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texture_modality.cpp
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1249 lines (1070 loc) · 45.1 KB
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// SPDX-License-Identifier: MIT
// Copyright (c) 2023 Manuel Stoiber and Mariam Elsayed,
// German Aerospace Center (DLR)
#include <m3t/texture_modality.h>
namespace m3t {
TextureModality::TextureModality(
const std::string &name, const std::shared_ptr<Body> &body_ptr,
const std::shared_ptr<ColorCamera> &color_camera_ptr,
const std::shared_ptr<FocusedSilhouetteRenderer> &silhouette_renderer_ptr)
: Modality{name, body_ptr},
color_camera_ptr_{color_camera_ptr},
silhouette_renderer_ptr_{silhouette_renderer_ptr} {}
TextureModality::TextureModality(
const std::string &name, const std::filesystem::path &metafile_path,
const std::shared_ptr<Body> &body_ptr,
const std::shared_ptr<ColorCamera> &color_camera_ptr,
const std::shared_ptr<FocusedSilhouetteRenderer> &silhouette_renderer_ptr)
: Modality{name, metafile_path, body_ptr},
color_camera_ptr_{color_camera_ptr},
silhouette_renderer_ptr_{silhouette_renderer_ptr} {}
bool TextureModality::SetUp() {
set_up_ = false;
if (!metafile_path_.empty())
if (!LoadMetaData()) return false;
// Check if all required objects are set up
if (!body_ptr_->set_up()) {
std::cerr << "Body " << body_ptr_->name() << " was not set up" << std::endl;
return false;
}
if (!color_camera_ptr_->set_up()) {
std::cerr << "Color camera " << color_camera_ptr_->name()
<< " was not set up" << std::endl;
return false;
}
if (!silhouette_renderer_ptr_->set_up()) {
std::cerr << "Focused silhouette renderer "
<< silhouette_renderer_ptr_->name() << " was not set up"
<< std::endl;
return false;
}
if (measure_occlusions_ && !depth_camera_ptr_->set_up()) {
std::cerr << "Depth camera " << depth_camera_ptr_->name()
<< " was not set up" << std::endl;
return false;
}
if (model_occlusions_ && !depth_renderer_ptr_->set_up()) {
std::cerr << "Focused depth renderer " << depth_renderer_ptr_->name()
<< " was not set up" << std::endl;
return false;
}
// Check if all required objects are correctly configured
if (silhouette_renderer_ptr_->id_type() != IDType::BODY) {
std::cerr << "Focused silhouette renderer "
<< silhouette_renderer_ptr_->name()
<< " does not use id_type BODY" << std::endl;
}
SetUpFeatureDetectorAndMatcher();
PrecalculateCameraVariables();
PrecalculateRendererVariables();
SetImshowVariables();
set_up_ = true;
return true;
}
void TextureModality::set_color_camera_ptr(
const std::shared_ptr<ColorCamera> &color_camera_ptr) {
color_camera_ptr_ = color_camera_ptr;
set_up_ = false;
}
void TextureModality::set_silhouette_renderer_ptr(
const std::shared_ptr<FocusedSilhouetteRenderer> &silhouette_renderer_ptr) {
silhouette_renderer_ptr_ = silhouette_renderer_ptr;
set_up_ = false;
}
void TextureModality::set_descriptor_type(
TextureModality::DescriptorType descriptor_type) {
descriptor_type_ = descriptor_type;
set_up_ = false;
}
void TextureModality::set_focused_image_size(int focused_image_size) {
focused_image_size_ = focused_image_size;
}
void TextureModality::set_tukey_norm_constant(float tukey_norm_constant) {
tukey_norm_constant_ = tukey_norm_constant;
}
void TextureModality::set_descriptor_distance_threshold(
float descriptor_distance_threshold) {
descriptor_distance_threshold_ = descriptor_distance_threshold;
}
void TextureModality::set_standard_deviations(
const std::vector<float> &standard_deviations) {
standard_deviations_ = standard_deviations;
}
void TextureModality::set_max_keyframe_rotation_difference(
float max_keyframe_rotation_difference) {
max_keyframe_rotation_difference_ = max_keyframe_rotation_difference;
}
void TextureModality::set_max_keyframe_age(int max_keyframe_age) {
max_keyframe_age_ = max_keyframe_age;
}
void TextureModality::set_n_keyframes(int n_keyframes) {
n_keyframes_ = n_keyframes;
}
void TextureModality::set_orb_n_features(int orb_n_features) {
orb_n_features_ = orb_n_features;
set_up_ = false;
}
void TextureModality::set_orb_scale_factor(float orb_scale_factor) {
