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Commit 24a65039 authored by tw00275's avatar tw00275
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Chrome sphere and Macbeth images are loaded

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.vscode/c_cpp_properties.json
+ 4
− 1
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......@@ -3,7 +3,10 @@
{
"name": "Linux",
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"${workspaceFolder}/**"
"${workspaceFolder}/**",
"/usr/include",
"/usr/local/include",
"/usr/include/eigen3"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
......
.vscode/settings.json 0 → 100644
+ 53
− 0
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apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
+ 12
− 0
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......@@ -111,6 +111,18 @@ cstdio
-
Eigen/SparseCholesky
-
opencv2/opencv.hpp
-
opencv2/core.hpp
-
opencv2/highgui.hpp
-
opencv2/imgproc.hpp
-
opencv2/tracking.hpp
-
opencv2/calib3d.hpp
-
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
string
......
apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal
+ 10
− 0
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......@@ -186,6 +186,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
/usr/local/include/opencv/cxcore.h
/usr/local/include/opencv2/calib3d.hpp
/usr/local/include/opencv2/core.hpp
/usr/local/include/opencv2/core/affine.hpp
......@@ -193,6 +194,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
/usr/local/include/opencv2/core/bufferpool.hpp
/usr/local/include/opencv2/core/check.hpp
/usr/local/include/opencv2/core/core.hpp
/usr/local/include/opencv2/core/core_c.h
/usr/local/include/opencv2/core/cuda.hpp
/usr/local/include/opencv2/core/cuda.inl.hpp
/usr/local/include/opencv2/core/cuda_types.hpp
......@@ -215,6 +217,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
/usr/local/include/opencv2/core/saturate.hpp
/usr/local/include/opencv2/core/traits.hpp
/usr/local/include/opencv2/core/types.hpp
/usr/local/include/opencv2/core/types_c.h
/usr/local/include/opencv2/core/utility.hpp
/usr/local/include/opencv2/core/version.hpp
/usr/local/include/opencv2/core/vsx_utils.hpp
......@@ -261,6 +264,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
/usr/local/include/opencv2/imgcodecs.hpp
/usr/local/include/opencv2/imgproc.hpp
/usr/local/include/opencv2/imgproc/imgproc.hpp
/usr/local/include/opencv2/imgproc/types_c.h
/usr/local/include/opencv2/ml.hpp
/usr/local/include/opencv2/ml/ml.inl.hpp
/usr/local/include/opencv2/objdetect.hpp
......@@ -287,6 +291,12 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
/usr/local/include/opencv2/stitching/warpers.hpp
/usr/local/include/opencv2/superres.hpp
/usr/local/include/opencv2/superres/optical_flow.hpp
/usr/local/include/opencv2/tracking.hpp
/usr/local/include/opencv2/tracking/feature.hpp
/usr/local/include/opencv2/tracking/onlineBoosting.hpp
/usr/local/include/opencv2/tracking/onlineMIL.hpp
/usr/local/include/opencv2/tracking/tldDataset.hpp
/usr/local/include/opencv2/tracking/tracker.hpp
/usr/local/include/opencv2/video.hpp
/usr/local/include/opencv2/video/background_segm.hpp
/usr/local/include/opencv2/video/tracking.hpp
......
apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.make
+ 10
− 0
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......@@ -185,6 +185,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv/cxcore.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/calib3d.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/affine.hpp
......@@ -192,6 +193,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/bufferpool.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/check.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/core.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/core_c.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/cuda.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/cuda.inl.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/cuda_types.hpp
......@@ -214,6 +216,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/saturate.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/traits.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/types.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/types_c.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/utility.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/version.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/core/vsx_utils.hpp
......@@ -260,6 +263,7 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/imgcodecs.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/imgproc.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/imgproc/imgproc.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/imgproc/types_c.h
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/ml.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/ml/ml.inl.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/objdetect.hpp
......@@ -286,6 +290,12 @@ apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStere
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/stitching/warpers.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/superres.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/superres/optical_flow.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking/feature.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking/onlineBoosting.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking/onlineMIL.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking/tldDataset.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/tracking/tracker.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/video.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/video/background_segm.hpp
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o: /usr/local/include/opencv2/video/tracking.hpp
......
apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
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apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o
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No preview for this file type
apps/specular_estimation/src/OpenCV.h
+ 2
− 2
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......@@ -322,7 +322,7 @@ cv::Rect getBoundingBox(cv::Mat Mask) {
}
// Estimate the surface normals and p, q gradients
void getSurfaceNormals(cv::Mat& normals, cv::Mat& pGradients, cv::Mat& qGradients, cv::Mat lightDirectionsInverted, std::vector< cv::Mat > modelImages) {
void getSurfaceNormals(cv::Mat& normals, cv::Mat& pGradients, cv::Mat& qGradients, cv::Mat lightDirectionsInverted, std::vector<cv::Mat> modelImages) {
std::cout << "\nEstimating Surface Normals.\n";
......@@ -570,7 +570,7 @@ void loadModelImages(std::vector<cv::Mat>& modelImages, std::vector<cv::Mat>& te
std::cout << std::endl;
}
cv::Mat getLightDirections(std::vector< cv::Mat > calibrationImages, cv::Rect calibrationBoundingBox) {
cv::Mat getLightDirections(std::vector<cv::Mat> calibrationImages, cv::Rect calibrationBoundingBox) {
cv::Mat lightDirections(int(calibrationImages.size()), 3, CV_32F);
......
apps/specular_estimation/src/PhotometricStereo.cc
+ 215
− 3
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......@@ -7,6 +7,14 @@
#include <cstdio>
#include <Eigen/SparseCholesky>
#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp> // Core contains the definitions of the basic building blocks of the OpenCV library
#include <opencv2/highgui.hpp> // HighGUI contains the functions for input and output operations
#include <opencv2/imgproc.hpp>
#include <opencv2/tracking.hpp>
#include <opencv2/calib3d.hpp>
using namespace cv;
namespace phoSte {
namespace {
......@@ -99,11 +107,41 @@ phoSte::light getLightDirection(const phoSte::circle& metalCircle,
return phoSte::light(lx, ly, lz);
}
cv::Vec3f getLightDirectionFromSphere(cv::Mat Image, cv::Rect boundingBox) {
const int THRESH = 254;
const float radius = boundingBox.width / 2.0f;
cv::Mat Binary;
threshold(Image, Binary, THRESH, 255, CV_THRESH_BINARY);
cv::Mat SubImage(Binary, boundingBox);
// calculate center of pixels
cv::Moments m = moments(SubImage, false);
cv::Point center(int(m.m10 / m.m00), int(m.m01 / m.m00));
// x,y are swapped here // TODO check if necessary
float x = (center.y - radius) / radius;
float y = (center.x - radius) / radius;
float z = sqrt(1.0f - pow(x, 2.0f) - pow(y, 2.0f));
return cv::Vec3f(x, y, z);
}
phoSte::light getLightDirection(cv::Mat calibrationImage, cv::Rect calibrationBoundingBox) {
cv::Vec3f light = getLightDirectionFromSphere(calibrationImage, calibrationBoundingBox);
double lx = light[0];
double ly = light[1];
double lz = light[2];
return phoSte::light(lx, ly, lz);
}
void swapNum(double& a, double& b) {
double tmp = a;
a = b;
b = tmp;
}
// find the num at the ratio of the nums
......@@ -149,6 +187,7 @@ photometryStero::~photometryStero() {
}
}
// Read in the file names for the images
photometryStero::photometryStero(int n, int startI, int endI, std::string path,
std::string metal1Phere1Name, std::string metal2Phere1Name,
std::string lambertPhereName, std::string objectName,
......@@ -172,6 +211,87 @@ photometryStero::photometryStero(int n, int startI, int endI, std::string path,
mMaskNames.push_back(path + objectName);
}
photometryStero::photometryStero(int imageNumber, std::string modelPath, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio): mDiscardRatio(discardRatio), imageNum(imageNumber) {
bool loadedImages = false;
imageNumber = 0;
