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
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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 ac50bc0e18a21426a52e5579d041db8320643fa7..0008d4895223184f50636d7bff0717ce82f0a9c9 100644
--- a/apps/specular_estimation/src/Charuco.h
+++ b/apps/specular_estimation/src/Charuco.h
@@ -85,7 +85,7 @@ void charucoAlignment(std::vector<cv::Mat>& charucoImages, std::vector<cv::Mat>
if ((i % numberOfLights) == 0) { // Only estimate the pose for the first image in each board position
// Obtain the pose of the ChArUco boards
- undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, true);
+ undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, false);
/*glm::vec3 eulerAngles(rvec[0] / (2 * M_PI), rvec[1] / (2 * M_PI), rvec[2] / (2 * M_PI));
@@ -173,7 +173,7 @@ std::vector<cv::Mat> charucoAlignment(std::vector<cv::Mat> materialImages, int n
if ((i % numberOfLights) == 0) { // Only estimate the pose for the first image in each board position
// Obtain the pose of the ChArUco boards
- undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, true);
+ undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, false);
/*glm::vec3 eulerAngles(rvec[0] / (2 * M_PI), rvec[1] / (2 * M_PI), rvec[2] / (2 * M_PI));
@@ -268,7 +268,7 @@ std::vector<cv::Mat> charucoAlignment(std::vector<cv::Mat> materialImages, int n
if ((i % numberOfLights) == 0) { // Only estimate the pose for the first image in each board position
// Obtain the pose of the ChArUco boards
- undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, true);
+ undistortCharuco(charucoBoard, materialImages[i], charucoBoardImage, undistortedCharuco, cameraMatrix, distortionCoefficients, rvec, tvec, perspectiveTransform, false);
/*glm::vec3 eulerAngles(rvec[0] / (2 * M_PI), rvec[1] / (2 * M_PI), rvec[2] / (2 * M_PI));
@@ -329,10 +329,11 @@ std::vector<cv::Mat> charucoAlignment(std::vector<cv::Mat> materialImages, int n
//std::cout << "ChArUco board width: " << width << ", ChArUco board height: " << height << ", Border width: " << borderWidth << ", Window width: " << windowWidth << ", Window height: " << windowHeight << std::endl;
cv::Mat croppedWindow(undistortedCharuco, crop);
+ croppedWindow.convertTo(croppedWindow, CV_32F);
charucoImages.push_back(croppedWindow);
- cv::imshow("Undistorted ChArUco", croppedWindow);
- cv::waitKey(0);
+ //cv::imshow("Undistorted ChArUco", croppedWindow);
+ //cv::waitKey(0);
}
return charucoImages;
@@ -399,8 +400,10 @@ void undistortCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, cv::Mat inputImage
cv::aruco::drawDetectedCornersCharuco(estimatedPose, detectedCharucoCorners, detectedCharucoIds, cv::Scalar(255, 0, 0));
//cv::aruco::drawDetectedCornersCharuco(boardCopy, charucoCorners, charucoIds, cv::Scalar(255, 0, 0));
- cv::namedWindow("ChArUco Board", cv::WINDOW_NORMAL);
- cv::imshow("ChArUco Board", boardImage);
+ if (displayUndistortedCharuco) {
+ cv::namedWindow("ChArUco Board", cv::WINDOW_NORMAL);
+ cv::imshow("ChArUco Board", boardImage);
+ }
/*cv::namedWindow( "Detected ChArUco Board", cv::WINDOW_NORMAL );
cv::imshow("Detected ChArUco Board", estimatedPose);
@@ -444,8 +447,10 @@ void undistortCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, cv::Mat inputImage
cv::aruco::drawAxis(estimatedPose, cameraMatrix, distortionCoefficients, rvec, tvec, 0.44f);
}
- cv::namedWindow("Estimated Pose", cv::WINDOW_NORMAL);
- cv::imshow("Estimated Pose", estimatedPose);
+ if (displayUndistortedCharuco) {
+ cv::namedWindow("Estimated Pose", cv::WINDOW_NORMAL);
+ cv::imshow("Estimated Pose", estimatedPose);
+ }
}
}
}
diff --git a/apps/specular_estimation/src/OpenCV.h b/apps/specular_estimation/src/OpenCV.h
index ef4078ba9b1b33cb07e693948e817d41eb2d4545..7c88d7cf0fb092c0aaeedc836769a182ff6fbf05 100644
--- a/apps/specular_estimation/src/OpenCV.h
+++ b/apps/specular_estimation/src/OpenCV.h
@@ -688,7 +688,8 @@ std::vector<cv::Mat> loadImages(std::string path, int imageScale = 1) {
std::string indexString = stm.str();
// Read the image of the current index
- cv::Mat image = cv::imread(path + indexString + ".png", cv::IMREAD_COLOR);
+ //cv::Mat image = cv::imread(path + indexString + ".png", cv::IMREAD_COLOR);
+ cv::Mat image = cv::imread(path + indexString + ".png", cv::IMREAD_GRAYSCALE);
if (!image.data) { // Check if any images failed to load
std::cout << imageNumber << " images have been loaded." << std::endl;
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
index 261267b85ec35ad58a83026005d485902c99dd39..d96fde5b5decb1fe404381f9170de237d23c0371 100755
--- a/apps/specular_estimation/src/PhotometricStereo.cc
