diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
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Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o differ
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o
index ad6ba8533ac5dfd1dcc2e583f2e8b54d53d0ee4e..2d8b26e789a4a145d9a436839be31c8e0ff2acf1 100644
Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o differ
diff --git a/apps/specular_estimation/src/Charuco.h b/apps/specular_estimation/src/Charuco.h
index 3cbd6ed08fb9bd96186e9f55eca866291001292b..ac50bc0e18a21426a52e5579d041db8320643fa7 100644
--- a/apps/specular_estimation/src/Charuco.h
+++ b/apps/specular_estimation/src/Charuco.h
@@ -30,8 +30,9 @@ void createArucoDictionary(std::vector< cv::Mat >& arucoMarkers, int dictionaryI
cv::Mat drawCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, int rows, int cols, bool saveCharuco, bool displayCharuco);
void calibrateCamera(int squaresX, int squaresY, float squareLength, float markerLength, int dictionaryId, std::vector<cv::Mat> charucoImages, cv::Mat& cameraMatrix, cv::Mat& distCoeffs);
void calibrateCamera(std::string charucoPath, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients);
-void loadCharucoImages(std::vector< cv::Mat >& charucoImages, std::string charucoPath, std::string charucoName);
+void loadCharucoImages(std::vector<cv::Mat>& charucoImages, std::string charucoPath, std::string charucoName);
void undistortCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, cv::Mat inputImage, cv::Mat boardImage, cv::Mat& undistortedCharuco, cv::Mat cameraMatrix, cv::Mat distortionCoefficients, cv::Vec3d& rvec, cv::Vec3d& tvec, cv::Mat& perspectiveTransform, bool displayUndistortedCharuco);
+std::vector<cv::Mat> loadCharucoImages(std::string path, int imageScale);
void charucoCalibration(int width, int height, cv::Ptr<cv::aruco::CharucoBoard>& charucoBoard, cv::Mat& charucoBoardImage, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients, const std::string imagesPath, const std::string folderPath) {
@@ -330,8 +331,6 @@ std::vector<cv::Mat> charucoAlignment(std::vector<cv::Mat> materialImages, int n
cv::Mat croppedWindow(undistortedCharuco, crop);
charucoImages.push_back(croppedWindow);
- i++;
-
cv::imshow("Undistorted ChArUco", croppedWindow);
cv::waitKey(0);
}
@@ -339,7 +338,7 @@ std::vector<cv::Mat> charucoAlignment(std::vector<cv::Mat> materialImages, int n
return charucoImages;
}
-void createArucoDictionary(std::vector< cv::Mat >& arucoMarkers, int dictionaryId) {
+void createArucoDictionary(std::vector<cv::Mat>& arucoMarkers, int dictionaryId) {
//int dictionaryId = 0; // dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16
int borderBits = 1; // Number of bits in marker borders
int markerSize = 200; // Marker size in pixels
@@ -705,7 +704,7 @@ void calibrateCamera(std::string charucoPath, cv::Mat& cameraMatrix, cv::Mat& di
//cv::Ptr<cv::aruco::CharucoBoard> charucoBoard = cv::aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
std::cout << "Loading ChArUco images.\n";
- std::vector<cv::Mat> charucoImages = loadImages(charucoPath);
+ std::vector<cv::Mat> charucoImages = loadCharucoImages(charucoPath, 1);
std::string outputFile = "cameraCalibration";
@@ -975,4 +974,43 @@ void detectArucoMarkers(int dictionaryId, bool showRejected, bool estimatePose,
cv::imwrite("DetectedArUcoMarkers.png", imageCopy);
}
+std::vector<cv::Mat> loadCharucoImages(std::string path, int imageScale = 1) {
+
+ std::vector<cv::Mat> images;
+ bool loadedImages = false;
+ int imageNumber = 0;
+
+ // Load the images
+ while (!loadedImages) {
+
+ // The index of the loop is converted into a stringstream, then to the string called "indexString"
+ // Using 'to_string' directly gives the error "'to_string' is not a member of 'std'"
+ std::ostringstream stm;
+ stm << imageNumber;
+ std::string indexString = stm.str();
+
+ // Read the image of the current index
+ cv::Mat image = cv::imread(path + indexString + ".png", cv::IMREAD_COLOR);
+
+ if (!image.data) { // Check if any images failed to load
+ std::cout << imageNumber << " images have been loaded." << std::endl;
+ loadedImages = true;
+ }
+ else {
+ if (imageScale != 1) {
