diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 0b0eed01ca67650158d47890b9294d8e99f9cab1..cf4a295c76d8608391181976e0bee78b0afb79cf 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -3,7 +3,10 @@
{
"name": "Linux",
"includePath": [
- "${workspaceFolder}/**"
+ "${workspaceFolder}/**",
+ "/usr/include",
+ "/usr/local/include",
+ "/usr/include/eigen3"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..298393367523370aa3c8f5098e9cfa316ec69441
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,53 @@
+{
+ "files.associations": {
+ "memory": "cpp",
+ "array": "cpp",
+ "string_view": "cpp",
+ "iosfwd": "cpp",
+ "deque": "cpp",
+ "vector": "cpp",
+ "*.tcc": "cpp",
+ "cctype": "cpp",
+ "chrono": "cpp",
+ "clocale": "cpp",
+ "cmath": "cpp",
+ "complex": "cpp",
+ "condition_variable": "cpp",
+ "cstdarg": "cpp",
+ "cstddef": "cpp",
+ "cstdint": "cpp",
+ "cstdio": "cpp",
+ "cstdlib": "cpp",
+ "cstring": "cpp",
+ "ctime": "cpp",
+ "cwchar": "cpp",
+ "cwctype": "cpp",
+ "list": "cpp",
+ "unordered_map": "cpp",
+ "exception": "cpp",
+ "fstream": "cpp",
+ "functional": "cpp",
+ "initializer_list": "cpp",
+ "iomanip": "cpp",
+ "iostream": "cpp",
+ "istream": "cpp",
+ "limits": "cpp",
+ "mutex": "cpp",
+ "new": "cpp",
+ "numeric": "cpp",
+ "optional": "cpp",
+ "ostream": "cpp",
+ "ratio": "cpp",
+ "sstream": "cpp",
+ "stdexcept": "cpp",
+ "streambuf": "cpp",
+ "system_error": "cpp",
+ "thread": "cpp",
+ "cinttypes": "cpp",
+ "type_traits": "cpp",
+ "tuple": "cpp",
+ "typeinfo": "cpp",
+ "utility": "cpp"
+ },
+ "C_Cpp.errorSquiggles": "Disabled"
+}
\ No newline at end of file
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
index bc8c1ad87a35fa06620c7889fb64dbcb1ab51c88..258658ce700e47f3a648b6ad1aec8fd62450fb3b 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
@@ -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
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal
index 70984491aafaa3d1234da3da784bc759989cc386..665e96b3e860a2f83aa618a8087c4b449ccc74aa 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.internal
@@ -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
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.make b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.make
index 8193b32d6841902ff6772f02aea7f9509fe150df..8f4eec03bb9dd9c9f67730b3d601da13dd562da9 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.make
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/depend.make
@@ -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
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
index c8c898f9cf5cd3e18d65a6a481b12844b3994167..8b4c8931b816e21c609ca801275a55ce7c4ccc04 100644
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 431cadc3c2a6a9c64137ba4646f5f2c1b4be3fca..80c66f634a635ed0a908c65ecfb0930410af0266 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/OpenCV.h b/apps/specular_estimation/src/OpenCV.h
index c34fa9095f31dfc50d17775c9df13512d6e065f5..1f8837de0d9f3e4e8bdbd1c73e860132843bc886 100644
--- a/apps/specular_estimation/src/OpenCV.h
+++ b/apps/specular_estimation/src/OpenCV.h
@@ -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);
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
index dad8621c7fbcb3bf5057183630bf2345257b4860..ceca521bd9ddfe9251eab7c40922583fd7430d12 100755
--- a/apps/specular_estimation/src/PhotometricStereo.cc
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -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();
diff --git a/apps/specular_estimation/src/PhotometricStereo.h b/apps/specular_estimation/src/PhotometricStereo.h
index 9e6afb2e4bd2b630f9b53d5c2a9327d210cb4179..ad7019e7d77fbc643ae11c4c3aab1ba9fe498a01 100755
--- a/apps/specular_estimation/src/PhotometricStereo.h
+++ b/apps/specular_estimation/src/PhotometricStereo.h
@@ -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;
};
}
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 0646d2bbc7429016b11af84650ab210758b919c6..f77231f7e4ae87851c1d156a6337363b56705fbb 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -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;
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 72d5beae6606f1d9b39935c8ca4666a1a8edb9ee..15ab5db51d391e9fff6435947e5f090e28460d5e 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