orb_scale_factor_ = orb_scale_factor;
set_up_ = false;
}
void TextureModality::set_orb_n_levels(int orb_n_levels) {
orb_n_levels_ = orb_n_levels;
set_up_ = false;
}
void TextureModality::set_brisk_threshold(int brisk_threshold) {
brisk_threshold_ = brisk_threshold;
set_up_ = false;
}
void TextureModality::set_brisk_octave(int brisk_octave) {
brisk_octave_ = brisk_octave;
set_up_ = false;
}
void TextureModality::set_brisk_pattern_scale(float brisk_pattern_scale) {
brisk_pattern_scale_ = brisk_pattern_scale;
set_up_ = false;
}
void TextureModality::set_daisy_radius(float daisy_radius) {
daisy_radius_ = daisy_radius;
set_up_ = false;
}
void TextureModality::set_daisy_q_radius(int daisy_q_radius) {
daisy_q_radius_ = daisy_q_radius;
set_up_ = false;
}
void TextureModality::set_daisy_q_theta(int daisy_q_theta) {
daisy_q_theta_ = daisy_q_theta;
set_up_ = false;
}
void TextureModality::set_daisy_q_hist(int daisy_q_hist) {
daisy_q_hist_ = daisy_q_hist;
set_up_ = false;
}
void TextureModality::set_freak_orientation_normalized(
bool freak_orientation_normalized) {
freak_orientation_normalized_ = freak_orientation_normalized;
set_up_ = false;
}
void TextureModality::set_freak_scale_normalized(bool freak_scale_normalized) {
freak_scale_normalized_ = freak_scale_normalized;
set_up_ = false;
}
void TextureModality::set_freak_pattern_scale(float freak_pattern_scale) {
freak_pattern_scale_ = freak_pattern_scale;
set_up_ = false;
}
void TextureModality::set_freak_n_octaves(int freak_n_octaves) {
freak_n_octaves_ = freak_n_octaves;
set_up_ = false;
}
void TextureModality::set_sift_n_features(int sift_n_features) {
sift_n_features_ = sift_n_features;
set_up_ = false;
}
void TextureModality::set_sift_n_octave_layers(int sift_n_octave_layers) {
sift_n_octave_layers_ = sift_n_octave_layers;
set_up_ = false;
}
void TextureModality::set_sift_contrast_threshold(
double sift_contrast_threshold) {
sift_contrast_threshold_ = sift_contrast_threshold;
set_up_ = false;
}
void TextureModality::set_sift_edge_threshold(double sift_edge_threshold) {
sift_edge_threshold_ = sift_edge_threshold;
set_up_ = false;
}
void TextureModality::set_sift_sigma(double sift_sigma) {
sift_sigma_ = sift_sigma;
set_up_ = false;
}
void TextureModality::MeasureOcclusions(
const std::shared_ptr<DepthCamera> &depth_camera_ptr) {
depth_camera_ptr_ = depth_camera_ptr;
measure_occlusions_ = true;
set_up_ = false;
}
void TextureModality::DoNotMeasureOcclusions() {
measure_occlusions_ = false;
set_up_ = false;
}
void TextureModality::ModelOcclusions(
const std::shared_ptr<FocusedDepthRenderer> &depth_renderer_ptr) {
depth_renderer_ptr_ = depth_renderer_ptr;
model_occlusions_ = true;
set_up_ = false;
}
void TextureModality::DoNotModelOcclusions() {
depth_renderer_ptr_ = nullptr;
model_occlusions_ = false;
set_up_ = false;
}
void TextureModality::set_measured_occlusion_radius(
float measured_occlusion_radius) {
measured_occlusion_radius_ = measured_occlusion_radius;
}
void TextureModality::set_measured_occlusion_threshold(
float measured_occlusion_threshold) {
measured_occlusion_threshold_ = measured_occlusion_threshold;
}
void TextureModality::set_modeled_occlusion_radius(
float modeled_occlusion_radius) {
modeled_occlusion_radius_ = modeled_occlusion_radius;
}
void TextureModality::set_modeled_occlusion_threshold(
float modeled_occlusion_threshold) {
modeled_occlusion_threshold_ = modeled_occlusion_threshold;
}
void TextureModality::set_visualize_correspondences_correspondence(
bool visualize_correspondences_correspondence) {
visualize_correspondences_correspondence_ =
visualize_correspondences_correspondence;
SetImshowVariables();
}
void TextureModality::set_visualize_corresopndences_optimization(
bool visualize_correspondence_optimization) {
visualize_correspondences_optimization_ =
visualize_correspondence_optimization;
SetImshowVariables();
}
void TextureModality::set_visualize_points_result(
bool visualize_points_result) {
visualize_points_result_ = visualize_points_result;
SetImshowVariables();
}
void TextureModality::set_visualize_points_depth_image_result(
