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modified integretedCamera function with issues
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Erika committed Jan 17, 2025
1 parent 56b61f9 commit ae577e6
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Showing 3 changed files with 75 additions and 14 deletions.
84 changes: 72 additions & 12 deletions depthmap/depthmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -461,7 +461,7 @@ bool Depthmap::loadNormals(const char *normals_path){

return true;
}
void Depthmap::saveTiff(const char *mask_path, vector<float> &values, uint32_t &w, uint32_t &h, uint32_t bitsPerSample){
void Depthmap::saveTiff(const char *mask_path,const vector<float> &values, uint32_t w, uint32_t h, uint32_t bitsPerSample) const{
//save e scrive la maschera

TIFF* maskTiff = TIFFOpen(mask_path, "w");
Expand Down Expand Up @@ -540,7 +540,7 @@ void Depthmap::saveTiff(const char *mask_path, vector<float> &values, uint32_t &
}


void Depthmap::saveDepth(const char *depth_path){
void Depthmap::saveDepth(const char *depth_path) const{
saveTiff(depth_path, elevation, width, height, 32);
}

Expand Down Expand Up @@ -975,10 +975,10 @@ void OrthoDepthmap::verifyPointCloud(){
if (pixelX < 0 || pixelX >= width || pixelY < 0 || pixelY >= height) {
continue;
}
cerr << "point inside the image limits "
/* cerr << "point inside the image limits "
<< "Point 3D: (" << realX << ", " << realY << ", " << pixelCoord[2] << "), "
<< "Coordinate pixel: (" << pixelX << ", " << pixelY << " " << elevation[pixelX + pixelY * width]<< ")\n";

*/
}


Expand All @@ -996,30 +996,86 @@ void OrthoDepthmap::integratedCamera(const CameraDepthmap& camera, const char *o
auto u = camera.camera.projectionToImage(Eigen::Vector3f(1, 0, z));
float pixel_size = 1 / (u[0] - o[0]);


QTextStream out(&outFile);
std::vector<Eigen::Vector3f> differences;
for (size_t i = 0; i < point_cloud.size(); i++) {

Eigen::Vector3f& realCoord = point_cloud[i];
Eigen::Vector3f imageCoords = camera.camera.projectionToImage(realCoord);
float h = realCoord[2];
Eigen::Vector3f pixelCoord = realToPixelCoord(realCoord[0], realCoord[1], realCoord[2]);

// project from ortho plane to camera plane, hence the fixed z
realCoord[2] = z;
Eigen::Vector3f imageCoords = camera.camera.projectionToImage(realCoord);
int pixelX = static_cast<int>(round(imageCoords[0]));
int pixelY = static_cast<int>(round(imageCoords[1]));


if (pixelX >= 0 && pixelX < camera.width && pixelY >= 0 && pixelY < camera.height) {
float depthValue = camera.elevation[pixelX + pixelY * camera.width]* pixel_size;
float h = realCoord[2];
differences.push_back(Eigen::Vector3f(imageCoords[0]/camera.width, imageCoords[1]/camera.height, h + depthValue));
float depthValue = z - camera.elevation[pixelX + pixelY * camera.width]* pixel_size;

if(fabs(pixelCoord[0] - 170) < 3 && fabs(pixelCoord[1] - 150) < 3){
cout << "elevation: " << elevation[int(pixelCoord[0]) + int(pixelCoord[1]) *width] << endl;

cout << "PixelX: " << pixelCoord[0] << ", PixelY: " << pixelCoord[1] << "pixelZ " << pixelCoord[2] << endl;
cout << "h: " << h << endl;
cout << "depthValue: " << depthValue << endl;
cout << "Image Coords X: " << imageCoords[0] << ", Y: " << imageCoords[1] << endl;
cout << "Camera Width: " << camera.width << ", Camera Height: " << camera.height << endl;
}


differences.push_back(Eigen::Vector3f(imageCoords[0]/camera.width, imageCoords[1]/camera.height, h - depthValue));
out << depthValue << "\t" << h << "\t" << imageCoords[0]/camera.width << "\t" << imageCoords[1]/camera.height <<"\n"; //red e green

