MainWindow.cpp

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/*
 * MainWindow.cpp
 *
 *  Created on: Jan 26, 2016
 *      Author: twiemann
 */
 
#include "MainWindow.hpp"
 
#include <vtkSmartPointer.h>
#include <vtkPolyData.h>
#include <vtkCellArray.h>
#include <vtkPolyDataMapper.h>
#include <vtkPoints.h>
#include <vtkActor.h>
#include <vtkTriangle.h>
#include <vtkProperty.h>
#include <vtkImageData.h>
#include <vtkTexture.h>
#include <vtkFloatArray.h>
#include <vtkPointData.h>
#include <vtkCellData.h>
 
 
#include <kfusion/LVRPipeline.hpp>
 
        void storePicPose(KinFu& kinfu, Affine3f pose, cv::Mat image)
  {
                ImgPose* imgpose = new ImgPose();
                imgpose->pose = pose;
                imgpose->image = image;//.clone();
                //intrinsics wrong? changed rows and cols + /2
                //kinfu.params().cols/2 - 0.5f
                //kinfu.params().rows/2 - 0.5f
                cv::Mat intrinsics = (cv::Mat_<float>(3,3) << kinfu.params()->intr.fx*2, 0, 1280/2-0.5f + 3,
                                                                                                  0, kinfu.params()->intr.fx*2, 1024/2-0.5f,
                                                                                                  0, 0, 1);
                imgpose->intrinsics = intrinsics;
                kinfu.cyclical().addImgPose(imgpose);
        }
 
MainWindow::MainWindow(QMainWindow* parent) : QMainWindow(parent)
{
        setupUi(this);
        setupVTK();
 
        // Create Kinfu object
        KinFuParams* params = KinFuParams::default_params();
        m_kinfu = KinFu::Ptr( new KinFu(params) );
 
        // Setup OpenNI Device
        m_openNISource = new OpenNISource;
        string device = "0";
        if(device.find_first_not_of("0123456789") == std::string::npos)
        {
                cuda::setDevice (atoi(device.c_str()));
                cuda::printShortCudaDeviceInfo (atoi(device.c_str()));
 
                if(cuda::checkIfPreFermiGPU(atoi(device.c_str())))
                {
                        std::cout << std::endl << "Kinfu does not support pre-Fermi GPU architectures, and is not built for them by default. Exiting..." << std::endl;
                }
                m_openNISource->open(atoi(device.c_str()));
        }
        else
        {
                m_openNISource->open(device);
                m_openNISource->triggerPause();
        }
        m_openNISource->setRegistration(true);
 
        // Generate timer for GPU polling
        m_timer = new QTimer(this);
        m_timer->setInterval(0);
 
        // Connect signals and slots
        connect(m_pbStart, SIGNAL(pressed()), m_timer, SLOT(start()));
        connect(m_timer, SIGNAL(timeout()), this, SLOT(pollGPUData()));
        connect(m_pbStop, SIGNAL(pressed()), this, SLOT(finalizeMesh()));
 
        // Create seperate thread for mesh polling
    m_meshThread = new MeshUpdateThread(m_kinfu);
    //m_meshThread->start();
 
    //connect(m_meshThread, SIGNAL(meshUpdate(vtkActor*)), this, SLOT(updateMesh(vtkActor*)), Qt::DirectConnection);
}
 
void MainWindow::updateMesh(vtkActor* actor)
{
        if(m_meshActor)
        {
                //m_renderer->RemoveActor(m_meshActor);
        }
 
        m_meshActor = actor;
        m_renderer->AddActor(actor);
 
    m_renderer->ResetCamera();
    m_renderer->ResetCameraClippingRange();
        this->qvtkWidget->GetRenderWindow()->Render();
        this->qvtkWidget->update();
 
 
 