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -149,15 +149,15 @@ int linearTransform(double max, double min, double value) {
}
photometricStereo::~photometricStereo() {
- if(!mImageStorage.empty()) {
+ /*if(!mImageStorage.empty()) {
for(int i = 0; i < mImageStorage.size(); i++) {
delete mImageStorage[i];
}
- }
+ }*/
}
// Read in the file names for the images
-photometricStereo::photometricStereo(int n, int startI, int endI, std::string path,
+/*photometricStereo::photometricStereo(int n, int startI, int endI, std::string path,
std::string metal1Phere1Name, std::string metal2Phere1Name,
std::string lambertPhereName, std::string objectName,
double discardRatio): mDiscardRatio(discardRatio), imageNum(n) {
@@ -178,10 +178,10 @@ photometricStereo::photometricStereo(int n, int startI, int endI, std::string pa
mMaskNames.push_back(path + mask2Name);
mMaskNames.push_back(path + mask3Name);
mMaskNames.push_back(path + objectName);
-}
+}*/
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;
+ int imageScale = 1, numberOfLights = 6;
/*cv::Mat cameraMatrix, distortionCoefficients, lightDirectionsPerspective;
@@ -229,7 +229,7 @@ photometricStereo::photometricStereo(int imageNumber, int imageScale, std::vecto
//mp2MacbethImages = readImages(macbethPath);
//std::cout << "Loaded macbeth images.\n";
- int numberOfLights = mp2CalibrationImages.size();
+ int numberOfLights = imageNumber;
width = mp2Images[0].cols;
height = mp2Images[0].rows;
@@ -352,7 +352,7 @@ photometricStereo::photometricStereo(int imageNumber, std::string modelPath, std
// read image and mask image according to the name
// return true if read successfully
// return false if read fail
-bool photometricStereo::readImage() {
+/*bool photometricStereo::readImage() {
if(mImageNames.empty() || mMaskNames.empty())
return false;
@@ -372,13 +372,13 @@ bool photometricStereo::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++) {
cv::Mat p2Mask(cv::imread(mMaskNames[i], cv::IMREAD_GRAYSCALE));
@@ -387,7 +387,7 @@ bool photometricStereo::readImage() {
mp2Mask.push_back(p2Mask);
}
return true;
-}
+}*/
std::vector<cv::Mat> photometricStereo::readImages(std::string path, int imageScale = 1) {
@@ -415,6 +415,7 @@ std::vector<cv::Mat> photometricStereo::readImages(std::string path, int imageSc
if (imageScale != 1) {
cv::resize(image, image, cv::Size(), 1.0 / imageScale, 1.0 / imageScale, cv::INTER_AREA);
}
+ image.convertTo(image, CV_32F);
images.push_back(image);
imageNumber++;
//std::cout << "Loaded image " << imageNumber << std::endl;
@@ -695,8 +696,17 @@ void photometricStereo::getPixelNormAndAlbedo(const int objectIndex, cv::Mat lig
void photometricStereo::getPixelNormAndAlbedo(const int objectIndex) {
// calculate the pixel num
//std::vector<double> pixelThreshold;
- for(int i = 0; i < mp2Mask[objectIndex].rows; i++) {
+ /*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) {
+ mObjectX.push_back(j);
+ mObjectY.push_back(i);
+ }
+ }
+ }*/
+
+ for(int i = 0; i < mp2Images[0].rows; i++) {
+ for(int j = 0; j < mp2Images[0].cols; j++) {
//if(mp2Mask[objectIndex].at<unsigned char>(i, j) == 255) {
mObjectX.push_back(j);
mObjectY.push_back(i);
diff --git a/apps/specular_estimation/src/PhotometricStereo.h b/apps/specular_estimation/src/PhotometricStereo.h
index f01ee36d631ea5af4c568640eaf5aac8679050a9..e09e3d927a9d2c2f7b97797b53c2d15dddd904c1 100755
--- a/apps/specular_estimation/src/PhotometricStereo.h
+++ b/apps/specular_estimation/src/PhotometricStereo.h
@@ -32,14 +32,14 @@ class photometricStereo {
public:
// 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 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 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();
- bool readImage(); // read the images and masks according to the ImageNames
+ //bool readImage(); // read the images and masks according to the ImageNames
bool readImage(std::string modelPath, std::string calibrationPath, std::string macbethPath);
std::vector<cv::Mat> readImages(std::string path, int imageScale);
void getLightInformation(const int metalIndex, const int lambIndex);
@@ -67,7 +67,7 @@ class photometricStereo {
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;
+ //std::vector<CPFMAccess*> mImageStorage;
// tht circle data for the metalSphere
phoSte::circle m_metalSphere;
//phoSte::circle m_lambSpere;
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 08d509f7aade2e16f8b861691531ce41e2682269..d6ad5e8e9c84936a967706c56fcfa043e89a8c35 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -1,6 +1,7 @@
#include "specular_estimation.h"
