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Commit f2124872 authored by simon.fanetti's avatar simon.fanetti
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enhance performance

parent 3df03d1a
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inc/camera.h
+ 2
− 1
View file @ f2124872
...@@ -15,7 +15,8 @@ class Camera{ ...@@ -15,7 +15,8 @@ class Camera{
rs2::video_frame *color_frame; rs2::video_frame *color_frame;
rs2::depth_frame *depth_frame; rs2::depth_frame *depth_frame;
rs2_intrinsics intr_profile;
float depth_scale; float depth_scale;
cv::Rect croppingMask; cv::Rect croppingMask;
......
inc/projection.h
+ 6
− 6
View file @ f2124872
...@@ -10,12 +10,12 @@ class Projection{ ...@@ -10,12 +10,12 @@ class Projection{
cv::Mat adjustingMatrix; cv::Mat adjustingMatrix;
float distanceTopSandbox; float distanceTopSandbox;
void deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat &pixelsDeprojectMap); void deprojectPixelsFromDepth(cv::Mat_<float> &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat_<cv::Point2i> &deprojectMap);
void filterLowestDeprojectedPoints(cv::Mat &depth, cv::Mat &deprojectMap, cv::Mat &frameMapMask); void filterLowestDeprojectedPoints(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &deprojectMap, cv::Mat_<cv::Point2i> &frameMapMask);
void buildFrame(cv::Mat &depth, cv::Mat &pixelsDeprojectHighestMap, cv::Mat &src, cv::Mat &dst); void buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frameMapMask, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst);
cv::Point2i findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f beamer_pos); cv::Point2i findMatchingPixel(int i, int j, float z, Camera *camera, cv::Point3f beamer_pos);
void copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Mat &depth); void copyPixelsInto(cv::Point2i pixel_dst, cv::Mat_<cv::Vec3b> &dst, cv::Point2i pixel_src, cv::Mat_<cv::Vec3b> &src, cv::Mat_<float> &depth);
cv::Size getMatchingSize(cv::Mat &src, cv::Rect base); cv::Size getMatchingSize(cv::Mat_<cv::Vec3b> &src, cv::Rect base);
public: public:
Projection(); Projection();
...@@ -27,7 +27,7 @@ class Projection{ ...@@ -27,7 +27,7 @@ class Projection{
cv::Point2i rotatePixel(cv::Point2i pixel); cv::Point2i rotatePixel(cv::Point2i pixel);
cv::Point2i revertRotatePixel(cv::Point2i pixel); cv::Point2i revertRotatePixel(cv::Point2i pixel);
void adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos); void adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos);
void printAdjustingMatrix(); void printAdjustingMatrix();
}; };
......
inc/sandbox.h
+ 3
− 3
View file @ f2124872
...@@ -24,9 +24,9 @@ class Sandbox{ ...@@ -24,9 +24,9 @@ class Sandbox{
int init(); int init();
void captureFrame(); void captureFrame();
cv::Mat getColorFrame(); cv::Mat_<cv::Vec3b> getColorFrame();
cv::Mat getDepthFrame(); cv::Mat_<float> getDepthFrame();
cv::Mat adjustProjection(cv::Mat frame); cv::Mat_<cv::Vec3b> adjustProjection(cv::Mat_<cv::Vec3b> frame);
int loadConfig(); int loadConfig();
int loadConfigFrom(char *path); int loadConfigFrom(char *path);
......
src/components/camera.cpp
+ 7
− 4
View file @ f2124872
...@@ -63,6 +63,11 @@ int Camera::start(){ ...@@ -63,6 +63,11 @@ int Camera::start(){
warmUpDepthLens(); warmUpDepthLens();
// save intrisic profil since it's an heavy operation (used to project and deproject pixels)
// and we use it only in one precise case
capture();
intr_profile = depth_frame->get_profile().as<rs2::video_stream_profile>().get_intrinsics();
return 0; return 0;
} }
...@@ -96,8 +101,7 @@ cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){ ...@@ -96,8 +101,7 @@ cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){
float point[3] = {point3D.x, point3D.y, point3D.z}; float point[3] = {point3D.x, point3D.y, point3D.z};
float pixel[2]; float pixel[2];
rs2_intrinsics intr = depth_frame->get_profile().as<rs2::video_stream_profile>().get_intrinsics(); rs2_project_point_to_pixel(pixel, &intr_profile, point);
rs2_project_point_to_pixel(pixel, &intr, point);
return cv::Point2i(pixel[0], pixel[1]); return cv::Point2i(pixel[0], pixel[1]);
} }
...@@ -105,8 +109,7 @@ cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){ ...@@ -105,8 +109,7 @@ cv::Point2i Camera::projectPointToPixel(cv::Point3f point3D){
cv::Point3f Camera::deprojectPixelToPoint(float coord[], float z){ cv::Point3f Camera::deprojectPixelToPoint(float coord[], float z){
float p[3]; float p[3];
rs2_intrinsics intr = depth_frame->get_profile().as<rs2::video_stream_profile>().get_intrinsics(); rs2_deproject_pixel_to_point(p, &intr_profile, coord, z);
rs2_deproject_pixel_to_point(p, &intr, coord, z);
return cv::Point3f(p[0], p[1], p[2]); return cv::Point3f(p[0], p[1], p[2]);
} }
......