bool visualize_points_depth_image_result) {
visualize_points_depth_image_result_ = visualize_points_depth_image_result;
SetImshowVariables();
}
void TextureModality ::set_visualize_points_silhouette_rendering_result(
bool visualize_points_silhouete_rendering_result) {
visualize_points_silhouette_rendering_result_ =
visualize_points_silhouete_rendering_result;
SetImshowVariables();
}
void TextureModality ::set_visualize_points_depth_rendering_result(
bool visualize_points_depth_rendering_result) {
visualize_points_depth_rendering_result_ =
visualize_points_depth_rendering_result;
SetImshowVariables();
}
void TextureModality::set_visualization_min_depth(
float visualization_min_depth) {
visualization_min_depth_ = visualization_min_depth;
}
void TextureModality::set_visualization_max_depth(
float visualization_max_depth) {
visualization_max_depth_ = visualization_max_depth;
}
bool TextureModality::StartModality(int iteration, int corr_iteration) {
if (!IsSetup()) return false;
PrecalculatePoseVariables();
DetectAndComputeCorrKeypoints();
ComputeKeyframeData();
return true;
}
bool TextureModality::CalculateCorrespondences(int iteration,
int corr_iteration) {
if (!IsSetup()) return false;
PrecalculatePoseVariables();
PrecalculateIterationDependentVariables(corr_iteration);
// Calculate matches and reconstruct data points
if (corr_iteration == 0) {
// Match descriptors
DetectAndComputeCorrKeypoints();
std::vector<std::vector<std::vector<cv::DMatch>>> knn_matches_keyframes;
#ifdef USE_CUDA
if (descriptor_type_ == DescriptorType::ORB_CUDA) {
for (const auto &descriptors_keyframe_cuda :
descriptors_keyframes_cuda_) {
std::vector<std::vector<cv::DMatch>> knn_matches;
if (!descriptors_keyframe_cuda.empty() && !descriptors_cuda_.empty())
descriptor_matcher_cuda_->knnMatch(descriptors_keyframe_cuda,
descriptors_cuda_, knn_matches, 2);
knn_matches_keyframes.push_back(std::move(knn_matches));
}
} else
#endif
{
for (const auto &descriptors_keyframe : descriptors_keyframes_) {
std::vector<std::vector<cv::DMatch>> knn_matches;
if (!descriptors_keyframe.empty() && !descriptors_.empty())
descriptor_matcher_->knnMatch(descriptors_keyframe, descriptors_,
knn_matches, 2);
knn_matches_keyframes.push_back(std::move(knn_matches));
}
}
// Compute data points
data_points_.clear();
for (size_t i = 0; i < knn_matches_keyframes.size(); ++i) {
const auto &knn_matches{knn_matches_keyframes[i]};
const auto &points_keyframe{points_keyframes_[i]};
for (const auto &knn_match : knn_matches) {
if (knn_match.size() < 2) continue;
if (knn_match[0].distance / knn_match[1].distance >=
descriptor_distance_threshold_)
continue;
DataPoint data_point;
data_point.correspondence_center =
Eigen::Vector2f{keypoints_[knn_match[0].trainIdx].pt.x,
keypoints_[knn_match[0].trainIdx].pt.y};
data_point.center_f_body = points_keyframe[knn_match[0].queryIdx];
data_points_.push_back(std::move(data_point));
}
}
}
// Compute iteration dependent data points
for (auto &data_point : data_points_) {
data_point.center_f_camera = body2camera_pose_ * data_point.center_f_body;
const auto ¢er_f_camera{data_point.center_f_camera};
data_point.center(0) = center_f_camera(0) * fu_ / center_f_camera(2) + ppu_;
data_point.center(1) = center_f_camera(1) * fv_ / center_f_camera(2) + ppv_;
}
return true;
}
bool TextureModality::VisualizeCorrespondences(int save_idx) {
if (!IsSetup()) return false;
if (visualize_correspondences_correspondence_)
VisualizeCorrespondences("correspondences_correspondence", save_idx);
return true;
}
bool TextureModality::CalculateGradientAndHessian(int iteration,
int corr_iteration,
int opt_iteration) {
if (!IsSetup()) return false;
PrecalculatePoseVariables();
gradient_.setZero();
hessian_.setZero();
// iterate over points
for (auto &data_point : data_points_) {
// Calculate center in camera frame and image
data_point.center_f_camera = body2camera_pose_ * data_point.center_f_body;
const auto ¢er_f_camera{data_point.center_f_camera};
const auto ¢er_f_body{data_point.center_f_body};
data_point.center(0) = center_f_camera(0) * fu_ / center_f_camera(2) + ppu_;
