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| 1 | +// This file is part of OpenCV project. |
| 2 | +// It is subject to the license terms in the LICENSE file found in the top-level directory |
| 3 | +// of this distribution and at http://opencv.org/license.html |
| 4 | + |
| 5 | +// This code is also subject to the license terms in the LICENSE_KinectFusion.md file found in this module's directory |
| 6 | + |
| 7 | +#ifndef __OPENCV_RGBD_DYNAFU_HPP__ |
| 8 | +#define __OPENCV_RGBD_DYNAFU_HPP__ |
| 9 | + |
| 10 | +#include "opencv2/core.hpp" |
| 11 | +#include "opencv2/core/affine.hpp" |
| 12 | + |
| 13 | +namespace cv { |
| 14 | +namespace dynafu { |
| 15 | + |
| 16 | +struct CV_EXPORTS_W Params |
| 17 | +{ |
| 18 | + /** @brief Default parameters |
| 19 | + A set of parameters which provides better model quality, can be very slow. |
| 20 | + */ |
| 21 | + CV_WRAP static Ptr<Params> defaultParams(); |
| 22 | + |
| 23 | + /** @brief Coarse parameters |
| 24 | + A set of parameters which provides better speed, can fail to match frames |
| 25 | + in case of rapid sensor motion. |
| 26 | + */ |
| 27 | + CV_WRAP static Ptr<Params> coarseParams(); |
| 28 | + |
| 29 | + /** @brief frame size in pixels */ |
| 30 | + CV_PROP_RW Size frameSize; |
| 31 | + |
| 32 | + /** @brief camera intrinsics */ |
| 33 | + CV_PROP Matx33f intr; |
| 34 | + |
| 35 | + /** @brief pre-scale per 1 meter for input values |
| 36 | +
|
| 37 | + Typical values are: |
| 38 | + * 5000 per 1 meter for the 16-bit PNG files of TUM database |
| 39 | + * 1000 per 1 meter for Kinect 2 device |
| 40 | + * 1 per 1 meter for the 32-bit float images in the ROS bag files |
| 41 | + */ |
| 42 | + CV_PROP_RW float depthFactor; |
| 43 | + |
| 44 | + /** @brief Depth sigma in meters for bilateral smooth */ |
| 45 | + CV_PROP_RW float bilateral_sigma_depth; |
| 46 | + /** @brief Spatial sigma in pixels for bilateral smooth */ |
| 47 | + CV_PROP_RW float bilateral_sigma_spatial; |
| 48 | + /** @brief Kernel size in pixels for bilateral smooth */ |
| 49 | + CV_PROP_RW int bilateral_kernel_size; |
| 50 | + |
| 51 | + /** @brief Number of pyramid levels for ICP */ |
| 52 | + CV_PROP_RW int pyramidLevels; |
| 53 | + |
| 54 | + /** @brief Resolution of voxel space |
| 55 | +
|
| 56 | + Number of voxels in each dimension. |
| 57 | + */ |
| 58 | + CV_PROP_RW Vec3i volumeDims; |
| 59 | + /** @brief Size of voxel in meters */ |
| 60 | + CV_PROP_RW float voxelSize; |
| 61 | + |
| 62 | + /** @brief Minimal camera movement in meters |
| 63 | +
|
| 64 | + Integrate new depth frame only if camera movement exceeds this value. |
| 65 | + */ |
| 66 | + CV_PROP_RW float tsdf_min_camera_movement; |
| 67 | + |
| 68 | + /** @brief initial volume pose in meters */ |
| 69 | + Affine3f volumePose; |
| 70 | + |
| 71 | + /** @brief distance to truncate in meters |
| 72 | +
|
| 73 | + Distances to surface that exceed this value will be truncated to 1.0. |
| 74 | + */ |
| 75 | + CV_PROP_RW float tsdf_trunc_dist; |
| 76 | + |
| 77 | + /** @brief max number of frames per voxel |
| 78 | +
|
| 79 | + Each voxel keeps running average of distances no longer than this value. |
| 80 | + */ |
| 81 | + CV_PROP_RW int tsdf_max_weight; |
| 82 | + |
| 83 | + /** @brief A length of one raycast step |
| 84 | +
|
| 85 | + How much voxel sizes we skip each raycast step |
| 86 | + */ |
| 87 | + CV_PROP_RW float raycast_step_factor; |
| 88 | + |
| 89 | + // gradient delta in voxel sizes |
| 90 | + // fixed at 1.0f |
| 91 | + // float gradient_delta_factor; |
| 92 | + |
| 93 | + /** @brief light pose for rendering in meters */ |
| 94 | + CV_PROP Vec3f lightPose; |
| 95 | + |
| 96 | + /** @brief distance theshold for ICP in meters */ |
| 97 | + CV_PROP_RW float icpDistThresh; |
| 98 | + /** angle threshold for ICP in radians */ |
| 99 | + CV_PROP_RW float icpAngleThresh; |
| 100 | + /** number of ICP iterations for each pyramid level */ |
| 101 | + CV_PROP std::vector<int> icpIterations; |
| 102 | + |
| 103 | + /** @brief Threshold for depth truncation in meters |
| 104 | +
|
| 105 | + All depth values beyond this threshold will be set to zero |
| 106 | + */ |
| 107 | + CV_PROP_RW float truncateThreshold; |
| 108 | +}; |
| 109 | + |
| 110 | +/** @brief DynamicFusion implementation |
| 111 | +
|
| 112 | + This class implements a 3d reconstruction algorithm as described in @cite dynamicfusion. |
| 113 | +
|
| 114 | + It takes a sequence of depth images taken from depth sensor |
