstruction..." << std::endl;
if(pcl::io::loadPLYFile(polyFile.c_str(),*Map3D) == -1){
return false;
}
if(Map3D->points.size()<=0 or Map3D->points.at(0).x <=0 and Map3D->points.at(0).y <=0 and Map3D->points.at(0).z <=0){
pcl::console::print_warn("\nloadPLYFile could not read the cloud, attempting to loadPolygonFile...");
pcl::io::loadPolygonFile(polyFile.c_str(), polyMesh);
pcl::fromPCLPointCloud2(polyMesh.cloud, *Map3D);
if(Map3D->points.size()<=0 or Map3D->points.at(0).x <=0 and Map3D->points.at(0).y <=0 and Map3D->points.at(0).z <=0){
pcl::console::print_warn("\nloadPolygonFile could not read the cloud, attempting to PLYReader...");
pcl::PLYReader plyRead;
plyRead.read(polyFile.c_str(),*Map3D);
if(Map3D->points.size()<=0 or Map3D->points.at(0).x <=0 and Map3D->points.at(0).y <=0 and Map3D->points.at(0).z <=0){
pcl::console::print_error("\nError. ply file is not compatible.\n");
return false;
}
}
}
if(Map3D->points.size()<=0){
PCL_ERROR("Could not load: colorized.ply\n");
return false;
}
pcl::console::print_info ("[done, ");
pcl::console::print_value ("%g", tt.toc ());
pcl::console::print_info (" ms : ");
pcl::console::print_value ("%d", Map3D->points.size ());
pcl::console::print_info (" points]\n");
pcl::io::savePCDFileBinary(prefix1.c_str(), *Map3D);
pcl::PLYWriter writer;
writer.write(prefix2.c_str(), *Map3D, false, false);
return true;
}
bool Utilities::getScaleFactor(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& Map3D,double& scale_factor,bool& projectFound){
auto start = std::chrono::high_resolution_clock::now();
/*
./openMVG_main_ConvertSfM_DataFormat
Usage: ./openMVG_main_ConvertSfM_DataFormat
[-i|--input_file] path to the input SfM_Data scene
[-o|--output_file] path to the output SfM_Data scene
.json, .bin, .xml, .ply, .baf
[Options to export partial data (by default all data are exported)]
Usable for json/bin/xml format
[-V|--VIEWS] export views
[-I|--INTRINSICS] export intrinsics
[-E|--EXTRINSICS] export extrinsics (view poses)
[-S|--STRUCTURE] export structure
[-C|--CONTROL_POINTS] export control points
*/
if(projectFound == false){
std::cout << "\n************************************************" << std::endl;
std::cout << " SCALE FACTOR " << std::endl;
std::cout << "************************************************" << std::endl;
std::cout << blue << "Converting sfm_data.bin to sfm_data.xml..." << reset << std::endl;
std::cout << "------------------------------------------" << std::endl;
std::string command = "openMVG_main_ConvertSfM_DataFormat -i ";
command += output_dir;
command += "/reconstruction_sequential/sfm_data.bin -o ";
command += output_dir;
command += "/reconstruction_sequential/sfm_data.xml -V -I -E -S";
int dont_care = std::system(command.c_str());
if(dont_care > 0){
PCL_ERROR("Failed. Could not convert sfm_data.bin to xml\n");
return false;
}
std::cout << "Created xml file in:" << yellow << output_dir
<< "/reconstruction_sequential/sfm_data.xml" << reset << std::endl;
}
cv::Mat_<double> intrinsic;
std::vector<cv::Matx34d> cameras_poses;
std::cout << blue << "\nGetting data from sfm_data.xml..." << reset << std::endl;
std::cout << "------------------------------------------" << std::endl;
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGB>());
bool success = Utilities::loadSFM_XML_Data(intrinsic,cameras_poses);
if(not success){
PCL_ERROR("Could not get a scale factor.\n");
return false;
}
/*