// Load all of the model 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();
std::string imageNameStr = modelPath + indexString + ".png";
cv::Mat modelImage = cv::imread(modelPath + indexString + ".png", cv::IMREAD_COLOR);
if (!modelImage.data) { // Check if any images failed to load
std::cout << imageNumber << " model images have been loaded." << std::endl;
loadedImages = true;
}
else {
mImageNames.push_back(imageNameStr);
imageNumber++;
}
}
loadedImages = false;
imageNumber = 0;
// Load all of the calibration 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();
std::string calibrationNameStr = calibrationPath + indexString + ".png";
cv::Mat calibrationImage = cv::imread(calibrationPath + indexString + ".png", cv::IMREAD_COLOR);
if (!calibrationImage.data) { // Check if any images failed to load
std::cout << imageNumber << " calibration images have been loaded." << std::endl;
loadedImages = true;
}
else {
mCalibrationNames.push_back(calibrationNameStr);
imageNumber++;
}
}
std::string maskName = calibrationPath + "mask.png";
mMaskNames.push_back(maskName);
loadedImages = false;
imageNumber = 0;
// Load all of the calibration 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();
std::string macbethNameStr = macbethPath + indexString + ".png";
cv::Mat macbethImage = cv::imread(macbethPath + indexString + ".png", cv::IMREAD_COLOR);
if (!macbethImage.data) { // Check if any images failed to load
std::cout << imageNumber << " Macbeth images have been loaded." << std::endl;
loadedImages = true;
}
else {
mMacbethNames.push_back(macbethNameStr);
imageNumber++;
}
}
}
// read image and mask image according to the name
// return true if read successfully
// return false if read fail
......@@ -195,6 +315,12 @@ bool photometryStero::readImage() {
+ 0.1140 * image.col(2));
p2Image = p2Image.reshape(0, PFMAccessI->GetHeight());
mp2Images.push_back(p2Image);
/*std::ostringstream stm;
stm << i;
std::string number = stm.str();
std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/" + number + ".png";
cv::imwrite(path, p2Image);*/
}
// read the maskImage
for(int i = 0; i < mMaskNames.size(); i++) {
......@@ -206,6 +332,53 @@ bool photometryStero::readImage() {
return true;
}
bool photometryStero::readImage(std::string modelPath, std::string calibrationPath, std::string macbethPath) {
if(mImageNames.empty() || mMaskNames.empty() || mCalibrationNames.empty() || mMacbethNames.empty())
return false;
// read the image
for(int i = 0; i < mImageNames.size(); i++) {
std::ostringstream stm;
stm << i;
std::string indexString = stm.str();
cv::Mat modelImage = cv::imread(modelPath + indexString + ".png", cv::IMREAD_COLOR);
mp2Images.push_back(modelImage);
}
// read the calibration image
for(int i = 0; i < mCalibrationNames.size(); i++) {
std::ostringstream stm;
stm << i;
std::string indexString = stm.str();
cv::Mat calibrationImage = cv::imread(calibrationPath + indexString + ".png", cv::IMREAD_COLOR);
mp2CalibrationImages.push_back(calibrationImage);
}
// read the macbeth image
for(int i = 0; i < mMacbethNames.size(); i++) {
std::ostringstream stm;
stm << i;
std::string indexString = stm.str();
cv::Mat macbethImage = cv::imread(macbethPath + indexString + ".png", cv::IMREAD_COLOR);
mp2MacbethImages.push_back(macbethImage);
}
// read the maskImage
//for(int i = 0; i < mMaskNames.size(); i++) {
// cv::Mat p2Mask = cv::imread(calibrationPath + "mask.png", cv::IMREAD_GRAYSCALE);
// if(! p2Mask.data )
// return false;
// mp2Mask.push_back(p2Mask);
//}
cv::Mat p2Mask = cv::imread(calibrationPath + "mask.png", cv::IMREAD_GRAYSCALE);
if(! p2Mask.data )
return false;
mp2Mask.push_back(p2Mask);
return true;