src/components/projection.cpp
+ 16
− 13
View file @ f2124872
...@@ -29,28 +29,31 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){ ...@@ -29,28 +29,31 @@ cv::Point2i Projection::revertRotatePixel(cv::Point2i pixel){
// Adjust the projected frame with the topology from the camera to the beamer POV // Adjust the projected frame with the topology from the camera to the beamer POV
void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *camera, cv::Point3f beamer_pos){ void Projection::adjustFrame(cv::Mat_<float> depth, cv::Mat_<cv::Vec3b> src, cv::Mat_<cv::Vec3b> &dst, Camera *camera, cv::Point3f beamer_pos){
cv::Rect mask = camera->getCroppingMask(); cv::Rect mask = camera->getCroppingMask();
cv::Size dst_size = dst.size();
// resize the frames to be a multiple of the camera size : // resize the frames to be a multiple of the camera size :
// src.size = n * camera.depth.size , where n is uint > 0 // src.size = n * camera.depth.size , where n is uint > 0
cv::resize(dst, dst, getMatchingSize(dst, mask)); static cv::Mat_<cv::Vec3b> resized_dst = cv::Mat_<cv::Vec3b>(getMatchingSize(dst, mask));
cv::resize(src, src, dst.size()); cv::resize(dst, resized_dst, resized_dst.size());
cv::resize(src, src, resized_dst.size());
cv::Mat deprojectMap = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1)); static cv::Mat_<cv::Point2i> deprojectMap = cv::Mat_<cv::Point2i>(mask.height, mask.width);
cv::Mat frameMapMask = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1)); deprojectMap = cv::Point2i(-1,-1);
static cv::Mat_<cv::Point2i> frameMapMask = cv::Mat_<cv::Point2i>(mask.height, mask.width, cv::Point2i(-1,-1));
frameMapMask = cv::Point2i(-1,-1);
deprojectPixelsFromDepth(depth, mask, camera, beamer_pos, deprojectMap); deprojectPixelsFromDepth(depth, mask, camera, beamer_pos, deprojectMap);
filterLowestDeprojectedPoints(depth, deprojectMap, frameMapMask); filterLowestDeprojectedPoints(depth, deprojectMap, frameMapMask);
buildFrame(depth, frameMapMask, src, dst); buildFrame(depth, frameMapMask, src, resized_dst);
// TODO : Holefilling method // TODO : Holefilling method
cv::resize(dst, dst, dst_size); cv::resize(resized_dst, dst, dst.size());
cv::warpAffine(dst, dst, adjustingMatrix, dst.size()); cv::warpAffine(dst, dst, adjustingMatrix, dst.size());
} }
...@@ -60,7 +63,7 @@ void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *c ...@@ -60,7 +63,7 @@ void Projection::adjustFrame(cv::Mat depth, cv::Mat src, cv::Mat &dst, Camera *c
* PRIVATE * PRIVATE
*/ */
void Projection::deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat &deprojectMap){ void Projection::deprojectPixelsFromDepth(cv::Mat_<float> &depth, cv::Rect mask, Camera *camera, cv::Point3f beamer_pos, cv::Mat_<cv::Point2i> &deprojectMap){
// Browse the depth frame matching the cropping mask // Browse the depth frame matching the cropping mask
// while adapting pixels's position to the beamer's position // while adapting pixels's position to the beamer's position
...@@ -85,7 +88,7 @@ void Projection::deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera ...@@ -85,7 +88,7 @@ void Projection::deprojectPixelsFromDepth(cv::Mat &depth, cv::Rect mask, Camera
} }
void Projection::filterLowestDeprojectedPoints(cv::Mat &depth, cv::Mat &deprojectMap, cv::Mat &frameMapMask){ void Projection::filterLowestDeprojectedPoints(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &deprojectMap, cv::Mat_<cv::Point2i> &frameMapMask){
for (int j = 0; j < deprojectMap.rows; j++){ for (int j = 0; j < deprojectMap.rows; j++){
for (int i = 0; i < deprojectMap.cols; i++){ for (int i = 0; i < deprojectMap.cols; i++){