// Create the filtering object
pcl::PassThrough<pcl::PointXYZRGB> pass;
pass.setInputCloud(Map3D);
pass.setFilterFieldName("z");
pass.setFilterLimits(-900, 0);
pass.setFilterLimitsNegative(true);
pass.filter(*cloud_filtered);
*/
PCL_INFO("\nImages: %lu",images_filenames.size());
PCL_INFO("\nCamera Poses: %lu %s",cameras_poses.size(),"cameras");
std::cout << "\nIntrinsic camera:\n" << intrinsic << std::endl;
std::cout << blue << "\nGetting scale factor..." << reset << std::endl;
std::cout << "------------------------------------------";
std::string world_reference;
double n=-1;
while(true){
if(world_reference.size()<=0){
std::cout << blue << "\nEnter the world reference (cm):\n" << reset
<< "------------------------------------------" << "\n" << "->" << std::flush;
std::string f;
std::getline(std::cin,f);
n = std::strtod(f.c_str(),NULL);
if(not is_number(f)){
PCL_ERROR("Error: enter a valid world reference\n");
f.clear();
n = -1;
continue;
}
if(n<=0){
PCL_ERROR("Error: enter a valid world reference\n");
n = -1;
f.clear();
continue;
}else{
world_reference = f;
}
}
if(world_reference.size()>0){
std::string answer;
bool WRefOk = false;
std::cout << "\nworld reference = " << yellow << world_reference << reset << " are you sure? (yes/no)" << std::endl;
std::cout << "->" << std::flush;
std::getline(std::cin, answer);
if(answer.empty()){
PCL_ERROR("Nothing entered.\n");
answer.clear();
continue;
}
if(answer == "yes"){
WRefOk = true;
}else if(answer == "no"){
WRefOk = false;
world_reference.clear();
n = -1;
answer.clear();
continue;
}else{
PCL_ERROR("%s %s",answer.c_str(),"is not a valid answer.\n");
WRefOk = false;
n = -1;
answer.clear();
continue;
}
if(WRefOk){
std::cout << yellow << "Using world reference:" << world_reference << reset << std::endl;
break;
}
}
}
std::string img_selected;
int im_ID = -1;
//cv::Point2d img_p1,img_p2;
std::vector<cv::Point2d> pts_for_circle1;
std::vector<cv::Point2d> pts_for_circle2;
int numImg = -1;
double dp = 1;
double minDist = 16;
double param1 = 200;
double param2 = 100;
int minRadius = 0;
int maxRadius = 150;
std::string houghOutputParameters = output_dir;
houghOutputParameters += "/hough_parameters.txt";
while(true){
//bool bestImage = false;
if(img_selected.size() <= 0){
std::ofstream ofs(houghOutputParameters.c_str());
ofs << dp << std::endl
<< minDist << std::endl
<< param1 << std::endl
<< param2 << std::endl
<< minRadius << std::endl
<< maxRadius << std::endl;
ofs.close();
PCL_INFO("\nChoose a image pattern reference\n");
std::string command2 = "control_point_Reg ";
command2 += output_dir;
command2 += "/reconstruction_sequential/sfm_data.xml ";
command2 += output_dir;
command2 += " ";
command2 += output_dir;
command2 += "/hough_parameters.txt";
int dont_care = std::system(command2.c_str());
if(dont_care > 0){
PCL_ERROR("Failed. Could not find control_point_Reg.bin\n");
return false;
}
std::string image_path = output_dir;
image_path += "/image_selected.txt";
std::ifstream img_path(image_path.c_str());
if(!img_path.is_open()){
std::cout << red << "Error: Could not find "<< image_path << reset << std::endl;
}
int img_id;
std::string path;
while(img_path >> path >> img_id){}
std::string answer;
bool WRefOk = false;
im_ID = img_id;
img_selected = path;
WRefOk = true;
/*
while(true){
std::cout << "\nimage selected = " << yellow << img_id << reset << " are you sure? (yes/no)" << std::endl;
std::cout << "->" << std::flush;