}
void photometryStero::getLightInformation(const int metalIndex, const int lambIndex) {
// get the metal circle
cv::threshold(mp2Mask[metalIndex], mp2Mask[metalIndex], 255 / 2, 255, cv::THRESH_BINARY);
......@@ -235,7 +408,7 @@ void photometryStero::getLightInformation(const int metalIndex, const int lambIn
mostPointIdx = i;
}
}
m_lambSpere = getCircle(lambContour[mostPointIdx]);
//m_lambSpere = getCircle(lambContour[mostPointIdx]);
// get the direction and the intensity of every image
for(int i = 0; i < mp2Images.size(); i++) {
......@@ -248,11 +421,47 @@ void photometryStero::getLightInformation(const int metalIndex, const int lambIn
}
}
void photometryStero::getLightInformation(const int metalIndex, const int lambIndex, cv::Rect boundingBox) {
m_metalSphere = phoSte::circle(boundingBox.x + (boundingBox.width/2), boundingBox.y + (boundingBox.height/2), boundingBox.width);
for(int i = 0; i < mp2Images.size(); i++) {
cv::Point metalMaxPoint;
cv::minMaxLoc(mp2Images[i], NULL, NULL, NULL, &metalMaxPoint, mp2Mask[metalIndex]);
m_light.push_back(getLightDirection(m_metalSphere, metalMaxPoint));
/*
const int THRESH = 254;
const float radius = boundingBox.width / 2.0f;
cv::Mat Binary;
threshold(mp2Images[i], Binary, THRESH, 255, CV_THRESH_BINARY);
cv::Mat SubImage(Binary, boundingBox);
// calculate center of pixels
cv::Moments m = moments(SubImage, false);
cv::Point center(int(m.m10 / m.m00), int(m.m01 / m.m00));
// x,y are swapped here // TODO check if necessary
float x = (center.y - radius) / radius;
float y = (center.x - radius) / radius;
float z = sqrt(1.0f - pow(x, 2.0f) - pow(y, 2.0f));
m_light.push_back(phoSte::light(x, y, z));
*/
double lightIntensity;
cv::minMaxLoc(mp2Images[i], NULL, &lightIntensity, NULL, NULL, mp2Mask[lambIndex]);
m_light[i].mIntensity = lightIntensity;
}
}
// calculate the norm and albedo for every pixel
// here, threshold is for the dark discard
void photometryStero::getPixelNormAndAlbedo(const int objectIndex) {
// calculate the pixel num
std::vector<double> pixelThreshold;
//std::vector<double> pixelThreshold;
for(int i = 0; i < mp2Mask[objectIndex].rows; i++) {
for(int j = 0; j < mp2Mask[objectIndex].cols; j++) {
if(mp2Mask[objectIndex].at<unsigned char>(i, j) >= 255) {
......@@ -261,6 +470,9 @@ void photometryStero::getPixelNormAndAlbedo(const int objectIndex) {
}
}
}
std::cout << "Calculated the pixel coordinates within the mask\n";
std::vector<std::vector<double>> allPixelValue;
allPixelValue.reserve(imageNum);
int objectPixelNum = mObjectX.size();
......
apps/specular_estimation/src/PhotometricStereo.h
+ 17
− 7
View file @ 24a65039
......@@ -44,15 +44,16 @@ struct light {
class photometryStero {
public:
// fill the imageNames and maskNames
// use image with euqal distance
photometryStero(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);
// use image with equal distance
photometryStero(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);
photometryStero(int imageNumber, std::string modelPath, std::string calibrationPath, std::string macbethPath, std::string imageName, std::string calibration, double discardRatio = 0.1);
photometryStero(const photometryStero&) = delete;
photometryStero& operator = (const photometryStero&) = delete;
~photometryStero();
bool readImage(); // read the images and masks according to the ImageNames
bool readImage(std::string modelPath, std::string calibrationPath, std::string macbethPath);
void getLightInformation(const int metalIndex, const int lambIndex);
void getLightInformation(const int metalIndex, const int lambIndex, cv::Rect boundingBox);
void getPixelNormAndAlbedo(const int objectIndex);
