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shadow.cpp
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shadow.cpp
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#include "stdafx.h"
#include "shadow.hpp"
#define BLACK_THRESHOLD 0.02
#define PI 3.1415926
using namespace std;
using namespace cv;
void shadow::cloud2Mat(CvMat* points_mat, pcl::PointCloud<pcl::PointXYZ> cloud)
{
for (int i = 0; i < cloud.width; i++)
{
points_mat->data.fl[i * 3 + 0] = cloud.points[i].x;
points_mat->data.fl[i * 3 + 1] = cloud.points[i].y;
points_mat->data.fl[i * 3 + 2] = cloud.points[i].z;
}
}
//Ax+by+cz=D
void shadow::cvFitPlane(const CvMat* points, float* plane)
{
// Estimate geometric centroid.
int nrows = points->rows;
int ncols = points->cols;
int type = points->type;
CvMat* centroid = cvCreateMat(1, ncols, type);
cvSet(centroid, cvScalar(0));
for (int c = 0; c<ncols; c++)
{
for (int r = 0; r < nrows; r++)
{
centroid->data.fl[c] += points->data.fl[ncols*r + c];
}
centroid->data.fl[c] /= nrows;
}
// Subtract geometric centroid from each point.
CvMat* points2 = cvCreateMat(nrows, ncols, type);
for (int r = 0; r<nrows; r++)
for (int c = 0; c<ncols; c++)
points2->data.fl[ncols*r + c] = points->data.fl[ncols*r + c] - centroid->data.fl[c];
// Evaluate SVD of covariance matrix.
CvMat* fitA = cvCreateMat(ncols, ncols, type);
CvMat* fitW = cvCreateMat(ncols, ncols, type);
CvMat* fitV = cvCreateMat(ncols, ncols, type);
cvGEMM(points2, points, 1, NULL, 0, fitA, CV_GEMM_A_T);
cvSVD(fitA, fitW, NULL, fitV, CV_SVD_V_T);
// Assign plane coefficients by singular vector corresponding to smallest singular value.
plane[ncols] = 0;
for (int c = 0; c<ncols; c++)
{
plane[c] = fitV->data.fl[ncols*(ncols - 1) + c];
plane[ncols] += plane[c] * centroid->data.fl[c];
}
// Release allocated resources.
cvReleaseMat(&points2);
cvReleaseMat(&fitA);
cvReleaseMat(&fitW);
cvReleaseMat(&fitV);
}
pcl::PointCloud<pcl::PointXYZ> shadow::rotatePlane(float alpha,float beta,pcl::PointCloud<pcl::PointXYZ> CLOUD,int size,float *Angle)
{
Mat T0=Mat::ones(3,3,CV_32FC1);
Mat T1=Mat::ones(3,3,CV_32FC1);
Mat T;
Mat old_position=Mat::ones(3,1,CV_32FC1);
Mat new_position=Mat::ones(3,1,CV_32FC1);
T0.at<float>(0,0)=1;
T0.at<float>(0,1)=0;
T0.at<float>(0,2)=0;
T0.at<float>(1,0)=0;
T0.at<float>(1,1)=cos(alpha);
T0.at<float>(1,2)=-sin(alpha);
T0.at<float>(2,0)=0;
T0.at<float>(2,1)=sin(alpha);
T0.at<float>(2,2)=cos(alpha);
T1.at<float>(0,0)=cos(beta);
T1.at<float>(0,1)=0;
T1.at<float>(0,2)=sin(beta);
T1.at<float>(1,0)=0;
T1.at<float>(1,1)=1;
T1.at<float>(1,2)=0;
T1.at<float>(2,0)=-sin(beta);
T1.at<float>(2,1)=0;
T1.at<float>(2,2)=cos(beta);
T=T1*T0;
CLOUD.width = size;
CLOUD.height = 1;
CLOUD.points.resize(CLOUD.width * CLOUD.height);
for(int i=0;i<size;i++)