//      cout << "BINGO" << endl;
//
//      vtkSmartPointer<vtkPolyData> mesh = vtkSmartPointer<vtkPolyData>::New();
//      vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
//      vtkSmartPointer<vtkCellArray> triangles = vtkSmartPointer<vtkCellArray>::New();
//
//      vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
//      scalars->SetNumberOfComponents(3);
//      scalars->SetName("Colors");
//
//
//      for(size_t i = 0; i < m_meshThread->m_vertices.size() / 3; i++)
//      {
//              points->InsertNextPoint(
//                              m_meshThread->m_vertices[3 * i] / 3,
//                              m_meshThread->m_vertices[3 * i + 1] / 3,
//                              m_meshThread->m_vertices[3 * i + 2] / 3);
//
//              unsigned char color[3] = {0, 255, 0};
//              scalars->InsertNextTupleValue(color);
//      }
//
//      for(size_t i = 0; i < m_meshThread->m_faces.size() / 3; i++)
//      {
//              vtkSmartPointer<vtkTriangle> t = vtkSmartPointer<vtkTriangle>::New();
//              t->GetPointIds()->SetId(0, m_meshThread->m_faces[3 * i]);
//              t->GetPointIds()->SetId(0, m_meshThread->m_faces[3 * i + 1]);
//              t->GetPointIds()->SetId(0, m_meshThread->m_faces[3 * i + 2]);
//              triangles->InsertNextCell(t);
//      }
//
//      mesh->SetPoints(points);
//      mesh->SetPolys(triangles);
//
//
//      vtkSmartPointer<vtkPolyDataMapper> mesh_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
//      //        mesh_mapper->SetInputData(mesh); VTK 6
//      mesh_mapper->SetInput(mesh);
//      m_meshActor = vtkActor::New();
//      m_meshActor->SetMapper(mesh_mapper);
//
//      m_renderer->AddActor(actor);
//
//       m_renderer->ResetCamera();
//          m_renderer->ResetCameraClippingRange();
//      this->qvtkWidget->GetRenderWindow()->Render();
//      this->qvtkWidget->update();
}
 
void  MainWindow::finalizeMesh()
{
        m_kinfu->performLastScan();
}
 
void  MainWindow::setupVTK()
{
        // No mesh received yet
        m_meshActor = 0;
 
        // Grab relevant entities from the qvtk widget
        m_renderer = vtkSmartPointer<vtkRenderer>::New();
        vtkSmartPointer<vtkRenderWindow> renderWindow = this->qvtkWidget->GetRenderWindow();
 
        m_renderWindowInteractor = this->qvtkWidget->GetInteractor();
        m_renderWindowInteractor->Initialize();
 
        // Finalize QVTK setup by adding the renderer to the window
        renderWindow->AddRenderer(m_renderer);
        m_renderer->GradientBackgroundOn();
        m_renderer->SetBackground(0.0, 0.0, 0.8);
        m_renderer->SetBackground2(1.0, 1.0, 1.0);
        m_renderer->TwoSidedLightingOn();
 
    m_axes = vtkSmartPointer<vtkAxesActor>::New();
 
    m_axesWidget = vtkSmartPointer<vtkOrientationMarkerWidget>::New();
    m_axesWidget->SetOutlineColor( 0.9300, 0.5700, 0.1300 );
    m_axesWidget->SetOrientationMarker( m_axes );
    m_axesWidget->SetInteractor( m_renderer->GetRenderWindow()->GetInteractor() );
    m_axesWidget->SetDefaultRenderer(m_renderer);
    m_axesWidget->SetViewport( 0.0, 0.0, 0.3, 0.3 );
    m_axesWidget->SetEnabled( 1 );
    m_axesWidget->InteractiveOff();
 
