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Merged
merged 4 commits into from
Apr 17, 2021
Merged

KinFu fix (iss2925) #2926

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fd37dc5
add TODO
Apr 15, 2021
450daa8
rewrite render
Apr 15, 2021
ddbc150
docs fix
Apr 15, 2021
8bcb2a9
remove extra comment
Apr 15, 2021
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12 changes: 11 additions & 1 deletion modules/rgbd/include/opencv2/rgbd/colored_kinfu.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,16 @@ class CV_EXPORTS_W ColoredKinFu
/** @brief Get current parameters */
virtual const Params& getParams() const = 0;

/** @brief Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat.
Light pose is fixed in KinFu params.

@param image resulting image
*/

CV_WRAP virtual void render(OutputArray image) const = 0;

/** @brief Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat.
Expand All @@ -211,7 +221,7 @@ class CV_EXPORTS_W ColoredKinFu
which is a last frame camera pose.
*/

CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose = Matx44f::eye()) const = 0;
CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose) const = 0;

/** @brief Gets points and normals of current 3d mesh

Expand Down
12 changes: 11 additions & 1 deletion modules/rgbd/include/opencv2/rgbd/kinfu.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,6 +198,16 @@ class CV_EXPORTS_W KinFu
/** @brief Get current parameters */
virtual const Params& getParams() const = 0;

/** @brief Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat.
Light pose is fixed in KinFu params.

@param image resulting image
*/

CV_WRAP virtual void render(OutputArray image) const = 0;

/** @brief Renders a volume into an image

Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat.
Expand All @@ -208,7 +218,7 @@ class CV_EXPORTS_W KinFu
which is a last frame camera pose.
*/

CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose = Matx44f::eye()) const = 0;
CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose) const = 0;

/** @brief Gets points and normals of current 3d mesh

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4 changes: 2 additions & 2 deletions modules/rgbd/include/opencv2/rgbd/large_kinfu.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,8 +125,8 @@ class CV_EXPORTS_W LargeKinfu

virtual const Params& getParams() const = 0;

CV_WRAP virtual void render(OutputArray image,
const Matx44f& cameraPose = Matx44f::eye()) const = 0;
CV_WRAP virtual void render(OutputArray image) const = 0;
CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose) const = 0;

CV_WRAP virtual void getCloud(OutputArray points, OutputArray normals) const = 0;

Expand Down
26 changes: 12 additions & 14 deletions modules/rgbd/src/colored_kinfu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,7 @@ class ColoredKinFuImpl : public ColoredKinFu

const Params& getParams() const CV_OVERRIDE;

void render(OutputArray image) const CV_OVERRIDE;
void render(OutputArray image, const Matx44f& cameraPose) const CV_OVERRIDE;

virtual void getCloud(OutputArray points, OutputArray normals) const CV_OVERRIDE;
Expand Down Expand Up @@ -322,26 +323,23 @@ bool ColoredKinFuImpl<MatType>::updateT(const MatType& _depth, const MatType& _r
}


template< typename MatType >
void ColoredKinFuImpl<MatType>::render(OutputArray image) const
{
CV_TRACE_FUNCTION();

renderPointsNormalsColors(pyrPoints[0], pyrNormals[0], pyrColors[0],image, params.lightPose);
}

template< typename MatType >
void ColoredKinFuImpl<MatType>::render(OutputArray image, const Matx44f& _cameraPose) const
{
CV_TRACE_FUNCTION();

Affine3f cameraPose(_cameraPose);
Affine3f _pose(pose);

const Affine3f id = Affine3f::Identity();
if((cameraPose.rotation() == _pose.rotation() && cameraPose.translation() == _pose.translation()) ||
(cameraPose.rotation() == id.rotation() && cameraPose.translation() == id.translation()))
{
renderPointsNormalsColors(pyrPoints[0], pyrNormals[0], pyrColors[0],image, params.lightPose);
}
else
{
MatType points, normals, colors;
volume->raycast(_cameraPose, params.intr, params.frameSize, points, normals, colors);
renderPointsNormalsColors(points, normals, colors, image, params.lightPose);
}
MatType points, normals, colors;
volume->raycast(_cameraPose, params.intr, params.frameSize, points, normals, colors);
renderPointsNormalsColors(points, normals, colors, image, params.lightPose);
}


