kopia lustrzana https://github.com/OpenDroneMap/ODM
Multi band rendering working
Piero Toffanin
rodzic
28b7f009b0
commit
40217fae76
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@ -13,11 +13,6 @@ OdmOrthoPhoto::OdmOrthoPhoto()
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resolution_ = 0.0f;
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boundaryPoint1_[0] = 0.0f; boundaryPoint1_[1] = 0.0f;
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boundaryPoint2_[0] = 0.0f; boundaryPoint2_[1] = 0.0f;
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boundaryPoint3_[0] = 0.0f; boundaryPoint3_[1] = 0.0f;
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boundaryPoint4_[0] = 0.0f; boundaryPoint4_[1] = 0.0f;
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alphaBand = nullptr;
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currentBandIndex = 0;
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}
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@ -217,6 +212,15 @@ void OdmOrthoPhoto::saveTIFF(const std::string &filename, GDALDataType dataType)
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}
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}
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// Alpha
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if (dataType == GDT_UInt16){
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finalizeAlphaBand<uint16_t>();
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}else if (dataType == GDT_Byte){
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finalizeAlphaBand<uint8_t>();
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}else{
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throw OdmOrthoPhotoException("Invalid data type");
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}
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// Alpha
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hBand = GDALGetRasterBand( hDstDS, static_cast<int>(i) + 1 );
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@ -264,6 +268,20 @@ void OdmOrthoPhoto::initAlphaBand(){
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}
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}
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template <typename T>
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void OdmOrthoPhoto::finalizeAlphaBand(){
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// Adjust alpha band values, only pixels that have
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// values on all bands should be visible
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size_t pixelCount = static_cast<size_t>(width * height);
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int channels = bands.size();
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T *arr = reinterpret_cast<T *>(alphaBand);
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for (size_t j = 0; j < pixelCount; j++){
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arr[j] = arr[j] >= channels ? 255.0 : 0.0;
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}
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}
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void OdmOrthoPhoto::createOrthoPhoto()
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{
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@ -273,14 +291,15 @@ void OdmOrthoPhoto::createOrthoPhoto()
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}
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int textureDepth = -1;
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float xMax, xMin, yMax, yMin;
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bool primary = true;
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Bounds bounds;
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for (auto &inputFile : inputFiles){
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log_ << "Reading mesh file... " << inputFile << "\n";
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std::vector<pcl::MTLReader> companions; /**< Materials (used by loadOBJFile). **/
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pcl::TextureMesh mesh;
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loadObjFile(inputFile, mesh);
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loadObjFile(inputFile, mesh, companions);
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log_ << "Mesh file read.\n\n";
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// Does the model have more than one material?
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@ -296,31 +315,25 @@ void OdmOrthoPhoto::createOrthoPhoto()
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}
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}
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// Set boundaries according to the first model
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// subsequent models use the boundaries of the first
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if (primary){
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adjustBoundsForEntireModel(mesh);
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}
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bounds = computeBoundsForModel(mesh);
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// TODO: check these haven't changed for other models
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// The minimum and maximum boundary values.
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xMin = std::min(std::min(boundaryPoint1_[0], boundaryPoint2_[0]), std::min(boundaryPoint3_[0], boundaryPoint4_[0]));
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xMax = std::max(std::max(boundaryPoint1_[0], boundaryPoint2_[0]), std::max(boundaryPoint3_[0], boundaryPoint4_[0]));
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yMin = std::min(std::min(boundaryPoint1_[1], boundaryPoint2_[1]), std::min(boundaryPoint3_[1], boundaryPoint4_[1]));
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yMax = std::max(std::max(boundaryPoint1_[1], boundaryPoint2_[1]), std::max(boundaryPoint3_[1], boundaryPoint4_[1]));
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log_ << "Ortho photo bounds x : " << xMin << " -> " << xMax << '\n';
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log_ << "Ortho photo bounds y : " << yMin << " -> " << yMax << '\n';
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log_ << "Model bounds x : " << bounds.xMin << " -> " << bounds.xMax << '\n';
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log_ << "Model bounds y : " << bounds.yMin << " -> " << bounds.yMax << '\n';
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// The size of the area.
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float xDiff = xMax - xMin;
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float yDiff = yMax - yMin;
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log_ << "Ortho photo area : " << xDiff*yDiff << "m2\n";
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float xDiff = bounds.xMax - bounds.xMin;
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float yDiff = bounds.yMax - bounds.yMin;
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log_ << "Model area : " << xDiff*yDiff << "m2\n";
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// The resolution necessary to fit the area with the given resolution.
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height = static_cast<int>(std::ceil(resolution_*yDiff));
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width = static_cast<int>(std::ceil(resolution_*xDiff));
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// TODO: check these haven't changed for other models
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depth_ = cv::Mat::zeros(height, width, CV_32F) - std::numeric_limits<float>::infinity();
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log_ << "Ortho photo resolution, width x height : " << width << "x" << height << '\n';
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log_ << "Model resolution, width x height : " << width << "x" << height << '\n';
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// Check size of photo.
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if(0 >= height*width)
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@ -397,8 +410,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
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}
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// Creates a transformation which aligns the area for the ortho photo.