+ cv::resize(image, image, cv::Size(), 1.0 / imageScale, 1.0 / imageScale, cv::INTER_AREA);
+ }
+ images.push_back(image);
+ imageNumber++;
+ //std::cout << "Loaded image " << imageNumber << std::endl;
+ }
+ }
+
+ if (imageNumber < 1) {
+ std::cerr << "Error: No images could be loaded." << std::endl;
+ }
+
+ return images;
+}
+
#endif
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
index 27a53e0c069a6f82b5026807ff7eb22efd657e50..261267b85ec35ad58a83026005d485902c99dd39 100755
--- a/apps/specular_estimation/src/PhotometricStereo.cc
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -180,15 +180,56 @@ photometricStereo::photometricStereo(int n, int startI, int endI, std::string pa
mMaskNames.push_back(path + objectName);
}
-photometricStereo::photometricStereo(int imageNumber, std::string modelPath, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio): mDiscardRatio(discardRatio), imageNum(imageNumber) {
- int imageScale = 4;
- mp2Images = readImages(modelPath, imageScale);
- std::cout << "Loaded material images.\n";
+photometricStereo::photometricStereo(int imageNumber, std::string modelPath, std::string calibrationPath, std::string charucoPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio): mDiscardRatio(discardRatio), imageNum(imageNumber) {
+ int imageScale = 2, numberOfLights = 6;
+
+ /*cv::Mat cameraMatrix, distortionCoefficients, lightDirectionsPerspective;
+
+ calibrateCamera(charucoPath, cameraMatrix, distortionCoefficients);
+ std::cout << "Camera parameters obtained.\n";
+
+ cv::Mat perspectiveTransform;
+ mp2Images = readImages(modelPath, imageScale);
+ mp2Images = charucoAlignment(mp2Images, numberOfLights, perspectiveTransform, cameraMatrix, distortionCoefficients);
+ std::cout << "ChArUco alignment successful.\n";*/
+
+ //mp2Images = readImages(modelPath, imageScale);
+ //std::cout << "Loaded material images.\n";
+
+
+ mp2CalibrationImages = readImages(calibrationPath, imageScale);
+ std::cout << "Loaded calibration images.\n";
+ //mp2MacbethImages = readImages(macbethPath);
+ //std::cout << "Loaded macbeth images.\n";
+
+ width = mp2Images[0].cols;
+ height = mp2Images[0].rows;
+
+ std::string maskName = calibrationPath + "mask.png";
+ cv::Mat p2Mask = cv::imread(maskName, cv::IMREAD_GRAYSCALE);
+ if (imageScale != 1)
+ cv::resize(p2Mask, p2Mask, cv::Size(), 1.0 / imageScale, 1.0 / imageScale, cv::INTER_AREA);
+ mp2Mask.push_back(p2Mask);
+ mMaskNames.push_back(maskName);
+
+
+ maskName = calibrationPath + "white.png";
+ p2Mask = cv::imread(maskName, cv::IMREAD_GRAYSCALE);
+ if (imageScale != 1)
+ cv::resize(p2Mask, p2Mask, cv::Size(), 1.0 / imageScale, 1.0 / imageScale, cv::INTER_AREA);
+ mp2Mask.push_back(p2Mask);
+ mMaskNames.push_back(maskName);
+}
+
+photometricStereo::photometricStereo(int imageNumber, int imageScale, std::vector<cv::Mat> materialImages, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio): mDiscardRatio(discardRatio), imageNum(imageNumber), mp2Images(materialImages) {
+ cv::Mat perspectiveTransform, lightDirectionsPerspective;
+
mp2CalibrationImages = readImages(calibrationPath, imageScale);
std::cout << "Loaded calibration images.\n";
//mp2MacbethImages = readImages(macbethPath);
//std::cout << "Loaded macbeth images.\n";
+ int numberOfLights = mp2CalibrationImages.size();
width = mp2Images[0].cols;
height = mp2Images[0].rows;
diff --git a/apps/specular_estimation/src/PhotometricStereo.h b/apps/specular_estimation/src/PhotometricStereo.h
index e759ccaf011c3f7d562fe5d22f2ab1b8020fa281..f01ee36d631ea5af4c568640eaf5aac8679050a9 100755
--- a/apps/specular_estimation/src/PhotometricStereo.h
+++ b/apps/specular_estimation/src/PhotometricStereo.h
@@ -33,8 +33,9 @@ class photometricStereo {
// fill the imageNames and maskNames
// use image with equal distance
photometricStereo(int n, int startI, int endI, std::string path, std::string metal1Phere1Name, std::string metal2Phere1Name, std::string lambertPhereName, std::string objectName, double discardRatio = 0.1);
- photometricStereo(int imageNumber, std::string modelPath, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio = 0.1);
+ photometricStereo(int imageNumber, std::string modelPath, std::string calibrationPath, std::string charucoPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio = 0.1);
