new projected depth map

depthmap/depthmap.cpp

@@ -211,6 +211,53 @@ void Depthmap::computeNormals() {
 		}
 	}
 }
+
+void Depthmap::projectToCameraDepthMap(const Camera& camera, const QString& outputPath) {
+
+	QImage depthMapImage(camera.width, camera.height, QImage::Format_RGB888);
+	depthMapImage.fill(qRgb(0, 0, 0));
+	//find the minimum and maximum for the Z coordinates
+	float minZ = std::numeric_limits<float>::max();
+	float maxZ = std::numeric_limits<float>::lowest();
+	for (int y = 0; y < height; y++) {
+		for (int x = 0; x < width; x++) {
+			float pixelZ = elevation[x + y * width];
+
+			Eigen::Vector3f realCoordinates = pixelToRealCoordinates(x, y, pixelZ);
+			Eigen::Vector3f imageCoords = camera.projectionToImage(realCoordinates);
+			if(pixelZ > 0){
+				minZ = std::min(minZ, pixelZ);
+				maxZ = std::max(maxZ, pixelZ);
+			}
+		}
+	}
+	if (minZ >= maxZ) {
+		qWarning("MinZ and MaxZ invalid. Skip depth map generation.");
+		return;
+	}
+	for (int y = 0; y < height; y++) {
+		for (int x = 0; x < width; x++) {
+			float pixelZ = elevation[x + y * width];
+
+			if (pixelZ <= 0) continue;
+			int pixelValue = (int)round(((pixelZ - minZ) / (maxZ - minZ)) * 255);
+			pixelValue = std::min(std::max(pixelValue, 0), 255);
+
+			Eigen::Vector3f realCoordinates = pixelToRealCoordinates(x, y, pixelZ);
+			Eigen::Vector3f imageCoords = camera.projectionToImage(realCoordinates);
+
+			int imageX =  (int)round(imageCoords[0]);
+			int imageY= (int)round(imageCoords[1]);
+			if (imageX >= 0 && imageX < camera.width && imageY >= 0 && imageY < camera.height) {
+				depthMapImage.setPixel(imageX, imageY, qRgb(pixelValue, pixelValue, pixelValue));
+				//cout << "Pixel projected (" << x << ", " << y << ") -> (" << imageX << ", " << imageY << "), Z = "
+					// << pixelZ << ", pixelValue = " << pixelValue << endl;
+			}
+		}
+	}
+	depthMapImage.save(outputPath, "png");
+}
+
 void Depthmap::depthIntegrateNormals(){
 	if (normals.empty()){
 		cerr << "Error: no normals found" << endl;
@@ -284,7 +331,7 @@ void Depthmap::resizeNormals (int factorPowerOfTwo, int step = 1) {
 
 	//QString filename = "/Users/erika/Desktop/testcenterRel_copia/photogrammetry/surface.jpg";
 	//saveNormals(filename.toStdString().c_str());
- //chiama l'integrale integra le normali e salva il ply
+	//chiama l'integrale integra le normali e salva il ply
 	//depthIntegrateNormals();
 	//QString plyFilename = "/Users/erika/Desktop/testcenterRel_copia/photogrammetry/resize_normals.obj";
 	//saveObj(plyFilename.toStdString().c_str());
@@ -325,6 +372,7 @@ void Depthmap::saveObj(const char *filename){
 		}
 	}
 }
+
 //prendi x=160,14 e y=140 dell'img
 //le coordinate del passo del pixel 0,016 sono nel xml della depth map Z_num ecc.
 
@@ -488,7 +536,7 @@ bool Camera::loadInternParameters(const QString &internePath){
 // ritorna pixel x e y img di l12 ori coord di pixel devono finire nell'ori-rel
 // Pc = Rk(Pg − Ok)
 // Pg = Ground point Pc = point camera. x y z orientati come la camera, moltiplica la matrice. Poi fai la proiezione.
-Eigen::Vector3f Camera::projectionToImage(Eigen::Vector3f realPosition){
+Eigen::Vector3f Camera::projectionToImage(Eigen::Vector3f realPosition) const{
 	//centre origine
 	//r matrice
 	//matrice r inversa rotation
@@ -513,7 +561,7 @@ Eigen::Vector3f Camera::projectionToImage(Eigen::Vector3f realPosition){
 