}
 
void MainWindow::pollGPUData()
{
        KinFu& kinfu = *m_kinfu;
        cv::Mat depth, image, image_copy;
        static int has_image = 0;
        static int image_count = 0;
        static int frame_count = 0;
 
   static std::vector<Affine3f> posen;
                static std::vector<cv::Mat> rvecs;
 
                static Affine3f best_pose;
                static cv::Mat best_rvec,best_image;
                static float best_dist=0.0;
 
        if(!(m_kinfu->hasShifted() && m_kinfu->isLastScan()))
        {
                int has_frame = m_openNISource->grab(depth, image);
                cv::flip(depth, depth, 1);
                cv::flip(image, image, 1);
 
                if (has_frame == 0)
                {
                        std::cout << "Can't grab" << std::endl;
                        return;
                }
 
                // Check if oni file ended
                if (has_frame == 2)
                {
                        m_kinfu->performLastScan();
                }
                m_depth_device.upload(depth.data, depth.step, depth.rows, depth.cols);
                has_image = kinfu(m_depth_device);
                if(has_image) frame_count++;
        }
 
 
        if (!(m_kinfu->hasShifted() && m_kinfu->isLastScan()) && has_image)
        {
                //biggest rvec difference -> new pic
                //
                double ref_timer = cv::getTickCount();
 
                if(rvecs.size()<1){
                        image.copyTo(image_copy);
 
                        //buffer of all imgposes
                        rvecs.push_back(cv::Mat(kinfu.getCameraPose().rvec()));
                        posen.push_back(kinfu.getCameraPose());
 
                        //storePicPose(kinfu, image_copy);
                        //extractImage(kinfu, image_copy);
                }
                else
                {
                        float dist = 0.0;
                        cv::Mat mom_rvec(kinfu.getCameraPose().rvec());
                        for(size_t z=0;z<rvecs.size();z++){
                                dist += norm(mom_rvec-rvecs[z]);
                        }
                        if(dist > best_dist){
                                best_dist = dist;
                                //mom_rvec.copyTo(best_rvec);
                                //image.copyTo(best_image);
                                best_rvec = mom_rvec.clone();
                                best_image = image.clone();
                                best_pose = kinfu.getCameraPose();
                                //std::cout << "better image found, sum rvec distances: " << best_dist << std::endl;
                        }
                        //if(time - 3.0 > 0)
                        if(true && (frame_count % 7 == 0))
                        {
                                cout  <<"STORE!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl;
 
                                rvecs.push_back(best_rvec);
                                posen.push_back(best_pose);
 
                                storePicPose(*m_kinfu, best_pose, best_image);
                                //extractImage(kinfu, best_image);
                                sample_poses_.push_back(m_kinfu->getCameraPose());
                                std::cout << "image taken "<< image_count++ << ", time: "<< time << std::endl;
 
 
                        }
                }
        }
 
 
 
 
        const int mode = 4;
 
        // Raycast image and download from device
        m_kinfu->renderImage(m_viewImage, mode);
        m_deviceImg.create(m_viewImage.rows(), m_viewImage.cols(), CV_8UC4);
        m_viewImage.download(m_deviceImg.ptr<void>(), m_deviceImg.step);
 
        // Convert cv mat to pixmap and render into label
        m_displayRaycastLabel->setPixmap(
                        QPixmap::fromImage(
                                        QImage((unsigned char*) m_deviceImg.data,
                                                        m_deviceImg.cols,
                                                        m_deviceImg.rows,
                                                        QImage::Format_RGB32)));
 
        m_displayImageLabel->setPixmap(
                        QPixmap::fromImage(
                                        QImage((unsigned char*) image.data,
                                                        image.cols,
                                                        image.rows,
                                                        QImage::Format_RGB888).rgbSwapped()));
 
 
}
 
 
 
 
 
MainWindow::~MainWindow()
{
        if(m_timer)
        {
                delete m_timer;
        }
 
        if(m_openNISource)
        {
                delete m_openNISource;
        }
 
        m_kinfu.release();
 
        m_meshThread->quit();
        m_meshThread->wait();
        delete m_meshThread;
}