Ciclop开源3D扫描仪软件---Horus源码分析之point_cloud_roi.py

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# -*- coding: utf-8 -*-
# This file is part of the Horus Project

__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html' 
import cv2
import numpy as np

from horus import Singleton
from horus.engine.calibration.calibration_data import CalibrationData

@Singleton
class PointCloudROI(object):

def __init__(self):
self.calibration_data = CalibrationData()
self._use_roi = False
self._show_center = True
self._height = 0
self._radious = 0
self._initialize()

def _initialize(self):
self._umin = 0
self._umax = 0
self._vmin = 0
self._vmax = 0
self._lower_vmin = 0
self._lower_vmax = 0
self._upper_vmin = 0
self._upper_vmax = 0
self._no_trimmed_umin = 0
self._no_trimmed_umax = 0
self._no_trimmed_vmin = 0
self._no_trimmed_vmax = 0
self._center_u = 0
self._center_v = 0
self._circle_resolution = 30
self._circle_array = np.array([[np.cos(i * 2 * np.pi / self._circle_resolution)
for i in xrange(self._circle_resolution)],
[np.sin(i * 2 * np.pi / self._circle_resolution)
for i in xrange(self._circle_resolution)],
np.zeros(self._circle_resolution)])

def set_diameter(self, value):
self._radious = value / 2.0
self._compute_roi()

def set_height(self, value):
self._height = value
self._compute_roi()

def set_use_roi(self, value):
self._use_roi = value

def set_show_center(self, value):
self._show_center = value

def mask_image(self, image):
if self._center_v != 0 and self._center_u != 0 and self._use_roi:
if image is not None:
mask = np.zeros(image.shape, np.uint8)
mask[self._vmin:self._vmax, self._umin:self._umax] = image[
self._vmin:self._vmax, self._umin:self._umax]
return mask
else:
return image

def mask_point_cloud(self, point_cloud, texture):
if point_cloud is not None and texture is not None and len(point_cloud) > 0:
rho = np.sqrt(np.square(point_cloud[0, :]) + np.square(point_cloud[1, :]))
z = point_cloud[2, :]

if self._use_roi:
idx = np.where((z >= 0) &
(z <= self._height) &
(rho >= -self._radious) &
(rho <= self._radious))[0]
else:
idx = np.where((z >= 0) &
(rho >= -125) &
(rho <= 125))[0]

return point_cloud[:, idx], texture[:, idx]

def draw_cross(self, image):
if self._center_v != 0 and self._center_u != 0 and self._show_center:
thickness = 3
v_max, u_max, _ = image.shape
cv2.line(image, (0, self._center_v), (u_max, self._center_v), (200, 0, 0), thickness)
cv2.line(image, (self._center_u, 0), (self._center_u, v_max), (200, 0, 0), thickness)
return image

def draw_roi(self, image):
if self._center_v != 0 and self._center_u != 0:
thickness = 6
thickness_hiden = 1
cy = self.calibration_data.camera_matrix[1][2]

center_up_u = self._no_trimmed_umin + \
(self._no_trimmed_umax - self._no_trimmed_umin) / 2
center_up_v = self._upper_vmin + (self._upper_vmax - self._upper_vmin) / 2
center_down_u = self._no_trimmed_umin + \
(self._no_trimmed_umax - self._no_trimmed_umin) / 2
center_down_v = self._lower_vmax + (self._lower_vmin - self._lower_vmax) / 2
axes_up = ((self._no_trimmed_umax - self._no_trimmed_umin) / 2,
((self._upper_vmax - self._upper_vmin) / 2))
axes_down = ((self._no_trimmed_umax - self._no_trimmed_umin) / 2,
((self._lower_vmin - self._lower_vmax) / 2))

# upper ellipse
if (center_up_v < cy):
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 180, 360, (0, 100, 200), thickness)
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 0, 180, (0, 100, 200), thickness_hiden)
else:
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 180, 360, (0, 100, 200), thickness)
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 0, 180, (0, 100, 200), thickness)

