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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,9 @@ | ||
| add_library(drawable SHARED | ||
| drawable_cloud.cpp | ||
| object_painter.cpp | ||
| drawable_polygon3d.cpp | ||
| drawable_cube.cpp) | ||
| target_link_libraries(drawable | ||
| ${OpenCV_LIBS} | ||
| ${OPENGL_gl_LIBRARY} | ||
| ${OPENGL_glu_LIBRARY}) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| // Copyright Igor Bogoslavskyi, year 2017. | ||
| // In case of any problems with the code please contact me. | ||
| // Email: igor.bogoslavskyi@uni-bonn.de. | ||
|
|
||
| #include "./object_painter.h" | ||
|
|
||
| namespace depth_clustering { | ||
|
|
||
| void ObjectPainter::OnNewObjectReceived( | ||
| const std::unordered_map<uint16_t, Cloud>& clouds, int) { | ||
| if (!viewer_) { | ||
| return; | ||
| } | ||
| Timer timer; | ||
| for (const auto& kv : clouds) { | ||
| const auto& cluster = kv.second; | ||
| Drawable::UniquePtr drawable{nullptr}; | ||
| switch (outline_type_) { | ||
| case OutlineType::kBox: | ||
| drawable = CreateDrawableCube(cluster); | ||
| break; | ||
| case OutlineType::kPolygon3d: | ||
| drawable = CreateDrawablePolygon3d(cluster); | ||
| break; | ||
| } | ||
| if (drawable) { | ||
| viewer_->AddDrawable(std::move(drawable)); | ||
| } | ||
| } | ||
| fprintf(stderr, "[TIMING]: Adding all boxes took %lu us\n", | ||
| timer.measure(Timer::Units::Micro)); | ||
| viewer_->update(); | ||
| fprintf(stderr, "[TIMING]: Viewer updated in %lu us\n", | ||
| timer.measure(Timer::Units::Micro)); | ||
| } | ||
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| Drawable::UniquePtr ObjectPainter::CreateDrawableCube( | ||
| const depth_clustering::Cloud& cloud) { | ||
| Eigen::Vector3f center = Eigen::Vector3f::Zero(); | ||
| Eigen::Vector3f extent = Eigen::Vector3f::Zero(); | ||
| Eigen::Vector3f max_point(std::numeric_limits<float>::lowest(), | ||
| std::numeric_limits<float>::lowest(), | ||
| std::numeric_limits<float>::lowest()); | ||
| Eigen::Vector3f min_point(std::numeric_limits<float>::max(), | ||
| std::numeric_limits<float>::max(), | ||
| std::numeric_limits<float>::max()); | ||
| for (const auto& point : cloud.points()) { | ||
| center = center + point.AsEigenVector(); | ||
| min_point << std::min(min_point.x(), point.x()), | ||
| std::min(min_point.y(), point.y()), std::min(min_point.z(), point.z()); | ||
| max_point << std::max(max_point.x(), point.x()), | ||
| std::max(max_point.y(), point.y()), std::max(max_point.z(), point.z()); | ||
| } | ||
| center /= cloud.size(); | ||
| if (min_point.x() < max_point.x()) { | ||
| extent = max_point - min_point; | ||
| } | ||
| return DrawableCube::Create(center, extent); | ||
| } | ||
|
|
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| Drawable::UniquePtr ObjectPainter::CreateDrawablePolygon3d( | ||
| const depth_clustering::Cloud& cloud) { | ||
| float min_z{std::numeric_limits<float>::max()}; | ||
| float max_z{std::numeric_limits<float>::lowest()}; | ||
| std::vector<cv::Point2f> cv_points; | ||
| cv_points.reserve(cloud.size()); | ||
| std::vector<int> hull_indices; | ||
| for (const auto& point : cloud.points()) { | ||
| cv_points.emplace_back(cv::Point2f{point.x(), point.y()}); | ||
| min_z = std::min(min_z, point.z()); | ||
| max_z = std::max(max_z, point.z()); | ||
| } | ||
| cv::convexHull(cv_points, hull_indices); | ||
| DrawablePolygon3d::AlignedEigenVectors hull; | ||
| hull.reserve(cloud.size()); | ||
| for (int index : hull_indices) { | ||
| const auto& cv_point = cv_points[index]; | ||
| hull.emplace_back(cv_point.x, cv_point.y, min_z); | ||
| } | ||
| const float diff_z = max_z - min_z; | ||
| if (diff_z < 0.3) { | ||
| return nullptr; | ||
| } | ||
| return DrawablePolygon3d::Create(hull, diff_z); | ||
| } | ||
|
|
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| } // namespace depth_clustering |
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