...@@ -112,7 +115,7 @@ void Projection::filterLowestDeprojectedPoints(cv::Mat &depth, cv::Mat &deprojec ...@@ -112,7 +115,7 @@ void Projection::filterLowestDeprojectedPoints(cv::Mat &depth, cv::Mat &deprojec
} }
void Projection::buildFrame(cv::Mat &depth, cv::Mat &frameMapMask, cv::Mat &src, cv::Mat &dst){ void Projection::buildFrame(cv::Mat_<float> &depth, cv::Mat_<cv::Point2i> &frameMapMask, cv::Mat_<cv::Vec3b> &src, cv::Mat_<cv::Vec3b> &dst){
for (int j = 0; j < frameMapMask.rows; j++){ for (int j = 0; j < frameMapMask.rows; j++){
for (int i = 0; i < frameMapMask.cols; i++){ for (int i = 0; i < frameMapMask.cols; i++){
...@@ -129,7 +132,7 @@ void Projection::buildFrame(cv::Mat &depth, cv::Mat &frameMapMask, cv::Mat &src, ...@@ -129,7 +132,7 @@ void Projection::buildFrame(cv::Mat &depth, cv::Mat &frameMapMask, cv::Mat &src,
} }
cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){ cv::Size Projection::getMatchingSize(cv::Mat_<cv::Vec3b> &src, cv::Rect base){
cv::Size bigSize; cv::Size bigSize;
bigSize.width = (src.size().width % base.width == 0) ? src.size().width : src.size().width - (src.size().width % base.width) + base.width; bigSize.width = (src.size().width % base.width == 0) ? src.size().width : src.size().width - (src.size().width % base.width) + base.width;
bigSize.height = (src.size().height % base.height == 0) ? src.size().height : src.size().height - (src.size().height % base.height) + base.height; bigSize.height = (src.size().height % base.height == 0) ? src.size().height : src.size().height - (src.size().height % base.height) + base.height;
...@@ -138,7 +141,7 @@ cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){ ...@@ -138,7 +141,7 @@ cv::Size Projection::getMatchingSize(cv::Mat &src, cv::Rect base){
// pixels coordinates are relative to the camera depth frame // pixels coordinates are relative to the camera depth frame
void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat &dst, cv::Point2i pixel_src, cv::Mat &src, cv::Mat &depth){ void Projection::copyPixelsInto(cv::Point2i pixel_dst, cv::Mat_<cv::Vec3b> &dst, cv::Point2i pixel_src, cv::Mat_<cv::Vec3b> &src, cv::Mat_<float> &depth){
if( src.size().width == dst.size().width && src.size().height == dst.size().height ){ if( src.size().width == dst.size().width && src.size().height == dst.size().height ){
......
src/lib/sandbox.cpp
+ 6
− 5
View file @ f2124872
...@@ -30,20 +30,21 @@ void Sandbox::captureFrame(){ ...@@ -30,20 +30,21 @@ void Sandbox::captureFrame(){
camera->capture(); camera->capture();
} }
cv::Mat Sandbox::getColorFrame(){ cv::Mat_<cv::Vec3b> Sandbox::getColorFrame(){
return camera->getColorFrame()(camera->getCroppingMask()); return camera->getColorFrame()(camera->getCroppingMask());
} }
cv::Mat Sandbox::getDepthFrame(){ cv::Mat_<float> Sandbox::getDepthFrame(){
return camera->getDepthFrame()(camera->getCroppingMask()); return camera->getDepthFrame()(camera->getCroppingMask());
} }
cv::Mat Sandbox::adjustProjection(cv::Mat frame){ cv::Mat_<cv::Vec3b> Sandbox::adjustProjection(cv::Mat_<cv::Vec3b> frame){
captureFrame(); captureFrame();
cv::Mat depth = getDepthFrame(); cv::Mat_<float> depth = getDepthFrame();
cv::Mat imageCalibrate = cv::Mat(cv::Size(beamer->getWidth(), beamer->getHeight()), CV_8UC3, cv::Scalar(0, 0, 0)); static cv::Mat_<cv::Vec3b> imageCalibrate = cv::Mat_<cv::Vec3b>(cv::Size(beamer->getWidth(), beamer->getHeight()));
imageCalibrate = cv::Vec3b(0, 0, 0);
projection->adjustFrame(depth, frame, imageCalibrate, camera, beamer->getPosition()); projection->adjustFrame(depth, frame, imageCalibrate, camera, beamer->getPosition());
// frame after process // frame after process
......
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