# lower ellipse
cv2.ellipse(image, (center_down_u, center_down_v), axes_down,
0, 180, 360, (0, 100, 200), thickness_hiden)
cv2.ellipse(image, (center_down_u, center_down_v),
axes_down, 0, 0, 180, (0, 100, 200), thickness)

# cylinder lines
cv2.line(image, (self._no_trimmed_umin, center_up_v),
(self._no_trimmed_umin, center_down_v), (0, 100, 200), thickness)
cv2.line(image, (self._no_trimmed_umax, center_up_v),
(self._no_trimmed_umax, center_down_v), (0, 100, 200), thickness)

# view center
if axes_up[0] <= 0 or axes_up[1] <= 0:
axes_up_center = (20, 1)
axes_down_center = (20, 1)
else:
axes_up_center = (20, axes_up[1] * 20 / axes_up[0])
axes_down_center = (20, axes_down[1] * 20 / axes_down[0])

# upper center
cv2.ellipse(image, (self._center_u, min(center_up_v, self._center_v)),
axes_up_center, 0, 0, 360, (0, 70, 120), -1)
# lower center
cv2.ellipse(image, (self._center_u, self._center_v),
axes_down_center, 0, 0, 360, (0, 70, 120), -1)
return image

def _compute_roi(self):
if self.calibration_data.check_calibration() is False:
self._initialize()
else:
# Load calibration values
fx = self.calibration_data.camera_matrix[0][0]
fy = self.calibration_data.camera_matrix[1][1]
cx = self.calibration_data.camera_matrix[0][2]
cy = self.calibration_data.camera_matrix[1][2]
R = np.matrix(self.calibration_data.platform_rotation)
t = np.matrix(self.calibration_data.platform_translation).T

bottom = np.matrix(self._radious * self._circle_array)
top = bottom + np.matrix([0, 0, self._height]).T
data = np.concatenate((bottom, top), axis=1)

# Compute center
center = R * np.matrix(0 * self._circle_array) + t
u = fx * center[0] / center[2] + cx
v = fy * center[1] / center[2] + cy

_umin = int(round(np.min(u)))
_umax = int(round(np.max(u)))
_vmin = int(round(np.min(v)))
_vmax = int(round(np.max(v)))

self._center_u = _umin + (_umax - _umin) / 2
self._center_v = _vmin + (_vmax - _vmin) / 2

# Compute cylinders
data = R * data + t
u = fx * data[0] / data[2] + cx
v = fy * data[1] / data[2] + cy

_umin = int(round(np.min(u)))
_umax = int(round(np.max(u)))
_vmin = int(round(np.min(v)))
_vmax = int(round(np.max(v)))

# Visualization
v_ = np.array(v.T)

# Lower cylinder base
a = v_[:(len(v_) / 2)]
# Upper cylinder base
b = v_[(len(v_) / 2):]

self._lower_vmin = int(round(np.max(a)))
self._lower_vmax = int(round(np.min(a)))
self._upper_vmin = int(round(np.min(b)))
self._upper_vmax = int(round(np.max(b)))

self._no_trimmed_umin = _umin
self._no_trimmed_umax = int(round(np.max(u)))
self._no_trimmed_vmin = int(round(np.min(v)))
self._no_trimmed_vmax = int(round(np.max(v)))

self._umin = max(_umin, 0)
self._umax = min(_umax, self.calibration_data.width)
self._vmin = max(_vmin, 0)
self._vmax = min(_vmax, self.calibration_data.height)

# -*- coding: utf-8 -*-
# This file is part of the Horus Project

__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html'
import cv2
import numpy as np

from horus import Singleton
from horus.engine.calibration.calibration_data import CalibrationData