std::getline(std::cin, answer);
if(answer.empty()){
PCL_ERROR("Nothing entered.\n");
answer.clear();
continue;
}
if(answer == "yes"){
im_ID = img_id;
img_selected = path;
WRefOk = true;
}else if(answer == "no"){
WRefOk = false;
img_selected.clear();
im_ID = -1;
n = -1;
answer.clear();
break;
}else{
PCL_ERROR("%s %s",answer.c_str(),"is not a valid answer.\n");
WRefOk = false;
n = -1;
answer.clear();
continue;
}
if(WRefOk){
//std::cout << yellow << "Using image reference:" << img_selected << reset << std::endl;
bestImage = true;
break;
}
}
*/
}
if(img_selected.size() > 0){
numImg = im_ID;
bool foundBestImage = false;
std::string images_path = input_dir;
images_path += "/";
images_path += images_filenames.at(numImg);
//------------------------------------------------------
// CIRCLE PATTERN DETECTION
//------------------------------------------------------
cv::Mat img = cv::imread(images_path.c_str(),1);
if(!img.data ){
std::cout << red <<"Could not open or find the image" << reset << std::endl;
return false;
}
cv::Mat img_copy = img.clone();
cv::Mat gray;
#if CV_VERSION_MAJOR > 3
cv::cvtColor(img_copy,gray,cv::COLOR_BGR2GRAY);
std::vector<cv::Vec3f> circles(2,0);
#else
cv::cvtColor(img_copy,gray,CV_BGR2GRAY);
std::vector<cv::Vec3f> circles(2,0);
#endif
std::cout << "\nFiltering...Canny!" << std::endl;
cv::Canny(gray, gray, 100, 100*2,3);
std::cout << "Filtering...GaussianBlur!" << std::endl;
cv::GaussianBlur(gray,gray,cv::Size(7,7),2,2);
/*
std::vector<std::vector<cv::Point>> contours;
std::vector<cv::Vec4i> hierarchy;
cv::findContours(outputCanny, contours, hierarchy,CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
cv::Point2f center;
float radiusR;
cv::minEnclosingCircle(contours,center,radiusR);
cv::circle(outputCanny,center,radiusR,(0,255,0),2);
cv::namedWindow("pattern",CV_WINDOW_NORMAL);
cv::resizeWindow("pattern",640,480);
cv::moveWindow("pattern",0,0);
cv::imshow("pattern",outputCanny);
cv::waitKey(0);
cv::destroyAllWindows();
*/
std::ifstream file(houghOutputParameters.c_str());
if(!file.is_open()){
std::cout << "Error: Hough parameters file not found." << std::endl;
return false;
}
while(file >> dp >> minDist >> param1 >> param2 >> minRadius >> maxRadius){
}
#if CV_VERSION_MAJOR > 3
std::cout << "Detecting circles in image..." << std::endl;
cv::HoughCircles(gray, circles, cv::HOUGH_GRADIENT,dp, gray.rows/minDist, param1, param2, minRadius,maxRadius);
#else
std::cout << "Detecting circles in image..." << std::endl;
cv::HoughCircles(gray, circles, CV_HOUGH_GRADIENT,dp, gray.rows/minDist, param1, param2, minRadius,maxRadius);
#endif
cv::Point2d center_pattern1,center_pattern2;
int radius = 0;
for(size_t i = 0; i < circles.size(); i++ ){
cv::Point2d center(cvRound(circles[i][0]), cvRound(circles[i][1]));
center_pattern2 = center_pattern1;
center_pattern1 = cv::Point2d(center.x,center.y);
radius = cvRound(circles[i][2]);
// circle center
cv::circle(img_copy, center, 1, cv::Scalar(0,255,0),10);
// circle outline
cv::circle(img_copy, center, radius,cv::Scalar(0,255,0),30);
}
if(center_pattern1.x <= 0 and center_pattern1.y <=0 or center_pattern2.x <= 0
and center_pattern2.y <=0){
std::cout << yellow << "HoughCircles transform can't detected patterns. skip!" << reset << std::endl;
img_selected.clear();
continue;
}
std::cout << "\nNum of circles detect:" << circles.size() << std::endl;
std::cout << "Circle 1 center:" << center_pattern1 << std::endl;