data_point.center(1) = center_f_camera(1) * fv_ / center_f_camera(2) + ppv_;
float x = center_f_camera(0);
float y = center_f_camera(1);
float z = center_f_camera(2);
float z2 = z * z;
// Calculate error
Eigen::Vector2f diff{data_point.center - data_point.correspondence_center};
float squared_error = diff.squaredNorm();
float error = sqrtf(squared_error);
// Calculate weight with Tukey norm
float weight = 1.0f / variance_;
if (error > std::numeric_limits<float>::min())
weight = (TukeyNorm(error) / squared_error) / variance_;
// Calculate derivatives
Eigen::Matrix<float, 2, 3> dx_dX;
dx_dX << fu_ / z, 0.0f, -x * fu_ / z2, 0.0f, fv_ / z, -y * fv_ / z2;
Eigen::Matrix<float, 2, 3> dx_dtranslation{dx_dX * body2camera_rotation_};
Eigen::Matrix<float, 2, 6> dx_dtheta;
dx_dtheta << -dx_dtranslation * Vector2Skewsymmetric(center_f_body),
dx_dtranslation;
// Calculate gradient and hessian
gradient_ -= (weight * diff.transpose()) * dx_dtheta;
hessian_.triangularView<Eigen::Lower>() -=
(weight * dx_dtheta.transpose()) * dx_dtheta;
}
hessian_ = hessian_.selfadjointView<Eigen::Lower>();
return true;
}
bool TextureModality::VisualizeOptimization(int save_idx) {
if (!IsSetup()) return false;
if (visualize_correspondences_optimization_)
VisualizePointsColorImage("correspondences_optimization", save_idx);
if (visualize_gradient_optimization_) VisualizeGradient();
if (visualize_hessian_optimization_) VisualizeHessian();
return true;
}
bool TextureModality::CalculateResults(int iteration) {
if (!IsSetup()) return false;
// Calculate rotation difference
Eigen::Vector3f orientation{
body2camera_pose_.rotation().inverse() *
body2camera_pose_.translation().matrix().normalized()};
float rotation_difference =
acos(orientation.transpose() * orientation_last_keyframe_);
keyframe_age_++;
// Compute new data if difference is above threshold
if (rotation_difference > max_keyframe_rotation_difference_ ||
keyframe_age_ > max_keyframe_age_)
ComputeKeyframeData();
return true;
}
bool TextureModality::VisualizeResults(int save_idx) {
if (!IsSetup()) return false;
if (keyframe_age_ == 0) {
if (visualize_points_result_)
VisualizePointsColorImage("color_image_result", save_idx);
if (visualize_points_depth_image_result_ && measure_occlusions_)
VisualizePointsDepthImage("depth_image_result", save_idx);
if (visualize_points_depth_rendering_result_ && model_occlusions_)
VisualizePointsDepthRendering("depth_rendering_result", save_idx);
if (visualize_points_silhouette_rendering_result_)
VisualizePointsSilhouetteRendering("silhouette_rendering_result",
save_idx);
}
if (visualize_pose_result_) VisualizePose();
return true;
}
const std::shared_ptr<ColorCamera> &TextureModality::color_camera_ptr() const {
return color_camera_ptr_;
}
const std::shared_ptr<DepthCamera> &TextureModality::depth_camera_ptr() const {
return depth_camera_ptr_;
}
const std::shared_ptr<FocusedSilhouetteRenderer>
&TextureModality::silhouette_renderer_ptr() const {
return silhouette_renderer_ptr_;
}
const std::shared_ptr<FocusedDepthRenderer>
&TextureModality::depth_renderer_ptr() const {
return depth_renderer_ptr_;
}
std::shared_ptr<Model> TextureModality::model_ptr() const { return {}; }
std::vector<std::shared_ptr<Camera>> TextureModality::camera_ptrs() const {
return {color_camera_ptr_};
}
std::vector<std::shared_ptr<Renderer>>
TextureModality::start_modality_renderer_ptrs() const {
return {silhouette_renderer_ptr_, depth_renderer_ptr_};
}
std::vector<std::shared_ptr<Renderer>> TextureModality::results_renderer_ptrs()
const {
return {silhouette_renderer_ptr_, depth_renderer_ptr_};
}
TextureModality::DescriptorType TextureModality::descriptor_type() const {
return descriptor_type_;
}
int TextureModality::focused_image_size() const { return focused_image_size_; }
float TextureModality::descriptor_distance_threshold() const {
return descriptor_distance_threshold_;
}
float TextureModality::tukey_norm_constant() const {
return tukey_norm_constant_;
}
const std::vector<float> &TextureModality::standard_deviations() const {