@Singleton
class PointCloudROI(object):##根据PYTHON语法，定义了一个PointCloudROI的这样一个类。

def __init__(self):
self.calibration_data = CalibrationData()##校正数据
self._use_roi = False
self._show_center = True
self._height = 0
self._radious = 0
self._initialize()

def _initialize(self):
self._umin = 0
self._umax = 0
self._vmin = 0
self._vmax = 0
self._lower_vmin = 0
self._lower_vmax = 0
self._upper_vmin = 0
self._upper_vmax = 0
self._no_trimmed_umin = 0
self._no_trimmed_umax = 0
self._no_trimmed_vmin = 0
self._no_trimmed_vmax = 0
self._center_u = 0
self._center_v = 0
self._circle_resolution = 30
self._circle_array = np.array([[np.cos(i * 2 * np.pi / self._circle_resolution)
for i in xrange(self._circle_resolution)],
[np.sin(i * 2 * np.pi / self._circle_resolution)
for i in xrange(self._circle_resolution)],
np.zeros(self._circle_resolution)])

def set_diameter(self, value):##直径
self._radious = value / 2.0
self._compute_roi()

def set_height(self, value):
self._height = value
self._compute_roi()

def set_use_roi(self, value):
self._use_roi = value

def set_show_center(self, value):
self._show_center = value

def mask_image(self, image):##掩膜图像赋初值
if self._center_v != 0 and self._center_u != 0 and self._use_roi:
if image is not None:
mask = np.zeros(image.shape, np.uint8)
mask[self._vmin:self._vmax, self._umin:self._umax] = image[
self._vmin:self._vmax, self._umin:self._umax]
return mask
else:
return image

def mask_point_cloud(self, point_cloud, texture):
if point_cloud is not None and texture is not None and len(point_cloud) > 0:
rho = np.sqrt(np.square(point_cloud[0, :]) + np.square(point_cloud[1, :]))
z = point_cloud[2, :]

if self._use_roi:
idx = np.where((z >= 0) &
(z <= self._height) &
(rho >= -self._radious) &
(rho <= self._radious))[0]
else:
idx = np.where((z >= 0) &
(rho >= -125) &
(rho <= 125))[0]

return point_cloud[:, idx], texture[:, idx]

#import cv2
#import numpy as np
#from matplotlib import pyplot as plt
#img = np.zeros((512,512,3),np.uint8)#生成一个空彩色图像
#cv2.line(img,(0,0),(511,511),(155,155,155),5)
#plt.imshow(img,'brg')
def draw_cross(self, image):
if self._center_v != 0 and self._center_u != 0 and self._show_center:
thickness = 3
v_max, u_max, _ = image.shape
cv2.line(image, (0, self._center_v), (u_max, self._center_v), (200, 0, 0), thickness)
###这里的画线是以image为基础，从(0, self._center_v)到(u_max, self._center_v)。
###(200, 0, 0)这个数值是着色，thickness是粗细。
cv2.line(image, (self._center_u, 0), (self._center_u, v_max), (200, 0, 0), thickness)
return image

def draw_roi(self, image):
if self._center_v != 0 and self._center_u != 0:
thickness = 6
thickness_hiden = 1
cy = self.calibration_data.camera_matrix[1][2]

center_up_u = self._no_trimmed_umin + \
(self._no_trimmed_umax - self._no_trimmed_umin) / 2
center_up_v = self._upper_vmin + (self._upper_vmax - self._upper_vmin) / 2
center_down_u = self._no_trimmed_umin + \
(self._no_trimmed_umax - self._no_trimmed_umin) / 2
center_down_v = self._lower_vmax + (self._lower_vmin - self._lower_vmax) / 2
axes_up = ((self._no_trimmed_umax - self._no_trimmed_umin) / 2,
((self._upper_vmax - self._upper_vmin) / 2))
axes_down = ((self._no_trimmed_umax - self._no_trimmed_umin) / 2,
((self._lower_vmin - self._lower_vmax) / 2))

