added latest version of depthmap

cnr-isti-vclab · Jan 15, 2025 · 28d9f75 · 28d9f75
1 parent 8ccca38
commit 28d9f75
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Showing 3 changed files with 32 additions and 16 deletions.
diff --git a/depthmap/depthmap.cpp b/depthmap/depthmap.cpp
@@ -983,8 +983,21 @@ void OrthoDepthmap::verifyPointCloud(){
 
 
 }
-void OrthoDepthmap::integratedCamera(const CameraDepthmap& camera){
-	int count =0;
+void OrthoDepthmap::integratedCamera(const CameraDepthmap& camera, const char *outputFile){
+
+	QFile outFile(outputFile);
+	if (!outFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
+		cerr << "Errore nell'aprire il file di output: " << outputFile << endl;
+		return;
+	}
+	//test
+	float z = point_cloud[0][2];
+	auto o = camera.camera.projectionToImage(Eigen::Vector3f(0, 0, z));
+	auto u = camera.camera.projectionToImage(Eigen::Vector3f(1, 0, z));
+	float pixel_size = 1 / (u[0] - o[0]);
+
+	QTextStream out(&outFile);
+
 	for (size_t i = 0; i < point_cloud.size(); i++) {
 
 		Eigen::Vector3f& realCoord = point_cloud[i];
@@ -995,15 +1008,14 @@ void OrthoDepthmap::integratedCamera(const CameraDepthmap& camera){
 		int pixelY = static_cast<int>(round(imageCoords[1]));
 
 		if (pixelX >= 0 && pixelX < camera.width && pixelY >= 0 && pixelY < camera.height) {
-			float depthValue = elevation[pixelX + pixelY * camera.width];
-			float h = pixelCoord[2];
-			count++;
-			cout << depthValue << h << endl;
+			float depthValue = camera.elevation[pixelX + pixelY * camera.width]* pixel_size;
+			float h = realCoord[2];
+
+			out << depthValue << "\t" << h << "\t" << imageCoords[0]/camera.width << "\t" << imageCoords[1]/camera.height <<"\n"; //red e green
 
 
 		}
 	}
-	cout << count << endl;
 }
 //fit h = a+b*elev
 

diff --git a/depthmap/depthmap.h b/depthmap/depthmap.h
@@ -89,7 +89,7 @@ class OrthoDepthmap:
 	//itera sui punti, chiama l'inversa, prima converte a intero perche sono float vede se xy stanno in w e h, se non dentro problema
 	//legge nella depth l h corrispondente
 	void verifyPointCloud();
-	void integratedCamera(const CameraDepthmap& camera);
+	void integratedCamera(const CameraDepthmap& camera, const char *outputFile);
 	void fitLinearRegressionFromPairs();
 
 

diff --git a/depthmap/main.cpp b/depthmap/main.cpp
@@ -22,7 +22,8 @@ int main(int argc, char *argv[]) {
 #endif
 
 	QString depthmapPath = base + "testcenterRel_copia/photogrammetry/Malt/Z_Num7_DeZoom4_STD-MALT.tif";
-	QString orientationXmlPath = base + "testcenterRel_copia/photogrammetry/Ori-Relative/Orientation-L05C12.tif.xml";
+	QString cameraDepthmap = base + "testcenterRel_copia/datasets/L04C12_depth_rti.tiff";
+	QString orientationXmlPath = base + "testcenterRel_copia/photogrammetry/Ori-Relative/Orientation-L04C12.tif.xml";
 	QString maskPath = base + "testcenterRel_copia/photogrammetry/Malt/Masq_STD-MALT_DeZoom4.tif";
 	QString plyFile = base +"testcenterRel_copia/photogrammetry/AperiCloud_Relative__mini.ply";
 	Depthmap depth;
@@ -31,6 +32,7 @@ int main(int argc, char *argv[]) {
 	QString outputPath = base + "testcenterRel_copia/photogrammetry/depthmap_projectL05C13.png";
 	QString output_mask = base + "testcenterRel_copia/photogrammetry/mask_test.tif";
 	QString output_depth = base + "testcenterRel_copia/photogrammetry/depth_test.tif";
+	QString output_points = base + "testcenterRel_copia/photogrammetry/points_h.txt";
 
 	OrthoDepthmap ortho;
 
@@ -52,19 +54,21 @@ int main(int argc, char *argv[]) {
 	ortho.verifyPointCloud();
 	ortho.fitLinearRegressionFromPairs();
 
-	Camera camera;
-	camera.loadXml(orientationXmlPath);
 	CameraDepthmap depthCam;
 //xml per camera e tiff per la depth map
 	depthCam.camera.loadXml(orientationXmlPath);
-	depthCam.loadDepth(qPrintable(depthmapPath));
-	ortho.integratedCamera(depthCam);
+	depthCam.loadDepth(qPrintable(cameraDepthmap));
+	if(depthCam.width != depthCam.camera.width || depthCam.height != depthCam.camera.height){
+		cerr << "width is not the same" << endl;
+		return -1;
+	}
+	ortho.integratedCamera(depthCam, qPrintable(output_points));
 
 
 	//int pixelX = 165;
 	//int pixelY = 144;
 	//float pixelZ = 4.5;
-	ortho.projectToCameraDepthMap(camera, outputPath);
+	ortho.projectToCameraDepthMap(depthCam.camera, outputPath);
 	Eigen::Matrix3f rotationMatrix;
 	Eigen::Vector3f center;
 
@@ -144,8 +148,8 @@ lineare per la serie di coppie per trovare a e b). Pesa i punti.
 	//realCoordinates[2] = -10.4198828;
 	//Eigen::Vector3f imageCoords = camera.projectionToImage(realCoordinates);
 
-	cout << "Rotation matrix:"<< endl << camera.rotation << endl;
-	cout << "Central vector: (" << camera.center << endl;
+	//cout << "Rotation matrix:"<< endl << camera.rotation << endl;
+	//cout << "Central vector: (" << camera.center << endl;
 	//cout << "Real coordinates: (" << realCoordinates[0] << ", "
 	//		  << realCoordinates[1] << ", " << realCoordinates[2] << ")" << endl;