{
old_position.at<float>(0,0)=CLOUD.points[i].x;
old_position.at<float>(1,0)=CLOUD.points[i].y;
old_position.at<float>(2,0)=CLOUD.points[i].z;
new_position=T*old_position;
CLOUD.points[i].x=new_position.at<float>(0,0);
CLOUD.points[i].y=new_position.at<float>(1,0);
CLOUD.points[i].z=new_position.at<float>(2,0);
}
return CLOUD;
}
pcl::PointCloud<pcl::PointXYZ> shadow::cutPlanez(pcl::PointCloud<pcl::PointXYZ> CLOUD,float cut_offz,long int *cutNum)
{
for(int i=0;i<CLOUD.size();i++)
{
if(CLOUD.points[i].z<cut_offz)
{
CLOUD.points[i].z=-1001;
CLOUD.points[i].y=-1001;
CLOUD.points[i].x=-1001;
*cutNum=*cutNum+1;
}
}
return CLOUD;
}
pcl::PointCloud<pcl::PointXYZ> shadow::cutPlanexy(pcl::PointCloud<pcl::PointXYZ> CLOUD,float cutHead,float cutFoot,float cutY,float maxx,float maxy,long int *cutNum)
{
for(int i=0;i<CLOUD.size();i++)
{
if(CLOUD.points[i].x<cutHead || CLOUD.points[i].x>maxx-cutFoot || CLOUD.points[i].y<cutY || CLOUD.points[i].y>maxy-cutY)
{
CLOUD.points[i].z=-1001;
CLOUD.points[i].y=-1001;
CLOUD.points[i].x=-1001;
*cutNum = *cutNum + 1;
}
}
return CLOUD;
}
void shadow::findMin(pcl::PointCloud<pcl::PointXYZ> CLOUD,float *min)
{
min[0]=1000;min[1]=1000;min[2]=1000;
for(int i=0;i<CLOUD.size();i++)
{
if((CLOUD.points[i].x<min[0])&&(CLOUD.points[i].x!=-1001))
{
min[0]=CLOUD.points[i].x;
}
if((CLOUD.points[i].y<min[1])&&(CLOUD.points[i].y!=-1001))
{
min[1]=CLOUD.points[i].y;
}
if((CLOUD.points[i].z<min[2])&&(CLOUD.points[i].z!=-1001))
{
min[2]=CLOUD.points[i].z;
}
}
}
void shadow::findMax(pcl::PointCloud<pcl::PointXYZ> CLOUD,float *max)
{
max[0]=-1000;max[1]=-1000;max[2]=-1000;
for(int i=0;i<CLOUD.size();i++)
{
if((CLOUD.points[i].x>max[0])&&(CLOUD.points[i].x!=-1001))
{
max[0]=CLOUD.points[i].x;
}
if((CLOUD.points[i].y>max[1])&&(CLOUD.points[i].y!=-1001))
{
max[1]=CLOUD.points[i].y;
}
if((CLOUD.points[i].z>max[2])&&(CLOUD.points[i].z!=-1001))
{
max[2]=CLOUD.points[i].z;
}
}
}
pcl::PointCloud<pcl::PointXYZ> shadow::PlaneOffset(pcl::PointCloud<pcl::PointXYZ> CLOUD,float *min)
{
for(int i=0;i<CLOUD.size();i++)
{
if((CLOUD.points[i].x!=-1001)&&(CLOUD.points[i].y!=-1001)&&(CLOUD.points[i].z!=-1001))
{
CLOUD.points[i].x-=(min[0]);
CLOUD.points[i].y-=(min[1]);
CLOUD.points[i].z-=(min[2]);
}
}
return CLOUD;
}
float shadow::computeMean(cv::Mat &image)
{
int nr = image.rows; // number of rows
int nc = image.cols;
int channel = image.channels(); // total number of elements per line
float mean = 0;
int cnt_black_point = 0;
for (int j = 0; j<nr; j++)
{
float* data = image.ptr<float>(j);
for (int i = 0; i<nc; i++)
{
if (data[i] <= BLACK_THRESHOLD)
{
cnt_black_point++;
data[i] = 0;
}
}
}
int total = nr*nc - cnt_black_point;
for (int j = 0; j<nr; j++)
{
float* data = image.ptr<float>(j);
for (int i = 0; i<nc; i++)