return standard_deviations_;
}
float TextureModality::max_keyframe_rotation_difference() const {
return max_keyframe_rotation_difference_;
}
int TextureModality::max_keyframe_age() const { return max_keyframe_age_; }
int TextureModality::n_keyframes() const { return n_keyframes_; }
int TextureModality::orb_n_features() const { return orb_n_features_; }
float TextureModality::orb_scale_factor() const { return orb_scale_factor_; }
int TextureModality::orb_n_levels() const { return orb_n_levels_; }
int TextureModality::brisk_threshold() const { return brisk_threshold_; }
int TextureModality::brisk_octave() const { return brisk_octave_; }
float TextureModality::brisk_pattern_scale() const {
return brisk_pattern_scale_;
}
float TextureModality::daisy_radius() const { return daisy_radius_; }
int TextureModality::daisy_q_radius() const { return daisy_q_radius_; }
int TextureModality::daisy_q_theta() const { return daisy_q_theta_; }
int TextureModality::daisy_q_hist() const { return daisy_q_hist_; }
bool TextureModality::freak_orientation_normalized() const {
return freak_orientation_normalized_;
}
bool TextureModality::freak_scale_normalized() const {
return freak_scale_normalized_;
}
float TextureModality::freak_pattern_scale() const {
return freak_pattern_scale_;
}
int TextureModality::freak_n_octaves() const { return freak_n_octaves_; }
int TextureModality::sift_n_features() const { return sift_n_features_; }
int TextureModality::sift_n_octave_layers() const {
return sift_n_octave_layers_;
}
double TextureModality::sift_contrast_threshold() const {
return sift_contrast_threshold_;
}
double TextureModality::sift_edge_threshold() const {
return sift_edge_threshold_;
}
double TextureModality::sift_sigma() const { return sift_sigma_; }
bool TextureModality::measure_occlusions() const { return measure_occlusions_; }
float TextureModality::measured_occlusion_radius() const {
return measured_occlusion_radius_;
}
float TextureModality::measured_occlusion_threshold() const {
return measured_occlusion_threshold_;
}
bool TextureModality::model_occlusions() const { return model_occlusions_; }
float TextureModality::modeled_occlusion_radius() const {
return modeled_occlusion_radius_;
}
float TextureModality::modeled_occlusion_threshold() const {
return modeled_occlusion_threshold_;
}
bool TextureModality::visualize_correspondences_correspondence() const {
return visualize_correspondences_correspondence_;
}
bool TextureModality::visualize_points_depth_image_result() const {
return visualize_points_depth_image_result_;
}
bool TextureModality::visualize_points_silhouette_rendering_result() const {
return visualize_points_silhouette_rendering_result_;
}
bool TextureModality::visualize_points_depth_rendering_result() const {
return visualize_points_depth_rendering_result_;
}
bool TextureModality::visualize_correspondences_optimization() const {
return visualize_correspondences_optimization_;
}
bool TextureModality::visualize_points_result() const {
return visualize_points_result_;
}
float TextureModality::visualization_min_depth() const {
return visualization_min_depth_;
}
float TextureModality::visualization_max_depth() const {
return visualization_max_depth_;
}
bool TextureModality::LoadMetaData() {
// Open file storage from yaml
cv::FileStorage fs;
if (!OpenYamlFileStorage(metafile_path_, &fs)) return false;
// Read parameters from yaml file for general settings
ReadOptionalValueFromYaml(fs, "descriptor_type", &descriptor_type_);
ReadOptionalValueFromYaml(fs, "focused_image_size", &focused_image_size_);
ReadOptionalValueFromYaml(fs, "descriptor_distance_threshold",
&descriptor_distance_threshold_);
ReadOptionalValueFromYaml(fs, "tukey_norm_constant", &tukey_norm_constant_);
ReadOptionalValueFromYaml(fs, "standard_deviations", &standard_deviations_);
ReadOptionalValueFromYaml(fs, "max_keyframe_rotation_difference",
&max_keyframe_rotation_difference_);
ReadOptionalValueFromYaml(fs, "max_keyframe_age", &max_keyframe_age_);
ReadOptionalValueFromYaml(fs, "n_keyframes", &n_keyframes_);
// Read parameters from yaml file for feature detection