void specularEstimation(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic, bool synthetic, bool denseSample);
+std::vector<cv::Mat> charucoImageAlignment(std::string materialPath, std::string charucoPath, int imageScale, int numberOfLights, cv::Mat& perspectiveTransform);
/*void renderSynthetic(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic);
void denseRealSample(std::string imageName, std::string calibration, double Roughness, double Metallic);
void denseSyntheticSample(std::string imageName, std::string calibration, double Roughness, double Metallic);*/
@@ -68,23 +69,17 @@ void specularEstimation(std::string imageName, std::string calibration, double R
int numberOfLights = 6, width = 2091, height = 1626;
cv::Mat residualImage, albedo, normalMap, heightMap;
- std::vector<cv::Mat> materialImages, charucoImages, calibrationImages, mp2Mask;
+ std::vector<cv::Mat> materialImages, calibrationImages;
cv::Mat lightDirections = (cv::Mat_<float>(6,3) << 0.447712, 0.138562, 0.883377, 0.228758, -0.106536, 0.967636, 0.1, 0.0705882, 0.99248, 0.000653595, -0.0718954, 0.997412, -0.139216, -0.12549, 0.982279, -0.494771, 0.115033, 0.861376);
if (!synthetic) {
- int originalWidth = width, originalHeight = height, imageScale = 2;
+ int originalWidth = width, originalHeight = height, imageScale = 1;
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, imageScale);
- materialImages = charucoAlignment(materialImages, numberOfLights, perspectiveTransform, cameraMatrix, distortionCoefficients);
- std::cout << "ChArUco alignment successful.\n";
+ materialImages = charucoImageAlignment(materialPath, charucoPath, imageScale, numberOfLights, perspectiveTransform);
/*
//std::cout << "Loading material images.\n";
@@ -94,11 +89,6 @@ void specularEstimation(std::string imageName, std::string calibration, double R
numberOfLights = calibrationImages.size();
*/
-
- //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, charucoPath, macbethPath, imageName, calibration, 0);
phoSte::photometricStereo PhotometricStereo(numberOfLights, imageScale, materialImages, calibrationPath, macbethPath, imageName, calibration, 0);
@@ -111,15 +101,22 @@ void specularEstimation(std::string imageName, std::string calibration, double R
std::cout << "Got Normal and Albedo\n";
normalMap = PhotometricStereo.outputNormalImage(1);
+ std::cout << "Got Normal Map\n";
cv::imshow("Normal Map", normalMap);
+ //cv::waitKey(0);
+
albedo = PhotometricStereo.outputAlbedoImage(1);
- cv::imshow("Albedo", albedo);
- cv::Mat normalAlbedo = PhotometricStereo.outputNormalWithAlbedo(1);
- cv::imshow("Normal with Albedo", normalAlbedo);
+ std::cout << "Got Albedo\n";
+
+ //cv::Mat normalAlbedo = PhotometricStereo.outputNormalWithAlbedo(1);
+ //cv::imshow("Normal with Albedo", normalAlbedo);
//cv::Mat heightMap = PhotometricStereo.getHeightMap(2, -0.1);
//cv::imshow("Height Map", heightMap);
//cv::imwrite(materialPath + "normal", result);
heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
+ std::cout << "Got Height Map\n";
+ //albedo = cv::Mat::zeros(height, width, CV_8U);
+ //std::cout << "Got Albedo\n";
//cv::waitKey(0);
//normalMap.convertTo(normalMap, CV_8UC1);
@@ -127,6 +124,11 @@ void specularEstimation(std::string imageName, std::string calibration, double R
cv::cvtColor(albedo, albedo, CV_GRAY2BGR);
albedo.convertTo(albedo, CV_8UC3);
+ cv::imshow("Albedo", albedo);
+ cv::waitKey(0);
+
+ width = albedo.cols;
+ height = albedo.rows;
} else {
albedo = cv::imread(albedoPath), normalMap = cv::imread(normalPath), heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
normalMap = convertImageToNormals(normalMap);
@@ -215,6 +217,19 @@ void specularEstimation(std::string imageName, std::string calibration, double R
return;
}
+
+std::vector<cv::Mat> charucoImageAlignment(std::string materialPath, std::string charucoPath, int imageScale, int numberOfLights, cv::Mat& perspectiveTransform) {
+ cv::Mat cameraMatrix, distortionCoefficients;
+ calibrateCamera(charucoPath, cameraMatrix, distortionCoefficients);
+ std::cout << "Camera parameters obtained.\n";
+
+ std::vector<cv::Mat> materialImages = loadImages(materialPath, imageScale);
+ materialImages = charucoAlignment(materialImages, numberOfLights, perspectiveTransform, cameraMatrix, distortionCoefficients);
+ std::cout << "ChArUco alignment successful.\n";
+
+ return materialImages;
+}
+
/*
void renderSynthetic(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic) {
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 3091b94ab90bcbbaefeafc3c2d4778e1e6991e38..48ed0a71b9fef56ee01e8224a04784f04cabe336 100755
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