| 115 | + (or any depth images source such as stereo camera matching algorithm or even raymarching renderer). |
| 116 | + The output can be obtained as a vector of points and their normals |
| 117 | + or can be Phong-rendered from given camera pose. |
| 118 | +
|
| 119 | + It extends the KinectFusion algorithm to handle non-rigidly deforming scenes by maintaining a sparse |
| 120 | + set of nodes covering the geometry such that each node contains a warp to transform it from a canonical |
| 121 | + space to the live frame. |
| 122 | +
|
| 123 | + An internal representation of a model is a voxel cuboid that keeps TSDF values |
| 124 | + which are a sort of distances to the surface (for details read the @cite kinectfusion article about TSDF). |
| 125 | + There is no interface to that representation yet. |
| 126 | +
|
| 127 | + Note that DynamicFusion is based on the KinectFusion algorithm which is patented and its use may be |
| 128 | + restricted by the list of patents mentioned in README.md file in this module directory. |
| 129 | +
|
| 130 | + That's why you need to set the OPENCV_ENABLE_NONFREE option in CMake to use DynamicFusion. |
| 131 | +*/ |
| 132 | +class CV_EXPORTS_W DynaFu |
| 133 | +{ |
| 134 | +public: |
| 135 | + CV_WRAP static Ptr<DynaFu> create( const Ptr<Params>& _params); |
| 136 | + virtual ~DynaFu(); |
| 137 | + |
| 138 | + /** @brief Get current parameters */ |
| 139 | + virtual const Params& getParams() const = 0; |
| 140 | + |
| 141 | + /** @brief Renders a volume into an image |
| 142 | +
|
| 143 | + Renders a 0-surface of TSDF using Phong shading into a CV_8UC4 Mat. |
| 144 | + Light pose is fixed in DynaFu params. |
| 145 | +
|
| 146 | + @param image resulting image |
| 147 | + @param cameraPose pose of camera to render from. If empty then render from current pose |
| 148 | + which is a last frame camera pose. |
| 149 | + */ |
| 150 | + |
| 151 | + CV_WRAP virtual void render(OutputArray image, const Matx44f& cameraPose = Matx44f::eye()) const = 0; |
| 152 | + |
| 153 | + /** @brief Gets points and normals of current 3d mesh |
| 154 | +
|
| 155 | + The order of normals corresponds to order of points. |
| 156 | + The order of points is undefined. |
| 157 | +
|
| 158 | + @param points vector of points which are 4-float vectors |
| 159 | + @param normals vector of normals which are 4-float vectors |
| 160 | + */ |
| 161 | + CV_WRAP virtual void getCloud(OutputArray points, OutputArray normals) const = 0; |
| 162 | + |
| 163 | + /** @brief Gets points of current 3d mesh |
| 164 | +
|
| 165 | + The order of points is undefined. |
| 166 | +
|
| 167 | + @param points vector of points which are 4-float vectors |
| 168 | + */ |
| 169 | + CV_WRAP virtual void getPoints(OutputArray points) const = 0; |
| 170 | + |
| 171 | + /** @brief Calculates normals for given points |
| 172 | + @param points input vector of points which are 4-float vectors |
| 173 | + @param normals output vector of corresponding normals which are 4-float vectors |
| 174 | + */ |
| 175 | + CV_WRAP virtual void getNormals(InputArray points, OutputArray normals) const = 0; |
| 176 | + |
| 177 | + /** @brief Resets the algorithm |
| 178 | +
|
| 179 | + Clears current model and resets a pose. |
| 180 | + */ |
| 181 | + CV_WRAP virtual void reset() = 0; |
| 182 | + |
| 183 | + /** @brief Get current pose in voxel space */ |
| 184 | + virtual const Affine3f getPose() const = 0; |
| 185 | + |
| 186 | + /** @brief Process next depth frame |
| 187 | +
|
| 188 | + Integrates depth into voxel space with respect to its ICP-calculated pose. |
| 189 | + Input image is converted to CV_32F internally if has another type. |
| 190 | +
|
| 191 | + @param depth one-channel image which size and depth scale is described in algorithm's parameters |
| 192 | + @return true if succeded to align new frame with current scene, false if opposite |
| 193 | + */ |
| 194 | + CV_WRAP virtual bool update(InputArray depth) = 0; |
| 195 | + |
| 196 | + virtual std::vector<Point3f> getNodesPos() const = 0; |
| 197 | + |
| 198 | + virtual void marchCubes(OutputArray vertices, OutputArray edges) const = 0; |
| 199 | + |
| 200 | + virtual void renderSurface(OutputArray depthImage, OutputArray vertImage, OutputArray normImage, bool warp=true) = 0; |
| 201 | +}; |
| 202 | + |
| 203 | +//! @} |
| 204 | +} |
| 205 | +} |
| 206 | +#endif |
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