# upper ellipse
if (center_up_v < cy):
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 180, 360, (0, 100, 200), thickness)
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 0, 180, (0, 100, 200), thickness_hiden)
else:
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 180, 360, (0, 100, 200), thickness)
cv2.ellipse(image, (center_up_u, center_up_v), axes_up,
0, 0, 180, (0, 100, 200), thickness)

# lower ellipse
cv2.ellipse(image, (center_down_u, center_down_v), axes_down,
0, 180, 360, (0, 100, 200), thickness_hiden)
cv2.ellipse(image, (center_down_u, center_down_v),
axes_down, 0, 0, 180, (0, 100, 200), thickness)

# cylinder lines
cv2.line(image, (self._no_trimmed_umin, center_up_v),
(self._no_trimmed_umin, center_down_v), (0, 100, 200), thickness)
cv2.line(image, (self._no_trimmed_umax, center_up_v),
(self._no_trimmed_umax, center_down_v), (0, 100, 200), thickness)

# view center
if axes_up[0] <= 0 or axes_up[1] <= 0:
axes_up_center = (20, 1)
axes_down_center = (20, 1)
else:
axes_up_center = (20, axes_up[1] * 20 / axes_up[0])
axes_down_center = (20, axes_down[1] * 20 / axes_down[0])

# upper center
cv2.ellipse(image, (self._center_u, min(center_up_v, self._center_v)),
axes_up_center, 0, 0, 360, (0, 70, 120), -1)
##绘制椭圆，具体参见https://www.2cto.com/kf/201507/415689.html
# lower center
cv2.ellipse(image, (self._center_u, self._center_v),
axes_down_center, 0, 0, 360, (0, 70, 120), -1)
return image

def _compute_roi(self):
if self.calibration_data.check_calibration() is False:
self._initialize()
else:
# Load calibration values
fx = self.calibration_data.camera_matrix[0][0]
fy = self.calibration_data.camera_matrix[1][1]
cx = self.calibration_data.camera_matrix[0][2]
cy = self.calibration_data.camera_matrix[1][2]
R = np.matrix(self.calibration_data.platform_rotation)
t = np.matrix(self.calibration_data.platform_translation).T

bottom = np.matrix(self._radious * self._circle_array)
top = bottom + np.matrix([0, 0, self._height]).T
data = np.concatenate((bottom, top), axis=1)

# Compute center
center = R * np.matrix(0 * self._circle_array) + t
u = fx * center[0] / center[2] + cx
v = fy * center[1] / center[2] + cy

_umin = int(round(np.min(u)))
_umax = int(round(np.max(u)))
_vmin = int(round(np.min(v)))
_vmax = int(round(np.max(v)))

self._center_u = _umin + (_umax - _umin) / 2
self._center_v = _vmin + (_vmax - _vmin) / 2

# Compute cylinders
data = R * data + t
u = fx * data[0] / data[2] + cx
v = fy * data[1] / data[2] + cy

_umin = int(round(np.min(u)))
_umax = int(round(np.max(u)))
_vmin = int(round(np.min(v)))
_vmax = int(round(np.max(v)))

# Visualization
v_ = np.array(v.T)

# Lower cylinder base
a = v_[:(len(v_) / 2)]
# Upper cylinder base
b = v_[(len(v_) / 2):]

self._lower_vmin = int(round(np.max(a)))
self._lower_vmax = int(round(np.min(a)))
self._upper_vmin = int(round(np.min(b)))
self._upper_vmax = int(round(np.max(b)))

self._no_trimmed_umin = _umin
self._no_trimmed_umax = int(round(np.max(u)))
self._no_trimmed_vmin = int(round(np.min(v)))
self._no_trimmed_vmax = int(round(np.max(v)))

self._umin = max(_umin, 0)
self._umax = min(_umax, self.calibration_data.width)
self._vmin = max(_vmin, 0)
self._vmax = min(_vmax, self.calibration_data.height)