photometricStereo(std::vector<cv::Mat> mp2Images, std::vector<cv::Mat> mp2CalibrationImages, std::vector<cv::Mat> mp2Mask, int imageNumber = 0, double discardRatio = 0.1);
+ photometricStereo(int imageNumber, int imageScale, std::vector<cv::Mat> materialImages, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio = 0.1);
photometricStereo(const photometricStereo&) = delete;
photometricStereo& operator = (const photometricStereo&) = delete;
~photometricStereo();
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 3849edddeff64260778025e8617c6ffd8529afa1..08d509f7aade2e16f8b861691531ce41e2682269 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -65,7 +65,7 @@ void specularEstimation(std::string imageName, std::string calibration, double R
const std::string normalPath = materialPath + "normal.png";
double LightDistance = 1.0, LightIntensity = 1.0, Gain = 1.0, Bias = 0.0;
- int numberOfLights = 6, width = 1092, height = 732;
+ int numberOfLights = 6, width = 2091, height = 1626;
cv::Mat residualImage, albedo, normalMap, heightMap;
std::vector<cv::Mat> materialImages, charucoImages, calibrationImages, mp2Mask;
@@ -73,43 +73,34 @@ void specularEstimation(std::string imageName, std::string calibration, double R
if (!synthetic) {
- int originalWidth, originalHeight, imageScale = 1;
- cv::Mat cameraMatrix, distortionCoefficients, lightDirectionsPerspective;
+ int originalWidth = width, originalHeight = height, imageScale = 2;
+ width /= imageScale;
+ height /= imageScale;
+ cv::Mat cameraMatrix, distortionCoefficients, lightDirectionsPerspective;
calibrateCamera(charucoPath, cameraMatrix, distortionCoefficients);
std::cout << "Camera parameters obtained.\n";
cv::Mat perspectiveTransform;
- materialImages = loadImages(materialPath);
+ materialImages = loadImages(materialPath, imageScale);
materialImages = charucoAlignment(materialImages, numberOfLights, perspectiveTransform, cameraMatrix, distortionCoefficients);
std::cout << "ChArUco alignment successful.\n";
-
+
/*
//std::cout << "Loading material images.\n";
materialImages = loadMaterialImages(materialPath, originalWidth, originalHeight, width, height, imageScale);
//std::cout << "Loading light source calibration images.\n";
calibrationImages = loadImages(calibrationPath);
numberOfLights = calibrationImages.size();
-
- std::string maskName = calibrationPath + "mask.png";
- cv::Mat p2Mask = cv::imread(maskName, cv::IMREAD_GRAYSCALE);
- mp2Mask.push_back(p2Mask);
- maskName = calibrationPath + "white.png";
- p2Mask = cv::imread(maskName, cv::IMREAD_GRAYSCALE);
- //p2Mask = cv::Mat(p2Mask.size(), CV_8U, cv::Scalar(255));
- mp2Mask.push_back(p2Mask);*/
-
- //cv::Mat lightDirectionsInverted;
- //cv::Mat cameraMatrix, distortionCoefficients, lightDirectionsPerspective;
- /*cv::Mat lightDirections = (cv::Mat_<float>(6,3) << -0.57735, -0.57735, 0.57735, 0, 0.7071, 0.7071, 0, -0.7071, 0.7071, 0.7071, 0, 0.7071, -0.7071, 0, 0.7071, 0.57735, 0.57735, 0.57735);*/
- //cv::invert(lightDirections, lightDirectionsInverted, cv::DECOMP_SVD);
+ */
//charucoAlignment(charucoPath, charucoImages, materialImages, numberOfLights, width, height, lightDirections, lightDirectionsPerspective, cameraMatrix, distortionCoefficients);
//phoSte::photometricStereo PhotometricStereo(materialImages, calibrationImages, mp2Mask, numberOfLights, 0);
- phoSte::photometricStereo PhotometricStereo(numberOfLights, materialPath, calibrationPath, macbethPath, imageName, calibration, 0);
+ //phoSte::photometricStereo PhotometricStereo(numberOfLights, materialPath, calibrationPath, charucoPath, macbethPath, imageName, calibration, 0);
+ phoSte::photometricStereo PhotometricStereo(numberOfLights, imageScale, materialImages, calibrationPath, macbethPath, imageName, calibration, 0);
//PhotometricStereo.readImage(materialPath, calibrationPath, macbethPath);
//cv::Mat calibrationMask = loadCalibrationMask(calibrationPath, height, width);
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 7baeb8a373bc251c96d1860b6a8b627120a48ea7..3091b94ab90bcbbaefeafc3c2d4778e1e6991e38 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