ReadOptionalValueFromYaml(fs, "orb_n_features", &orb_n_features_);
ReadOptionalValueFromYaml(fs, "orb_scale_factor", &orb_scale_factor_);
ReadOptionalValueFromYaml(fs, "orb_n_levels", &orb_n_levels_);
ReadOptionalValueFromYaml(fs, "brisk_threshold", &brisk_threshold_);
ReadOptionalValueFromYaml(fs, "brisk_octave", &brisk_octave_);
ReadOptionalValueFromYaml(fs, "brisk_pattern_scale", &brisk_pattern_scale_);
ReadOptionalValueFromYaml(fs, "daisy_radius", &daisy_radius_);
ReadOptionalValueFromYaml(fs, "daisy_q_radius", &daisy_q_radius_);
ReadOptionalValueFromYaml(fs, "daisy_q_theta", &daisy_q_theta_);
ReadOptionalValueFromYaml(fs, "daisy_q_hist", &daisy_q_hist_);
ReadOptionalValueFromYaml(fs, "freak_orientation_normalized",
&freak_orientation_normalized_);
ReadOptionalValueFromYaml(fs, "freak_n_octaves", &freak_n_octaves_);
ReadOptionalValueFromYaml(fs, "sift_n_features", &sift_n_features_);
ReadOptionalValueFromYaml(fs, "sift_n_octave_layers", &sift_n_octave_layers_);
ReadOptionalValueFromYaml(fs, "sift_contrast_threshold",
&sift_contrast_threshold_);
ReadOptionalValueFromYaml(fs, "sift_edge_threshold", &sift_edge_threshold_);
ReadOptionalValueFromYaml(fs, "sift_sigma", &sift_sigma_);
// Read parameters from yaml file for occlusion handling
ReadOptionalValueFromYaml(fs, "measured_occlusion_radius",
&measured_occlusion_radius_);
ReadOptionalValueFromYaml(fs, "measured_occlusion_threshold",
&measured_occlusion_threshold_);
ReadOptionalValueFromYaml(fs, "modeled_occlusion_radius",
&modeled_occlusion_radius_);
ReadOptionalValueFromYaml(fs, "modeled_occlusion_threshold",
&modeled_occlusion_threshold_);
// Read parameters from yaml for visualization
ReadOptionalValueFromYaml(fs, "visualize_pose_result",
&visualize_pose_result_);
ReadOptionalValueFromYaml(fs, "visualize_gradient_optimization",
&visualize_gradient_optimization_);
ReadOptionalValueFromYaml(fs, "visualize_hessian_optimization",
&visualize_hessian_optimization_);
ReadOptionalValueFromYaml(fs, "visualize_correspondences_correspondence",
&visualize_correspondences_correspondence_);
ReadOptionalValueFromYaml(fs, "visualize_correspondences_optimization",
&visualize_correspondences_optimization_);
ReadOptionalValueFromYaml(fs, "visualize_points_result",
&visualize_points_result_);
ReadOptionalValueFromYaml(fs, "visualize_points_depth_image_result",
&visualize_points_depth_image_result_);
ReadOptionalValueFromYaml(fs, "visualize_points_silhouette_rendering_result",
&visualize_points_depth_rendering_result_);
ReadOptionalValueFromYaml(fs, "visualize_points_silhouette_rendering_result",
&visualize_points_depth_rendering_result_);
ReadOptionalValueFromYaml(fs, "visualization_min_depth",
&visualization_min_depth_);
ReadOptionalValueFromYaml(fs, "visualization_max_depth",
&visualization_max_depth_);
ReadOptionalValueFromYaml(fs, "display_visualization",
&display_visualization_);
ReadOptionalValueFromYaml(fs, "save_visualizations", &save_visualizations_);
ReadOptionalValueFromYaml(fs, "save_directory", &save_directory_);
ReadOptionalValueFromYaml(fs, "save_image_type", &save_image_type_);
// Process parameters
if (save_directory_.is_relative())
save_directory_ = metafile_path_.parent_path() / save_directory_;
return true;
}
void TextureModality::SetUpFeatureDetectorAndMatcher() {
// Set up feature detector
switch (descriptor_type_) {
case DescriptorType::BRISK:
feature_detector_ = cv::BRISK::create(brisk_threshold_, brisk_octave_,
brisk_pattern_scale_);
feature_descriptor_ = cv::BRISK::create(brisk_threshold_, brisk_octave_,
brisk_pattern_scale_);
break;
#ifdef USE_XFEATURES2D
case DescriptorType::DAISY:
feature_detector_ =
cv::ORB::create(orb_n_features_, orb_scale_factor_, orb_n_levels_);
feature_descriptor_ = cv::xfeatures2d::DAISY::create(
daisy_radius_, daisy_q_radius_, daisy_q_theta_, daisy_q_hist_);
break;
case DescriptorType::FREAK:
feature_detector_ =
cv::ORB::create(orb_n_features_, orb_scale_factor_, orb_n_levels_);
feature_descriptor_ = cv::xfeatures2d::FREAK::create(
freak_orientation_normalized_, freak_scale_normalized_,