cv::Mat outputNormalImage(int objectIndex);
cv::Mat outputAlbedoImage(int objectIndex);
......@@ -65,16 +66,20 @@ class photometryStero {
void addSmallMaskForObject(int size, int midX, int midY);
private:
const int imageNum; // the num of images used to calculate;
std::vector<std::string> mImageNames; // the name of images
std::vector<std::string> mMaskNames; // the name of mask
std::vector<std::string> mImageNames; // the file names of the model images
std::vector<std::string> mMaskNames; // the file name of the mask image
std::vector<std::string> mCalibrationNames; // the file names of the chrome sphere images
std::vector<std::string> mMacbethNames; // the file names of the Macbeth images
std::vector<cv::Mat> mp2Images;
std::vector<cv::Mat> mp2CalibrationImages;
std::vector<cv::Mat> mp2MacbethImages;
std::vector<cv::Mat> mp2Mask;
// when the PFMACCess destructs, the data will be destroyed
// so it's very dangerous, it should not be copied
std::vector<CPFMAccess*> mImageStorage;
// tht circle data for the metalSphere
phoSte::circle m_metalSphere;
phoSte::circle m_lambSpere;
//phoSte::circle m_lambSpere;
std::vector<phoSte::light> m_light;
cv::Mat mN;
cv::Mat mAlbedo;
......@@ -82,6 +87,11 @@ class photometryStero {
std::vector<int> mObjectY;
std::vector<int> mInvalidIndex;
const double mDiscardRatio;
std::string modelPath;
std::string calibrationPath;
std::string imageName;
std::string calibration;
};
}
......
apps/specular_estimation/src/specular_estimation.cc
+ 177
− 19
View file @ 24a65039
......@@ -43,13 +43,6 @@ int main(int argc, char** argv) {
std::cout << std::endl;
drawAppleNormal();
drawAppleAlbedo();
drawAppleNormalWithAlbedo();
getAppleHeight();
// Define the paths for the model images, calibration images and the albedo texture
//const std::string sourcePath = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
//const std::string imagesPath = "/media/tw00275/ESD-USB/";
......@@ -58,20 +51,21 @@ int main(int argc, char** argv) {
const std::string folderPath = "2017-12-04";
const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
const std::string texturePath = modelPath + "texture.png";
detectMacbeth("/home/thomas/Documents/2017-12-04/macbeth/macbeth.0.png");
//detectMacbeth("/home/thomas/Documents/2017-12-04/macbeth/macbeth.0.png");
// A vector of Mats allow multiple images to be allocated to the same object
// textureImages are the full colour photographs that are used to create the texture
// modelImages are the greyscale version of textureImages which are used to calculate the surface normals
// calibrationImages contain the reflections of the chrome sphere, and are used to determine the light directions
// charucoImages contain the ChArUco board, and are used to calibrate the camera
std::vector< cv::Mat > textureImages, modelImages, calibrationImages, charucoImages;
std::vector<cv::Mat> textureImages, modelImages, calibrationImages, charucoImages;
cv::Mat heightMap, normalMap, texture, lightDirections;
cv::Rect calibrationBoundingBox;
int width, height;
/*
// Load the textureImages, modelImages, calibrationImages and charucoImages, then determine the bounding box around the chrome sphere
loadImages(imageName, calibration, width, height, imageScale, textureImages, calibrationPath, calibrationImages, modelPath, modelImages, calibrationBoundingBox);
......@@ -80,7 +74,7 @@ int main(int argc, char** argv) {
// The rotation matrix is created from the rotation and translation vectors, and describes the rotation of the ChArUco board
// The inverse of this transformation is applied to the light directions
// The perspective transform warps the model images to align them with the ChArUco board