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27 changes: 13 additions & 14 deletions modules/rgbd/src/kinfu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,7 @@ class KinFuImpl : public KinFu

const Params& getParams() const CV_OVERRIDE;

void render(OutputArray image) const CV_OVERRIDE;
void render(OutputArray image, const Matx44f& cameraPose) const CV_OVERRIDE;

virtual void getCloud(OutputArray points, OutputArray normals) const CV_OVERRIDE;
Expand Down Expand Up @@ -284,26 +285,24 @@ bool KinFuImpl<MatType>::updateT(const MatType& _depth)
}


template< typename MatType >
void KinFuImpl<MatType>::render(OutputArray image) const
{
CV_TRACE_FUNCTION();

renderPointsNormals(pyrPoints[0], pyrNormals[0], image, params.lightPose);
}


template< typename MatType >
void KinFuImpl<MatType>::render(OutputArray image, const Matx44f& _cameraPose) const
{
CV_TRACE_FUNCTION();

Affine3f cameraPose(_cameraPose);
Affine3f _pose(pose);

const Affine3f id = Affine3f::Identity();
if((cameraPose.rotation() == _pose.rotation() && cameraPose.translation() == _pose.translation()) ||
(cameraPose.rotation() == id.rotation() && cameraPose.translation() == id.translation()))
{
renderPointsNormals(pyrPoints[0], pyrNormals[0], image, params.lightPose);
}
else
{
MatType points, normals;
volume->raycast(_cameraPose, params.intr, params.frameSize, points, normals);
renderPointsNormals(points, normals, image, params.lightPose);
}
MatType points, normals;
volume->raycast(_cameraPose, params.intr, params.frameSize, points, normals);
renderPointsNormals(points, normals, image, params.lightPose);
}


Expand Down
30 changes: 16 additions & 14 deletions modules/rgbd/src/large_kinfu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,7 @@ class LargeKinfuImpl : public LargeKinfu

const Params& getParams() const CV_OVERRIDE;

void render(OutputArray image) const CV_OVERRIDE;
void render(OutputArray image, const Matx44f& cameraPose) const CV_OVERRIDE;

virtual void getCloud(OutputArray points, OutputArray normals) const CV_OVERRIDE;
Expand Down Expand Up @@ -296,29 +297,30 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& _depth)
return true;
}


template<typename MatType>
void LargeKinfuImpl<MatType>::render(OutputArray image) const
{
CV_TRACE_FUNCTION();
auto currSubmap = submapMgr->getCurrentSubmap();
//! TODO: Can render be dependent on current submap
renderPointsNormals(currSubmap->pyrPoints[0], currSubmap->pyrNormals[0], image, params.lightPose);
}


template<typename MatType>
void LargeKinfuImpl<MatType>::render(OutputArray image, const Matx44f& _cameraPose) const
{
CV_TRACE_FUNCTION();

Affine3f cameraPose(_cameraPose);

auto currSubmap = submapMgr->getCurrentSubmap();
const Affine3f id = Affine3f::Identity();
if ((cameraPose.rotation() == pose.rotation() && cameraPose.translation() == pose.translation()) ||
(cameraPose.rotation() == id.rotation() && cameraPose.translation() == id.translation()))
{
//! TODO: Can render be dependent on current submap
renderPointsNormals(currSubmap->pyrPoints[0], currSubmap->pyrNormals[0], image, params.lightPose);
}
else
{
MatType points, normals;
currSubmap->raycast(cameraPose, params.intr, params.frameSize, points, normals);
renderPointsNormals(points, normals, image, params.lightPose);
}
MatType points, normals;
currSubmap->raycast(cameraPose, params.intr, params.frameSize, points, normals);
renderPointsNormals(points, normals, image, params.lightPose);
}


template<typename MatType>
void LargeKinfuImpl<MatType>::getCloud(OutputArray p, OutputArray n) const
{
Expand Down