freak_pattern_scale_, freak_n_octaves_);
break;
case DescriptorType::SIFT:
// Look in both namespaces for SIFT
using namespace cv;
using namespace cv::xfeatures2d;
feature_detector_ = SIFT::create(sift_n_features_, sift_n_octave_layers_,
sift_contrast_threshold_,
sift_edge_threshold_, sift_sigma_);
feature_descriptor_ = SIFT::create(
sift_n_features_, sift_n_octave_layers_, sift_contrast_threshold_,
sift_edge_threshold_, sift_sigma_);
break;
#endif
#ifdef USE_CUDA
case DescriptorType::ORB_CUDA:
feature_detector_orb_cuda_ = cv::cuda::ORB::create(
orb_n_features_, orb_scale_factor_, orb_n_levels_);
#endif
case DescriptorType::ORB:
default:
feature_detector_ =
cv::ORB::create(orb_n_features_, orb_scale_factor_, orb_n_levels_);
feature_descriptor_ =
cv::ORB::create(orb_n_features_, orb_scale_factor_, orb_n_levels_);
break;
}
// Set up feature matcher
#ifdef USE_CUDA
if (descriptor_type_ == DescriptorType::ORB_CUDA)
descriptor_matcher_cuda_ =
cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
else
#endif
{
if (descriptor_type_ == DescriptorType::DAISY ||
descriptor_type_ == DescriptorType::SIFT)
descriptor_matcher_ = cv::BFMatcher::create(cv::NORM_L2);
else
descriptor_matcher_ = cv::BFMatcher::create(cv::NORM_HAMMING);
}
}
void TextureModality::SetImshowVariables() {
imshow_correspondence_ =
display_visualization_ && visualize_correspondences_correspondence_;
imshow_optimization_ =
display_visualization_ && visualize_correspondences_optimization_;
imshow_result_ =
display_visualization_ &&
(visualize_points_result_ ||
(visualize_points_depth_image_result_ && measure_occlusions_) ||
(visualize_points_silhouette_rendering_result_) ||
(visualize_points_depth_rendering_result_ && model_occlusions_));
}
void TextureModality::PrecalculateCameraVariables() {
fu_ = color_camera_ptr_->intrinsics().fu;
fv_ = color_camera_ptr_->intrinsics().fv;
ppu_ = color_camera_ptr_->intrinsics().ppu;
ppv_ = color_camera_ptr_->intrinsics().ppv;
image_width_minus_1_ = color_camera_ptr_->intrinsics().width - 1;
image_height_minus_1_ = color_camera_ptr_->intrinsics().height - 1;
if (measure_occlusions_) {
depth_fu_ = depth_camera_ptr_->intrinsics().fu;
depth_fv_ = depth_camera_ptr_->intrinsics().fv;
depth_ppu_ = depth_camera_ptr_->intrinsics().ppu;
depth_ppv_ = depth_camera_ptr_->intrinsics().ppv;
depth_scale_ = depth_camera_ptr_->depth_scale();
depth_image_width_minus_1_ = depth_camera_ptr_->intrinsics().width - 1;
depth_image_height_minus_1_ = depth_camera_ptr_->intrinsics().height - 1;
}
}
void TextureModality::PrecalculateRendererVariables() {
silhouette_image_size_minus_1_ = silhouette_renderer_ptr_->image_size() - 1;
if (model_occlusions_) {
depth_image_size_minus_1_ = depth_renderer_ptr_->image_size() - 1;
}
}
void TextureModality::PrecalculatePoseVariables() {
body2camera_pose_ =
color_camera_ptr_->world2camera_pose() * body_ptr_->body2world_pose();
camera2body_pose_ = body2camera_pose_.inverse();
body2camera_rotation_ = body2camera_pose_.rotation().matrix();
if (measure_occlusions_) {
body2depth_camera_pose_ =
depth_camera_ptr_->world2camera_pose() * body_ptr_->body2world_pose();
}
}
void TextureModality::PrecalculateIterationDependentVariables(
int corr_iteration) {
float standard_deviation =
LastValidValue(standard_deviations_, corr_iteration);
variance_ = powf(standard_deviation, 2.0f);
}
void TextureModality::DetectAndComputeCorrKeypoints() {
keypoints_.clear();
// Compute focused image
cv::Mat focused_image;
cv::Rect region_of_interest;
float scale;
if (!CalculateScaleAndRegionOfInterest(®ion_of_interest, &scale)) return;
cv::cvtColor(color_camera_ptr_->image(), focused_image, cv::COLOR_BGR2GRAY);
cv::resize(focused_image(region_of_interest), focused_image, cv::Size(),
scale, scale);
// Detect features and compute descriptors
#ifdef USE_CUDA
if (descriptor_type_ == DescriptorType::ORB_CUDA) {
cv::cuda::GpuMat focused_image_cuda{focused_image};
feature_detector_orb_cuda_->detectAndCompute(
focused_image_cuda, cv::noArray(), keypoints_, descriptors_cuda_);
} else
#endif
{
feature_detector_->detect(focused_image, keypoints_);