 }
 
-Eigen::Vector3f Camera::applyIntrinsicCalibration(Eigen::Vector3f& uvz) {
+Eigen::Vector3f Camera::applyIntrinsicCalibration(Eigen::Vector3f& uvz) const{
 
 	float u = uvz.x();
 	float v = uvz.y();
@@ -539,9 +587,3 @@ Eigen::Vector3f Camera::applyRadialDistortion(Eigen::Vector3f& uvz) {
 
 	return Eigen::Vector3f(u_dist, v_dist, uvz.z());
 }
-
-
-
-
-
-

depthmap/depthmap.h

@@ -18,9 +18,9 @@ class Camera {
 	Eigen::Vector3f center;
 	bool loadXml(const QString &path); //read the MicMac xml origin, origin resolution ecc.
 	bool loadInternParameters(const QString &internePath); // read the xml with the center, rotation, focal parameter, principal points parameters ecc.
-	Eigen::Vector3f projectionToImage(Eigen::Vector3f realPosition);
+	Eigen::Vector3f projectionToImage(Eigen::Vector3f realPosition) const;
 	Eigen::Vector3f applyRadialDistortion(Eigen::Vector3f& u);
-	Eigen::Vector3f applyIntrinsicCalibration(Eigen::Vector3f& u);
+	Eigen::Vector3f applyIntrinsicCalibration(Eigen::Vector3f& u) const;
 
 	Camera() {}
 };
@@ -44,6 +44,7 @@ class Depthmap {
 	void saveObj(const char *filename);
 	void depthIntegrateNormals();
 	void resizeNormals(int factorPowerOfTwo, int step);
+	void projectToCameraDepthMap(const Camera& camera, const QString& outputPath);
 //	void getOrientationVector(const QString &xmlPath, Eigen::Matrix3f &rotation, Eigen::Vector3f &center);
 
 };

depthmap/main.cpp

@@ -16,10 +16,10 @@ int main(int argc, char *argv[]) {
 
 	QString depthmapPath = "/Users/erika/Desktop/testcenterRel_copia/photogrammetry/Malt/Z_Num7_DeZoom4_STD-MALT.tif";
 	QString orientationXmlPath = "/Users/erika/Desktop/testcenterRel_copia/photogrammetry/Ori-Relative/Orientation-L05C12.tif.xml";
-	QString output = "out.png";
 	Depthmap depth;
 	depth.load(qPrintable(depthmapPath));
 	depth.computeNormals();
+
 	depth.saveNormals("/Users/erika/Desktop/testcenterRel_copia/photogrammetry/original.obj");
 	depth.saveObj("/Users/erika/Desktop/testcenterRel_copia/photogrammetry/original.obj");
 
@@ -32,33 +32,36 @@ int main(int argc, char *argv[]) {
 	depth.saveNormals("/Users/erika/Desktop/testcenterRel_copia/photogrammetry/resized_integrated.jpg");
 	depth.saveObj("/Users/erika/Desktop/testcenterRel_copia/photogrammetry/resized_integrated.obj");
 
+	QString outputPath = "/Users/erika/Desktop/testcenterRel_copia/photogrammetry/depthmap_project.png";
+
+
 
 	Camera camera;
 	camera.loadXml(orientationXmlPath);
-	int pixelX = 165;
-	int pixelY = 144;
-	float pixelZ = 4.5;
-
+	//int pixelX = 165;
+	//int pixelY = 144;
+	//float pixelZ = 4.5;
+	depth.projectToCameraDepthMap(camera, outputPath);
 
 	Eigen::Matrix3f rotationMatrix;
 	Eigen::Vector3f center;
 
 	//depth.getOrientationVector(orientationXmlPath, rotationMatrix, center);
-	Eigen::Vector3f realCoordinates = depth.pixelToRealCoordinates(pixelX, pixelY, pixelZ);
-	realCoordinates[0] =  -0.1216933;
-	realCoordinates[1] = 0.7094725;
-	realCoordinates[2] = -10.4198828;
-	Eigen::Vector3f imageCoords = camera.projectionToImage(realCoordinates);
+	//Eigen::Vector3f realCoordinates = depth.pixelToRealCoordinates(pixelX, pixelY, pixelZ);
+	//realCoordinates[0] =  -0.1216933;
+	//realCoordinates[1] = 0.7094725;
+	//realCoordinates[2] = -10.4198828;
+	//Eigen::Vector3f imageCoords = camera.projectionToImage(realCoordinates);
 
 	cout << "Rotation matrix:"<< endl << camera.rotation << endl;
 	cout << "Central vector: (" << camera.center << endl;
-	cout << "Real coordinates: (" << realCoordinates[0] << ", "
-			  << realCoordinates[1] << ", " << realCoordinates[2] << ")" << endl;
-
-	cout << "Coordinate immagine: (" << imageCoords[0] << ", " << imageCoords[1] << ")" << endl;
+	//cout << "Real coordinates: (" << realCoordinates[0] << ", "
+	//		  << realCoordinates[1] << ", " << realCoordinates[2] << ")" << endl;
 
+	//cout << "Coordinate immagine: (" << imageCoords[0] << ", " << imageCoords[1] << ")" << endl;
 
 
+//d = (h + zerolevel) *f scala
 	return 0;
 }