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Eigen::Transform<float, 3, Eigen::Affine> transform = getROITransform(xMin, -yMax);
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Eigen::Transform<float, 3, Eigen::Affine> transform = getROITransform(bounds.xMin, -bounds.yMax);
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log_ << "Translating and scaling mesh...\n";
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// Move the mesh into position.
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@ -511,24 +523,24 @@ void OdmOrthoPhoto::createOrthoPhoto()
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}
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cornerStream.setf(std::ios::scientific, std::ios::floatfield);
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cornerStream.precision(17);
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cornerStream << xMin << " " << yMin << " " << xMax << " " << yMax;
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cornerStream << bounds.xMin << " " << bounds.yMin << " " << bounds.xMax << " " << bounds.yMax;
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cornerStream.close();
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}
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log_ << "Orthophoto generation done.\n";
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}
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void OdmOrthoPhoto::adjustBoundsForEntireModel(const pcl::TextureMesh &mesh)
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Bounds OdmOrthoPhoto::computeBoundsForModel(const pcl::TextureMesh &mesh)
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{
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log_ << "Set boundary to contain entire model.\n";
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// The boundary of the model.
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float xMin, xMax, yMin, yMax;
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Bounds r;
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xMin = std::numeric_limits<float>::infinity();
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xMax = -std::numeric_limits<float>::infinity();
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yMin = std::numeric_limits<float>::infinity();
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yMax = -std::numeric_limits<float>::infinity();
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r.xMin = std::numeric_limits<float>::infinity();
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r.xMax = -std::numeric_limits<float>::infinity();
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r.yMin = std::numeric_limits<float>::infinity();
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r.yMax = -std::numeric_limits<float>::infinity();
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// Contains the vertices of the mesh.
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pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloud (new pcl::PointCloud<pcl::PointXYZ>);
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@ -555,25 +567,21 @@ void OdmOrthoPhoto::adjustBoundsForEntireModel(const pcl::TextureMesh &mesh)
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pcl::PointXYZ v2 = meshCloud->points[v2i];
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pcl::PointXYZ v3 = meshCloud->points[v3i];
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xMin = std::min(std::min(xMin, v1.x), std::min(v2.x, v3.x));
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xMax = std::max(std::max(xMax, v1.x), std::max(v2.x, v3.x));
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yMin = std::min(std::min(yMin, v1.y), std::min(v2.y, v3.y));
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yMax = std::max(std::max(yMax, v1.y), std::max(v2.y, v3.y));
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r.xMin = std::min(std::min(r.xMin, v1.x), std::min(v2.x, v3.x));
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r.xMax = std::max(std::max(r.xMax, v1.x), std::max(v2.x, v3.x));
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r.yMin = std::min(std::min(r.yMin, v1.y), std::min(v2.y, v3.y));
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r.yMax = std::max(std::max(r.yMax, v1.y), std::max(v2.y, v3.y));
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}
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}
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// Create dummy boundary points.
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boundaryPoint1_[0] = xMin; boundaryPoint1_[1] = yMin;
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boundaryPoint2_[0] = xMin; boundaryPoint2_[1] = yMax;
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boundaryPoint3_[0] = xMax; boundaryPoint3_[1] = yMax;
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boundaryPoint4_[0] = xMax; boundaryPoint4_[1] = yMin;
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log_ << "Local boundary points:\n";
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log_ << "Point 1: " << boundaryPoint1_[0] << " " << boundaryPoint1_[1] << "\n";
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log_ << "Point 2: " << boundaryPoint2_[0] << " " << boundaryPoint2_[1] << "\n";
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log_ << "Point 3: " << boundaryPoint3_[0] << " " << boundaryPoint3_[1] << "\n";
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log_ << "Point 4: " << boundaryPoint4_[0] << " " << boundaryPoint4_[1] << "\n";
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log_ << "Boundary points:\n";
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log_ << "Point 1: " << r.xMin << " " << r.yMin << "\n";
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log_ << "Point 2: " << r.xMin << " " << r.yMax << "\n";
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log_ << "Point 3: " << r.xMax << " " << r.yMax << "\n";
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log_ << "Point 4: " << r.xMax << " " << r.yMin << "\n";
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log_ << "\n";
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return r;
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}
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Eigen::Transform<float, 3, Eigen::Affine> OdmOrthoPhoto::getROITransform(float xMin, float yMin) const
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@ -910,10 +918,10 @@ void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Ma
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static_cast<T *>(bands[currentBandIndex + i])[idx] = static_cast<T>(value);
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}
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// The first model dictates the alpha band
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if (currentBandIndex == 0){
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static_cast<T *>(alphaBand)[idx] = static_cast<T>(255); // Alpha should always be in the 255 range
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}
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// Add 1 to the alpha band if the pixel was visible for this band
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// the final alpha band will be set to 255 if alpha == num channels
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// (all bands have information at this pixel)
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static_cast<T *>(alphaBand)[idx] += static_cast<T>(1);
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}
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void OdmOrthoPhoto::getBarycentricCoordinates(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const
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@ -971,7 +979,7 @@ bool OdmOrthoPhoto::isModelOk(const pcl::TextureMesh &mesh)
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}
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bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh, std::vector<pcl::MTLReader> &companions)
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{
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int data_type;
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unsigned int data_idx;
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@ -980,7 +988,7 @@ bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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Eigen::Vector4f origin;
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Eigen::Quaternionf orientation;
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if (!readHeader(inputFile, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset))
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if (!readHeader(inputFile, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset, companions))
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{
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throw OdmOrthoPhotoException("Problem reading header in modelfile!\n");
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}