std::cout << "Circle 2 center:" << center_pattern2 << std::endl;
cv::line(img_copy,center_pattern1,center_pattern2,cv::Scalar(0,255,0),30);
Display* d = XOpenDisplay(NULL);
Screen* s = DefaultScreenOfDisplay(d);
int x = s->width;
std::cout << "\nPress [q] to continue!" << std::endl;
#if CV_VERSION_MAJOR > 3
cv::namedWindow("pattern",cv::WINDOW_NORMAL);
cv::resizeWindow("pattern",640,480);
cv::moveWindow("pattern",std::round(x/2),0);
cv::imshow("pattern",img_copy);
cv::waitKey(0);
cv::destroyAllWindows();
#else
cv::namedWindow("pattern",CV_WINDOW_NORMAL);
cv::resizeWindow("pattern",640,480);
cv::moveWindow("pattern",std::round(x/2),0);
cv::imshow("pattern",img_copy);
cv::waitKey(0);
cv::destroyAllWindows();
#endif
while(true){
std::string answer;
std::cout << yellow << "\nAre the detected circles correct? (yes/no):" << reset << std::endl;
std::cout << "------------------------------------------\n" << "->" << std::flush;
std::getline(std::cin, answer);
if(answer.empty()){
std::cout << red << "Nothing entered." << reset << std::endl;
answer.clear();
std::cin.clear();
continue;
}
if(answer == "yes"){
std::string image_pattern_path = images_path;
//std::cout << "before pop back:" << image_pattern_path << std::endl;
std::string backG = images_filenames.at(0);
//std::cout << "string reference:" << backG << std::endl;
for(int i=0;i<backG.size();i++){
int j=i;
image_pattern_path.pop_back();
}
//std::cout << "after pop back:" << image_pattern_path << std::endl;
std::string img_feat_filename;
for(int i=0;i<images_filenames.size();i++){
std::string comp = image_pattern_path;
comp += images_filenames.at(i);
if(comp == images_path){
//std::cout << "Found:" << comp << std::endl;
img_feat_filename = images_filenames.at(i);
break;
}
}
img_feat_filename.pop_back();
img_feat_filename.pop_back();
img_feat_filename.pop_back();
std::string feature_path = output_dir;
feature_path += "/matches/";
feature_path += img_feat_filename;
feature_path += "feat";
float x_, y_,s,orientation;
std::vector<cv::Point2d> image_points;
std::ifstream file(feature_path.c_str());
if(!file.is_open()){
std::cout << red << "Error: Could not find "<< feature_path << reset << std::endl;
feature_path.clear();
break;
}
while(file >> x_ >> y_ >> s >> orientation){
image_points.push_back(cv::Point2f(x_,y_));
}
std::cout << yellow << "\nFeature selected:" << reset << feature_path << std::endl;
std::cout << yellow << "Image points: " << reset << image_points.size() << " points" << std::endl;
for(size_t i=0;i<image_points.size();i++){
cv::Point2d pt = image_points.at(i);
double error = cv::norm(cv::Mat(pt),cv::Mat(center_pattern1));
if(error < 30){
pts_for_circle1.push_back(pt);
}else{
continue;
}
}
pts_for_circle1.push_back(center_pattern1);
for(size_t i=0;i<image_points.size();i++){
cv::Point2d pt = image_points.at(i);
double error = cv::norm(pt - center_pattern2);
if(error < 30){
pts_for_circle2.push_back(pt);
}else{
continue;
}
}
pts_for_circle2.push_back(center_pattern2);
foundBestImage = true;
break;
}else if(answer == "no"){
answer.clear();
foundBestImage = false;
img_selected.clear();
break;
}else{
std::cout << red << "Is not a valid answer" << reset << std::endl;
answer.clear();
continue;
}
}
if(foundBestImage){
PCL_INFO("Id pose: %i",numImg);
//std::cout << "\nFilename: " << images_filenames.at(numImg) << std::endl;
std::cout << "\nCamera pose:\n" << cameras_poses[numImg] << std::endl;