{
if (data[i]>BLACK_THRESHOLD)
mean += (float)data[i] / (float)total;
}
}
return mean;
}
void shadow::fitcolor(cv::Mat &image, float delta)
{
float mean = 0;
for (int j = 0; j<image.rows; j++)
{
float* data = image.ptr<float>(j);
for (int i = 0; i<image.cols; i++)
{
if (data[i]>BLACK_THRESHOLD)
{
data[i] += delta;
}
}
}
}
cv::Mat shadow::shadow3Dto2D(int width,int height,int ratio,pcl::PointCloud<pcl::PointXYZ> CLOUD)
{
#if DEBUG
cout<<width<<"and"<<height<<endl;
#endif
cv::Mat weight;
cv::Mat depthImage;
weight=Mat::zeros(width*ratio+1,height*ratio+1,CV_32FC1); //save weights
depthImage=cv::Mat::zeros(width*ratio+1,height*ratio+1,CV_32FC1);
int invalid_num=0;
int valid_num=0;
int hole=0;
int row=0;
int col=0;
int rowplus=0;
int rowminus=0;
int colplus=0;
int colminus=0;
float max=-10;
for(int i=0;i<CLOUD.size();i++)
{
if((CLOUD.points[i].x!=-1001)&&(CLOUD.points[i].y!=-1001)&&(CLOUD.points[i].z!=-1001))
{
if(CLOUD.points[i].x>width) CLOUD.points[i].x=width;//avoid stack overflow
if(CLOUD.points[i].y>height) CLOUD.points[i].y=height;
//CLOUD.points[i].x*ratio
row=(int)(CLOUD.points[i].x*ratio);
col=(int)(CLOUD.points[i].y*ratio);
rowplus=row+1;
rowminus=row-1;
colplus=col+1;
colminus=col-1;
if(row==0) rowminus=0;
if(row==width*ratio) rowplus=row;
if(col==0) colminus=0;
if(col==height*ratio) colplus=col;
depthImage.at<float>(row,col)+=CLOUD.points[i].z;
depthImage.at<float>(rowplus,colplus)+=CLOUD.points[i].z;
depthImage.at<float>(rowplus,colminus)+=CLOUD.points[i].z;
depthImage.at<float>(rowminus,colminus)+=CLOUD.points[i].z;
depthImage.at<float>(rowminus,colplus)+=CLOUD.points[i].z;
weight.at<float>(row,col)++;
weight.at<float>(rowplus,colplus)++;
weight.at<float>(rowplus,colminus)++;
weight.at<float>(rowminus,colplus)++;
weight.at<float>(rowminus,colminus)++;
valid_num++;
}
else
invalid_num++;
}
for(int j=0;j<width*ratio+1;j++)
{
for(int k=0;k<height*ratio+1;k++)
{
if(weight.at<float>(j,k)==0)
{
weight.at<float>(j,k)=1;
depthImage.at<float>(j,k)=0;
hole++;
}
depthImage.at<float>(j,k)=depthImage.at<float>(j,k)/weight.at<float>(j,k);
if(depthImage.at<float>(j,k)>max)
max=depthImage.at<float>(j,k);
}
}
//for(int j=0;j<width*ratio+1;j++)
//{
// for(int k=0;k<height*ratio+1;k++)
// {
// depthImage.at<float>(j,k)=depthImage.at<float>(j,k)/1;//max;
// }
//}
#if DEBUG
//cout<<valid_num<<","<<invalid_num<<","<<hole<<","<<max<<endl;
#endif
return depthImage;
}
cv::Mat shadow::showDepthImage(pcl::PointCloud<pcl::PointXYZ> cloud, float cutHead, float cutFoot)
{
cv::Mat temp;
float Min[3] = { 0 };
float Max[3] = { 0 };
float angle[2] = { 0 };
float plane_vector[4] = { 0 };
float A, B, C, D;
int valid = 0;
long int num = 0;
long int cutNum = 0;
pcl::PointCloud<pcl::PointXYZ> cloud3;