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@ -1112,10 +1120,10 @@ bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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{
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mesh.tex_polygons.push_back (std::vector<pcl::Vertices> ());
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mesh.tex_materials.push_back (pcl::TexMaterial ());
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for (std::size_t i = 0; i < companions_.size (); ++i)
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for (std::size_t i = 0; i < companions.size (); ++i)
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{
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std::vector<pcl::TexMaterial>::const_iterator mat_it = companions_[i].getMaterial (st[1]);
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if (mat_it != companions_[i].materials_.end ())
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std::vector<pcl::TexMaterial>::const_iterator mat_it = companions[i].getMaterial (st[1]);
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if (mat_it != companions[i].materials_.end ())
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{
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mesh.tex_materials.back () = *mat_it;
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break;
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@ -1182,7 +1190,8 @@ bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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bool OdmOrthoPhoto::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, int &data_type, unsigned int &data_idx,
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const int offset)
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const int offset,
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std::vector<pcl::MTLReader> &companions)
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{
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origin = Eigen::Vector4f::Zero ();
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orientation = Eigen::Quaternionf::Identity ();
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@ -1319,7 +1328,7 @@ bool OdmOrthoPhoto::readHeader (const std::string &file_name, pcl::PCLPointCloud
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log_<<"Problem reading material file.";
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}
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companions_.push_back (companion);
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companions.push_back (companion);
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}
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}
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@ -27,6 +27,23 @@
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// Logger
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#include "Logger.hpp"
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struct Bounds{
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float xMin;
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float xMax;
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float yMin;
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float yMax;
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Bounds() : xMin(0), xMax(0), yMin(0), yMax(0) {}
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Bounds(float xMin, float xMax, float yMin, float yMax) :
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xMin(xMin), xMax(xMax), yMin(yMin), yMax(yMax){}
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Bounds(const Bounds &b) {
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xMin = b.xMin;
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xMax = b.xMax;
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yMin = b.yMin;
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yMax = b.yMax;
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}
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};
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/*!
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* \brief The OdmOrthoPhoto class is used to create an orthographic photo over a given area.
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* The class reads an oriented textured mesh from an OBJ-file.
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@ -51,18 +68,17 @@ public:
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private:
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int width, height;
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void parseArguments(int argc, char* argv[]);
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void printHelp();
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void createOrthoPhoto();
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/*!
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* \brief Adjusts the boundary points so that the entire model fits inside the photo.
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* \brief Compute the boundary points so that the entire model fits inside the photo.
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*
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* \param mesh The model which decides the boundary.
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*/
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void adjustBoundsForEntireModel(const pcl::TextureMesh &mesh);
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Bounds computeBoundsForModel(const pcl::TextureMesh &mesh);
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/*!
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* \brief Creates a transformation which aligns the area for the orthophoto.
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@ -75,6 +91,9 @@ private:
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template <typename T>
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void initAlphaBand();
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template <typename T>
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void finalizeAlphaBand();
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void saveTIFF(const std::string &filename, GDALDataType dataType);
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/*!
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@ -141,7 +160,7 @@ private:
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* \param mesh The model.
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* \return True if model was loaded successfully.
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*/
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bool loadObjFile(std::string inputFile, pcl::TextureMesh &mesh);
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bool loadObjFile(std::string inputFile, pcl::TextureMesh &mesh, std::vector<pcl::MTLReader> &companions);
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/*!
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* \brief Function is compied straight from the function in the pcl::io module.
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@ -149,7 +168,8 @@ private:
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bool readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, int &data_type, unsigned int &data_idx,
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const int offset);
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const int offset,
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std::vector<pcl::MTLReader> &companions);
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Logger log_; /**< Logging object. */
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@ -160,18 +180,11 @@ private:
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float resolution_; /**< The number of pixels per meter in the ortho photo. */
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Eigen::Vector2f boundaryPoint1_; /**< The first boundary point for the ortho photo, in local coordinates. */
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Eigen::Vector2f boundaryPoint2_; /**< The second boundary point for the ortho photo, in local coordinates. */
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Eigen::Vector2f boundaryPoint3_; /**< The third boundary point for the ortho photo, in local coordinates. */
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Eigen::Vector2f boundaryPoint4_; /**< The fourth boundary point for the ortho photo, in local coordinates. */
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std::vector<void *> bands;
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void *alphaBand; // Keep alpha band separate
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int currentBandIndex;
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cv::Mat depth_; /**< The depth of the ortho photo as an OpenCV matrix, CV_32F. */
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std::vector<pcl::MTLReader> companions_; /**< Materials (used by loadOBJFile). **/
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};
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/*!
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