break;
}
}
}
cv::destroyAllWindows();
cv::Matx34d pose =cameras_poses[numImg];
cv::Mat Rc = cv::Mat(pose.get_minor<3,3>(0,0));
cv::Mat C = cv::Mat(pose.get_minor<3,1>(0,3));
cv::Mat R = Rc.t();
cv::Mat t = -R*C;
pose = cv::Matx34d(R.at<double>(0,0),R.at<double>(0,1),R.at<double>(0,2),t.at<double>(0),
R.at<double>(1,0),R.at<double>(1,1),R.at<double>(1,2),t.at<double>(1),
R.at<double>(2,0),R.at<double>(2,1),R.at<double>(2,2),t.at<double>(2));
cv::Mat rvec;
cv::Rodrigues(pose.get_minor<3,3>(0,0),rvec);
cv::Mat tvec(pose.get_minor<3,1>(0,3));
/*
cv::Mat P = (cv::Mat)intrinsic*(cv::Mat)pose;
std::cout << "intrinsic:" << intrinsic << std::endl;
std::cout << "pose:" << pose << std::endl;
std::cout << "P:" << P << std::endl;
cv::Mat P_inv;
std::vector<cv::Point3d> PointsCircle1;
for(int i=0;i<pts_for_circle1.size();i++){
cv::Point2d pt= pts_for_circle1.at(i);
PointsCircle1.push_back(cv::Point3d(1180.02,1415.99,1));
}
cv::invert(P,P_inv,cv::DECOMP_SVD);
std::cout << "P_inv:" << P_inv << std::endl;
cv::Mat_<double> pointToTransform(PointsCircle1.at(0),false);
std::cout<< "point in mat:" << pointToTransform << std::endl;
cv::Mat_<double> newPP(3,3);
newPP.at<double>(0,0) =R.at<double>(0,0);
newPP.at<double>(1,0) =R.at<double>(1,0);
newPP.at<double>(2,0) =R.at<double>(2,0);
newPP.at<double>(0,1) =R.at<double>(0,1);
newPP.at<double>(1,1) =R.at<double>(1,1);
newPP.at<double>(2,1) =R.at<double>(2,1);
newPP.at<double>(0,2) =t.at<double>(0);
newPP.at<double>(1,2) =t.at<double>(1);
newPP.at<double>(2,2) =t.at<double>(2);
cv::Mat_<double> Homo = intrinsic*newPP;
std::cout << "newPP:" << newPP << std::endl;
std::cout << "Homography:" << Homo << std::endl;
//cv::Rodrigues(pose.get_minor<3,3>(0,0),newPP);
cv::Mat_<double> point3D1=Homo*pointToTransform;
//point3D1 = point3D1/pointToTransform.at<double>(2,0);
std::cout << "Point3D reprojected to world:" << point3D1 << std::endl;
point3D1.at<double>(0,0) = point3D1.at<double>(0,0)/point3D1.at<double>(2,0);
point3D1.at<double>(1,0) = point3D1.at<double>(1,0)/point3D1.at<double>(2,0);
point3D1.at<double>(2,0) = point3D1.at<double>(2,0)/point3D1.at<double>(2,0);
std::cout << "Point3D reprojected to world:" << point3D1 << std::endl;
*/
std::vector<cv::Point2d> projected_points;
std::vector<cv::Point3d> points3d;
for(pcl::PointCloud<pcl::PointXYZRGB>::iterator it=Map3D->begin(); it!=Map3D->end(); ++it){
points3d.push_back(cv::Point3d(it->x,it->y,it->z));
}
cv::projectPoints(points3d,rvec,tvec,intrinsic,cv::Mat(),projected_points);
std::cout << yellow << "\nPoints projected:" << reset << projected_points.size() << std::endl;
double error;
pcl::PointXYZ ptt1,pt2;
std::cout << "original pt3d:" << points3d.at(0) << std::endl;
std::cout << "projected original pt3d:" << projected_points.at(0) << std::endl; //1180.02, 1415.99
std::map<double,std::pair<std::pair<cv::Point2d,cv::Point2d>,cv::Point3d>> p1_map;
std::cout << yellow << "\nchecking if reprojection error is small enough..." << reset << std::endl;
std::string dendrometric_results = output_dir;
dendrometric_results += "/pts_for_circle1.txt";
ofstream cir(dendrometric_results.c_str());
std::string dendrometric_results2 = output_dir;
dendrometric_results2 += "/pts_for_circle2.txt";
ofstream cir2(dendrometric_results2.c_str());
//check if point reprojection error is small enough
for(std::vector<cv::Point2d>::iterator it = pts_for_circle1.begin();it!=pts_for_circle1.end();++it){