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#include "camera.hpp"
#include "pose_window.hpp"
#include "screen.hpp"
#include <nanogui/glutil.h>
using ftl::rgbd::isValidDepth;
using ftl::gui::GLTexture;
using ftl::gui::PoseWindow;
// TODO(Nick) MOVE
class StatisticsImage {
private:
std::vector<float> data_;
cv::Size size_;
int n_;
public:
StatisticsImage(cv::Size size) {
size_ = size;
data_ = std::vector<float>(size.width * size.height * 2, 0.0f);
n_ = 0;
}
void update(const cv::Mat &in);
void getStdDev(cv::Mat &out);
void getMean(cv::Mat &out);
};
void StatisticsImage::update(const cv::Mat &in) {
DCHECK(in.type() == CV_32F);
DCHECK(in.size() == size_);
// Welford's Method
n_++;
for (int i = 0; i < size_.width * size_.height; i++) {
float x = ((float*) in.data)[i];
if (!isValidDepth(x)) { continue; } // invalid value
float &m = data_[2*i];
float &S = data_[2*i+1];
float m_prev = m;
m = m + (x - m) / n_;
S = S + (x - m) * (x - m_prev);
}
}
void StatisticsImage::getStdDev(cv::Mat &in) {
in = cv::Mat(size_, CV_32F, 0.0f);
for (int i = 0; i < size_.width * size_.height; i++) {
float &m = data_[2*i];
float &S = data_[2*i+1];
((float*) in.data)[i] = sqrt(S / n_);
}
}
void StatisticsImage::getMean(cv::Mat &in) {
in = cv::Mat(size_, CV_32F, 0.0f);
for (int i = 0; i < size_.width * size_.height; i++) {
((float*) in.data)[i] = data_[2*i];
}
}
class StatisticsImageNSamples {
private:
std::vector<cv::Mat> samples_;
cv::Size size_;
int i_;
int n_;
public:
StatisticsImageNSamples(cv::Size size, int n) {
size_ = size;
samples_ = std::vector<cv::Mat>(n);
i_ = 0;
n_ = n;
}
void update(const cv::Mat &in);
void getStdDev(cv::Mat &out);
void getVariance(cv::Mat &out);
void getMean(cv::Mat &out);
};
void StatisticsImageNSamples::update(const cv::Mat &in) {
DCHECK(in.type() == CV_32F);
DCHECK(in.size() == size_);
i_ = (i_ + 1) % n_;
in.copyTo(samples_[i_]);
}
void StatisticsImageNSamples::getStdDev(cv::Mat &out) {
cv::Mat var;
getVariance(var);
cv::sqrt(var, out);
}
void StatisticsImageNSamples::getVariance(cv::Mat &out) {
// Welford's Method
cv::Mat mat_m(size_, CV_32F, 0.0f);
cv::Mat mat_S(size_, CV_32F, 0.0f);
float n = 0.0f;
for (int i_sample = (i_ + 1) % n_; i_sample != i_; i_sample = (i_sample + 1) % n_) {
if (samples_[i_sample].size() != size_) continue;
n += 1.0f;
for (int i = 0; i < size_.width * size_.height; i++) {
float &x = ((float*) samples_[i_sample].data)[i];
float &m = ((float*) mat_m.data)[i];
float &S = ((float*) mat_S.data)[i];
float m_prev = m;
if (!isValidDepth(x)) continue;
m = m + (x - m) / n;
S = S + (x - m) * (x - m_prev);
}
}
mat_S.copyTo(out);
}
void StatisticsImageNSamples::getMean(cv::Mat &in) {}
static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
Eigen::Affine3d rx =
Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
Eigen::Affine3d ry =
Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
Eigen::Affine3d rz =
Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
return rz * rx * ry;
}
ftl::gui::Camera::Camera(ftl::gui::Screen *screen, ftl::rgbd::Source *src) : screen_(screen), src_(src) {
eye_ = Eigen::Vector3d(0.0f, 0.0f, 0.0f);
neye_ = Eigen::Vector4d(0.0f, 0.0f, 0.0f, 0.0f);
rotmat_.setIdentity();
//up_ = Eigen::Vector3f(0,1.0f,0);
lerpSpeed_ = 0.999f;
depth_ = false;
ftime_ = (float)glfwGetTime();
pause_ = false;
channel_ = ftl::rgbd::kChanLeft;
channels_.push_back(ftl::rgbd::kChanLeft);
channels_.push_back(ftl::rgbd::kChanDepth);
// Create pose window...