CvMat*points_mat = cvCreateMat(cloud.points.size(), 3, CV_32FC1);//define a matrix to save points need fit
cloud2Mat(points_mat, cloud);
//#if DEBUG
// //fit a plane
// cvFitPlane(points_mat, plane_vector);//define an array to save the plane parameters
// A=plane_vector[0];
// B=plane_vector[1];
// C=plane_vector[2];
// D=plane_vector[3];
//
// cout<<"Plane: "<< plane_vector[0]<<" "<< plane_vector[1]<<" "<< plane_vector[2]<<" "<< plane_vector[3]<<"\n";
// cloud=rotatePlane(atan(B/C),-atan(A/C),cloud, cloud.points.size(),angle);
//#endif
//
// findMin(cloud, Min);
findMax(cloud, Max);
float k = 2.1;
cloud = cutPlanez(cloud, Max[2] - k, &cutNum);
if (cloud.points.size() < 10000)
{
cout << "Error: No object!" << endl;
temp = Mat::zeros(3, 3, CV_8UC1);
return temp;
}
findMin(cloud,Min);
cloud=PlaneOffset(cloud,Min);
findMin(cloud,Min);
findMax(cloud,Max);
#if DEBUG
cout<<"min="<<Min[0]<<","<<Min[1]<<","<<Min[2]<<endl;
cout<<"max="<<Max[0]<<","<<Max[1]<<","<<Max[2]<<endl;
#endif
//select the valid points and send into cloud3
valid = cloud.points.size() - cutNum;
cloud3.width = valid;
cloud3.height = 1;
cloud3.points.resize(cloud3.width * cloud3.height);
valid = 0;
for(int m=0;m<cloud.size();m++)
{
if ((cloud.points[m].x != -1001) && (cloud.points[m].y != -1001) && (cloud.points[m].z != -1001))
{
cloud3.points[valid].x = cloud.points[m].x;
cloud3.points[valid].y = cloud.points[m].y;
cloud3.points[valid].z = cloud.points[m].z;
valid++;
}
}
//fit cloud3 and rotate it
CvMat*points_mat3 = cvCreateMat(cloud3.points.size(), 3, CV_32FC1);//define an array to save the plane parameters
cloud2Mat(points_mat3, cloud3);
angle[2] = { 0 };
plane_vector[4] = { 0 };
cvFitPlane(points_mat3, plane_vector);
A = plane_vector[0];
B = plane_vector[1];
C = plane_vector[2];
D = plane_vector[3];
#if DEBUG
cout << "New Plane: " << plane_vector[0] << " " << plane_vector[1] << " " << plane_vector[2] << " " << plane_vector[3] << "\n";
#endif
cloud3 = rotatePlane(atan(B / C), -atan(A/C), cloud3, valid, angle);
findMin(cloud3,Min);
cloud3=PlaneOffset(cloud3,Min);
#if DEBUG
findMin(cloud3, Min);
findMax(cloud3, Max);
cout<<"Final min="<<Min[0]<<","<<Min[1]<<","<<Min[2]<<endl;
cout<<"Final max="<<Max[0]<<","<<Max[1]<<","<<Max[2]<<endl;
//Show the pcl cloud
//pcl::visualization::CloudViewer viewer("pcd viewer");
//pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPointer(new pcl::PointCloud<pcl::PointXYZ>);
//cloudPointer = cloud3.makeShared();
//viewer.showCloud(cloudPointer);
//int pause666=scanf("%d",&pause666);
#endif
cv::Mat src=shadow3Dto2D(Max[0],Max[1],10,cloud3);
float mean = computeMean(src);
cout << "Mean: " << mean << endl;
fitcolor(src, 0.5 - mean);
src.convertTo(temp, CV_8U,255.0);
flip(temp, temp, 0);
flip(temp, temp, -1);
return temp;
}