feature_descriptor_->compute(focused_image, keypoints_, descriptors_);
}
// Add focus offset to keypoints
for (auto &corr_keypoint : keypoints_) {
corr_keypoint.pt.x = region_of_interest.x + corr_keypoint.pt.x / scale;
corr_keypoint.pt.y = region_of_interest.y + corr_keypoint.pt.y / scale;
}
}
bool TextureModality::CalculateScaleAndRegionOfInterest(
cv::Rect *region_of_interest, float *scale) const {
// Project sphere into image
float r = 0.5f * body_ptr_->maximum_body_diameter();
auto translation{body2camera_pose_.translation()};
float x = translation(0);
float y = translation(1);
float z = translation(2);
if (z < r * 1.5f) return false;
float abs_x = std::abs(x);
float abs_y = std::abs(y);
float x2 = x * x;
float y2 = y * y;
float z2 = z * z;
float r2 = r * r;
float rz = r * z;
float z2_r2 = z2 - r2;
float z3_zr2 = z2_r2 * z;
float r_u = fu_ * (abs_x * r2 + rz * sqrtf(z2_r2 + x2)) / z3_zr2;
float r_v = fv_ * (abs_y * r2 + rz * sqrtf(z2_r2 + y2)) / z3_zr2;
float center_u = x * fu_ / z + ppu_;
float center_v = y * fv_ / z + ppv_;
// Calculate region of interest
int u_min = int(center_u - r_u - kRegionOfInterestMargin + 0.5f);
int u_max = int(center_u + r_u + kRegionOfInterestMargin + 0.5f);
int v_min = int(center_v - r_v - kRegionOfInterestMargin + 0.5f);
int v_max = int(center_v + r_v + kRegionOfInterestMargin + 0.5f);
u_min = std::max(u_min, 0);
u_max = std::min(u_max, image_width_minus_1_);
v_min = std::max(v_min, 0);
v_max = std::min(v_max, image_height_minus_1_);
if (u_min >= u_max || v_min >= v_max) return false;
region_of_interest->x = u_min;
region_of_interest->y = v_min;
region_of_interest->width = u_max - u_min;
region_of_interest->height = v_max - v_min;
// Calculate scale
*scale = float(focused_image_size_) / std::max(2.0f * r_u, 2.0f * r_v);
return true;
}
void TextureModality::ComputeKeyframeData() {
if (points_keyframes_.size() >= n_keyframes_) {
points_keyframes_.pop_front();
#ifdef USE_CUDA
if (descriptor_type_ == DescriptorType::ORB_CUDA)
descriptors_keyframes_cuda_.pop_front();
else
#endif
descriptors_keyframes_.pop_front();
}
// Fetch depth and silhouette images
if (!silhouette_renderer_ptr_->IsBodyVisible(body_ptr_->name())) return;
silhouette_renderer_ptr_->FetchDepthImage();
silhouette_renderer_ptr_->FetchSilhouetteImage();
bool body_visible_depth;
if (model_occlusions_) {
body_visible_depth = depth_renderer_ptr_->IsBodyVisible(body_ptr_->name());
if (body_visible_depth) depth_renderer_ptr_->FetchDepthImage();
}
// Reconstruct points
std::vector<size_t> indexes;
std::vector<Eigen::Vector3f> points_keyframe;
for (size_t i = 0; i < keypoints_.size(); ++i) {
Eigen::Vector3f point;
if (!Reconstruct3DPoint(keypoints_[i].pt, &point)) continue;
if (!IsPointValid(point, measure_occlusions_,
model_occlusions_ && body_visible_depth))
continue;
points_keyframe.push_back(std::move(point));
indexes.push_back(i);
}
points_keyframes_.push_back(std::move(points_keyframe));
// Copy descriptors
#ifdef USE_CUDA
if (descriptor_type_ == DescriptorType::ORB_CUDA) {
cv::cuda::GpuMat descriptors_keyframe_cuda(
indexes.size(), descriptors_cuda_.cols, descriptors_cuda_.type());
for (size_t i = 0; i < indexes.size(); ++i)
descriptors_cuda_.row(indexes[i])
.copyTo(descriptors_keyframe_cuda.row(i));
descriptors_keyframes_cuda_.push_back(std::move(descriptors_keyframe_cuda));
} else
#endif
{
cv::Mat descriptors_keyframe(indexes.size(), descriptors_.cols,
descriptors_.type());
for (size_t i = 0; i < indexes.size(); ++i)
descriptors_.row(indexes[i]).copyTo(descriptors_keyframe.row(i));
descriptors_keyframes_.push_back(std::move(descriptors_keyframe));
}
// Store orientation
orientation_last_keyframe_ =
body2camera_pose_.rotation().inverse() *
body2camera_pose_.translation().matrix().normalized();
keyframe_age_ = 0;
}
bool TextureModality::Reconstruct3DPoint(const cv::Point2f ¢er,
Eigen::Vector3f *center_f_body) const {
const cv::Mat &silhouette_image{
silhouette_renderer_ptr_->focused_silhouette_image()};
const cv::Mat &depth_image{silhouette_renderer_ptr_->focused_depth_image()};