posewin_ = new PoseWindow(screen, src_->getURI());
posewin_->setTheme(screen->windowtheme);
posewin_->setVisible(false);
}
ftl::gui::Camera::~Camera() {
}
ftl::rgbd::Source *ftl::gui::Camera::source() {
return src_;
}
void ftl::gui::Camera::setPose(const Eigen::Matrix4d &p) {
eye_[0] = p(0,3);
eye_[1] = p(1,3);
eye_[2] = p(2,3);
double sx = Eigen::Vector3d(p(0,0), p(1,0), p(2,0)).norm();
double sy = Eigen::Vector3d(p(0,1), p(1,1), p(2,1)).norm();
double sz = Eigen::Vector3d(p(0,2), p(1,2), p(2,2)).norm();
Eigen::Matrix4d rot = p;
rot(0,3) = 0.0;
rot(1,3) = 0.0;
rot(2,3) = 0.0;
rot(0,0) = rot(0,0) / sx;
rot(1,0) = rot(1,0) / sx;
rot(2,0) = rot(2,0) / sx;
rot(0,1) = rot(0,1) / sy;
rot(1,1) = rot(1,1) / sy;
rot(2,1) = rot(2,1) / sy;
rot(0,2) = rot(0,2) / sz;
rot(1,2) = rot(1,2) / sz;
rot(2,2) = rot(2,2) / sz;
rotmat_ = rot;
}
void ftl::gui::Camera::mouseMovement(int rx, int ry, int button) {
if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
if (button == 1) {
float rrx = ((float)ry * 0.2f * delta_);
//orientation_[2] += std::cos(orientation_[1])*((float)rel[1] * 0.2f * delta_);
float rry = (float)rx * 0.2f * delta_;
float rrz = 0.0;
Eigen::Affine3d r = create_rotation_matrix(rrx, -rry, rrz);
rotmat_ = rotmat_ * r.matrix();
}
}
void ftl::gui::Camera::keyMovement(int key, int modifiers) {
if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
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if (key == 263 || key == 262) {
float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
float scalar = (key == 263) ? -mag : mag;
neye_ += rotmat_*Eigen::Vector4d(scalar,0.0,0.0,1.0);
return;
} else if (key == 264 || key == 265) {
float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
float scalar = (key == 264) ? -mag : mag;
neye_ += rotmat_*Eigen::Vector4d(0.0,0.0,scalar,1.0);
return;
} else if (key == 266 || key == 267) {
float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
float scalar = (key == 266) ? -mag : mag;
neye_ += rotmat_*Eigen::Vector4d(0.0,scalar,0.0,1.0);
return;
}
}
void ftl::gui::Camera::showPoseWindow() {
posewin_->setVisible(true);
}
void ftl::gui::Camera::showSettings() {
}
void ftl::gui::Camera::setChannel(ftl::rgbd::channel_t c) {
channel_ = c;
switch (c) {
case ftl::rgbd::kChanRight:
case ftl::rgbd::kChanDepth: src_->setChannel(c); break;
default: src_->setChannel(ftl::rgbd::kChanNone);
}
}
const GLTexture &ftl::gui::Camera::thumbnail() {
}
const GLTexture &ftl::gui::Camera::captureFrame() {
float now = (float)glfwGetTime();
delta_ = now - ftime_;
ftime_ = now;
if (src_ && src_->isReady()) {
cv::Mat rgb, depth;
// Lerp the Eye
eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
Eigen::Translation3d trans(eye_);
Eigen::Affine3d t(trans);
Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
src_->grab();
src_->getFrames(rgb, depth);
if (channel_ == ftl::rgbd::kChanDeviation) {
if (!stats_ && depth.rows > 0) {
stats_ = new StatisticsImageNSamples(depth.size(), 25);
}
if (stats_ && depth.rows > 0) { stats_->update(depth); }
}
cv::Mat tmp;
switch(channel_) {
case ftl::rgbd::kChanDepth:
if (depth.rows == 0) { break; }
//imageSize = Vector2f(depth.cols,depth.rows);
depth.convertTo(tmp, CV_8U, 255.0f / 5.0f);
tmp = 255 - tmp;
applyColorMap(tmp, tmp, cv::COLORMAP_JET);
texture_.update(tmp);
break;
case ftl::rgbd::kChanDeviation:
if (depth.rows == 0) { break; }
//imageSize = Vector2f(depth.cols, depth.rows);
stats_->getStdDev(tmp);
tmp.convertTo(tmp, CV_8U, 50.0);
applyColorMap(tmp, tmp, cv::COLORMAP_HOT);
texture_.update(tmp);
break;
case ftl::rgbd::kChanRight:
if (depth.rows == 0 || depth.type() != CV_8UC3) { break; }
texture_.update(depth);
break;