std::vector< cv::Vec3d > rvecs, tvecs;
std::vector<cv::Vec3d> rvecs, tvecs;
cv::Mat rotationMatrix, rotationVector, charucoBoardImage, cameraMatrix, distortionCoefficients, perspectiveTransform, lightDirectionsPerspective = cv::Mat(numberOfLights, 3, CV_32F);
cv::Ptr<cv::aruco::CharucoBoard> charucoBoard;
......@@ -88,16 +82,180 @@ int main(int argc, char** argv) {
//charucoAlignment(charucoImages, textureImages, numberOfLights, width, height, rotationMatrix, rotationVector, perspectiveTransform, lightDirections, lightDirectionsPerspective, rvecs, tvecs, charucoBoard, charucoBoardImage, cameraMatrix, distortionCoefficients);
//rotationMatrix =
//rotationVector =
//perspectiveTransform =
//lightDirectionsPerspective =
//std::vector<cv::Vec3d>& rvecs
//std::vector<cv::Vec3d>& tvecs
photometricStereo(imageName, calibration, modelPath, imageScale, heightMap, normalMap, texture, lightDirections, lightDirectionsPerspective, textureImages, modelImages, calibrationImages, calibrationBoundingBox, width, height, rvecs, tvecs);
*/
//phoSte::photometryStero B(21, 2, 22, "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/", "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
//B.readImage();
phoSte::photometryStero A(0, modelPath, calibrationPath, macbethPath, imageName, calibration, 0.1);
A.readImage(modelPath, calibrationPath, macbethPath);
cv::Mat calibrationMask = loadCalibrationMask(calibrationPath, height, width);
calibrationBoundingBox = getBoundingBox(calibrationMask);
A.getLightInformation(1, 2, calibrationBoundingBox);
std::cout << "Got light information\n";
A.getPixelNormAndAlbedo(3);
std::cout << "Got Normal and Albedo\n";
cv::Mat result = A.outputNormalImage(3);
cv::imshow("apple normal image", result);
cv::imwrite(modelPath + "normal", result);
cv::waitKey(0);
int numberOfLights = 6;
/*
int imageNum = numberOfLights;
int objectPixelNum = width;
std::vector<phoSte::light> m_light;
for (int i = 0; i < numberOfLights; i++) {
m_light.push_back(phoSte::light(lightDirections.at<float>(i, 0), lightDirections.at<float>(i, 1), lightDirections.at<float>(i, 2)));
}
cv::Mat I(imageNum, objectPixelNum, CV_64F);
cv::Mat L(imageNum, 3, CV_64F);
cv::Mat mN(3, objectPixelNum, CV_64F);
cv::Mat mAlbedo(1, objectPixelNum, CV_64F);
double *pL = (double *)L.data;
for(int i = 0; i < imageNum; i++) {
*pL = m_light[i].mx;
*(pL + 1) = m_light[i].my;
*(pL + 2) = m_light[i].mz;
pL += 3;
}
cv::Mat LPseudoInvert;
cv::invert(L, LPseudoInvert, cv::DECOMP_SVD);
double *pI = (double *)I.data;
double *pN = (double *)mN.data;
for(int i = 0; i < objectPixelNum; i++) {
int inValidNum = 0;
cv::Mat specificL;
for(int j = 0; j < imageNum; j++) {
//if(allPixelValue[j][i] < allThreshold[j]) {
inValidNum ++;
if(inValidNum == 1) {
L.copyTo(specificL);
}
double *p2LRow = specificL.ptr<double>(j);
*(p2LRow) = 0;
*(p2LRow + 1) = 0;
*(p2LRow + 2) = 0;
*(pI + j * objectPixelNum + i) = 0;
} else {
*(pI + j * objectPixelNum + i) = allPixelValue[j][i] / m_light[j].mIntensity;
}
if(imageNum - inValidNum < 3) {
break;
}
}
if(inValidNum == 0) {
mN.col(i) = LPseudoInvert * I.col(i);
double nx = mN.col(i).at<double>(0, 0);
double ny = mN.col(i).at<double>(1, 0);
double nz = mN.col(i).at<double>(2, 0);
mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
} else if(imageNum - inValidNum >= 3) {
cv::Mat specificLPseudoInvert;
cv::invert(specificL, specificLPseudoInvert, cv::DECOMP_SVD);
mN.col(i) = specificLPseudoInvert * I.col(i);
double nx = mN.col(i).at<double>(0, 0);
double ny = mN.col(i).at<double>(1, 0);
double nz = mN.col(i).at<double>(2, 0);
mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
} else {
mN.at<double>(0, i) = 0;
mN.at<double>(1, i) = 0;
mN.at<double>(2, i) = 0;
mAlbedo.at<double>(0, i) = 0;
//mInvalidIndex.push_back(i);
}
}
//cv::Mat normal = A.outputNormalImage(3);
cv::Mat normal = cv::Mat::zeros(height, width, CV_32FC3);
//int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
int nextInvalidIndex = 0;
int invalidPixelNum = 0;
for (int i = 0; i < width; i++) {
for (int j = 0; j < height; j++) {
double nx = mN.at<double>(0, i);
double ny = mN.at<double>(1, i);
double nz = mN.at<double>(2, i);
if (i == nextInvalid) {
invalidPixelNum++;
normal.at<cv::Vec3f>(j, i)[0] = 0;
normal.at<cv::Vec3f>(j, i)[1] = 0;
normal.at<cv::Vec3f>(j, i)[2] = 0;
if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
nextInvalid = INT_MAX;
} else {
nextInvalidIndex++;
nextInvalid = mInvalidIndex[nextInvalidIndex];
}
} else {
double rootsquareSum = sqrt(nx * nx + ny * ny + nz * nz);
float nxf = (1 + nx / rootsquareSum) / 2;
float nyf = (1 + ny / rootsquareSum) / 2;
float nzf = (1 + nz / rootsquareSum) / 2;
normal.at<cv::Vec3f>(j, i)[0] = nxf;
normal.at<cv::Vec3f>(j, i)[1] = nyf;
normal.at<cv::Vec3f>(j, i)[2] = nzf;
//}
}
}
cv::imshow("Surface Normals", normal);
//cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/normal.jpg", normal);
cv::waitKey(0);*/
/*
rotationMatrix =
rotationVector =
perspectiveTransform =
lightDirectionsPerspective =
std::vector< cv::Vec3d > & rvecs
std::vector< cv::Vec3d > & tvecs
cv::Mat albedo = A.outputAlbedoImage(3);
cv::imshow("Albedo", albedo);
cv::waitKey(0);
cv::Mat normalWithAlbedo = A.outputNormalWithAlbedo(3);
cv::imshow("Albedo with Surface Normals", normalWithAlbedo);
cv::waitKey(0);
cv::Mat heights = A.getHeightMap(2, -0.1);
//std::string fileName = "appleDepth.png";
//cv::imwrite(path + fileName, heightMap);
cv::imshow("Height Map", heights);
cv::waitKey(0);
*/
/*phoSte::photometryStero A(21, 2, 22, "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/", "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
A.readImage();
A.getLightInformation(1, 2);
A.getPixelNormAndAlbedo(3);
cv::Mat normal = A.outputNormalImage(3);
cv::imshow("Surface Normals", normal);
//cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/normal.jpg", normal);
cv::waitKey(0);
cv::Mat albedo = A.outputAlbedoImage(3);
cv::imshow("Albedo", albedo);
cv::waitKey(0);
cv::Mat normalWithAlbedo = A.outputNormalWithAlbedo(3);
cv::imshow("Albedo with Surface Normals", normalWithAlbedo);
cv::waitKey(0);
cv::Mat heights = A.getHeightMap(2, -0.1);
//std::string fileName = "appleDepth.png";
//cv::imwrite(path + fileName, heightMap);
cv::imshow("Height Map", heights);
cv::waitKey(0);
*/
photometricStereo(imageName, calibration, modelPath, imageScale, heightMap, normalMap, texture, lightDirections, lightDirectionsPerspective, textureImages, modelImages, calibrationImages, calibrationBoundingBox, width, height, rvecs, tvecs);
glm::vec3 position, lightInvDir;
glm::mat4 depthProjectionMatrix, depthViewMatrix, depthModelMatrix = glm::mat4(1.0), depthMVP, ModelMatrix = glm::mat4(1.0), MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
......@@ -114,7 +272,7 @@ int main(int argc, char** argv) {
std::vector<cv::Vec3d> residuals;
int lightNumber = 0;
bool calculateResidual = false, perspectiveProjection, shadowControl;
double totalResidual, residualValue, SpecularIntensity = 0.5d, SpecularPower = 2.0d;
double totalResidual, residualValue, SpecularIntensity = 0.5, SpecularPower = 2.0;
cv::Mat residualImage;
std::vector<glm::vec3> lightInvDirs;
......
bin/specular_estimation
+ 0
− 0
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