}
}

GaussianGrid gaussianGrid;
gaussianGrid.init(differences);
gaussianGrid.imageGrid(("test.png"));

float ortho_z = realToPixelCoord(0,0,z)[2];

for(int y=0; y< height/2; y++){
for(int x=0; x<width; x++){
//if(x,y )
Eigen::Vector3f r = pixelToRealCoordinates(x, y, ortho_z);
assert(fabs(z-r[2]) < 0.1f);
Eigen::Vector3f p = camera.camera.projectionToImage(r);

int px = round(p[0]);
int py = round(p[1]);

if(px >= 0 && px< camera.width && py >= 0 && py< camera.height){
float depthValue = z - camera.elevation[px + py * camera.width]* pixel_size;
p[0] /= camera.width;
p[1] /= camera.height;
float h = gaussianGrid.value(p[0], p[1]) + depthValue;
Eigen::Vector3f d = realToPixelCoord(r[0], r[1], h);

//p0 e p1 devono venire uguale e vedi se depth è ugusle, h dovrebbe venire simile
if (fabs(x - 170) < 1 && fabs(y - 150) < 1){
cout << "Real Coord r:" << r[0] << endl;
cout << "Projected Coords p:" << p[0] << endl;
cout << "comparison:" << endl;
cout << "PixelX: " << px << ", PixelY: " << py << endl;
cout << "p[0]: " << p[0] << ", p[1]: " << p[1] << endl;
cout << "Depth Value: " << depthValue << endl;
cout <<"gaussian grid" << gaussianGrid.value(p[0], p[1]) << endl;
cout << "elevation: " << elevation[x+y * width] << endl;
cout << " h: " << h << endl;
cout << " d: " << d << endl;
}
elevation[x + y * width] = d[2];


}
}

}
}

//fit h = a+b*elev
void GaussianGrid::init(std::vector<Eigen::Vector3f> &differences){
int side = static_cast<int>(sqrt(differences.size())) / 2;
Expand Down Expand Up @@ -1120,7 +1176,11 @@ void GaussianGrid::fillLaplacian(float precision){
}

float GaussianGrid::value(float x, float y){

//bicubic interpolation
//nearest
int pixelX = std::max(0, std::min(width-1, (int)(x * (width-1))));
int pixelY = std::max(0, std::min(height-1, (int)(y * (height-1))));
return values[pixelX + pixelY * width];
}

void GaussianGrid::computeGaussianWeightedGrid(std::vector<Eigen::Vector3f> &differences) {
Expand Down Expand Up @@ -1166,11 +1226,11 @@ void GaussianGrid::computeGaussianWeightedGrid(std::vector<Eigen::Vector3f> &dif
values[i] /= (weights[i]);
}
}
for (int i = 0; i < height; i++) {
/*for (int i = 0; i < height; i++) {
for (int j = 0; j < width; j++) {
qDebug() << "z_grid[" << i << "][" << j << "] = " << values[i * height +j];
}
}
}*/
}


Expand Down
4 changes: 2 additions & 2 deletions depthmap/depthmap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ class Depthmap {
bool loadDepth(const char *depth_path);
bool loadMask(const char *mask_path);
bool loadNormals(const char *normals_path);
void saveDepth(const char *depth_path);
void saveDepth(const char *depth_path) const;
void saveMask(const char *depth_path);
void saveNormals(const char *normals_path);

Expand All @@ -57,7 +57,7 @@ class Depthmap {
bool loadTiledTiff(TIFF* inTiff, std::vector<float> &elevation, uint32_t w, uint32_t h,
uint32_t tileWidth, uint32_t tileLength, uint32_t bitsPerSample);
bool loadStripedTiff(TIFF* inTiff, std::vector<float> &elevation, uint32_t& w, uint32_t& h, uint32_t bitsPerSample);
void saveTiff(const char *mask_path, std::vector<float> &values, uint32_t &w, uint32_t &h, uint32_t bitsPerSample);
void saveTiff(const char *mask_path, const std::vector<float> &values, uint32_t w, uint32_t h, uint32_t bitsPerSample) const;

};
class GaussianGrid {
Expand Down
1 change: 1 addition & 0 deletions depthmap/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ int main(int argc, char *argv[]) {
return -1;
}
ortho.integratedCamera(depthCam, qPrintable(output_points));
ortho.saveDepth(qPrintable(base + "testcenterRel_copia/photogrammetry/testDepth.tiff"));
// sqrt


Expand Down

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