diff --git a/Application/PerseusLibTest.cpp b/Application/PerseusLibTest.cpp old mode 100755 new mode 100644 index 1f82497..035252c --- a/Application/PerseusLibTest.cpp +++ b/Application/PerseusLibTest.cpp @@ -5,8 +5,27 @@ using namespace Perseus::Utils; -int main(void) +std::string folder = "/home/src/pwp3d/Files/"; + +// determine step size relative to current distance to the camera +inline double step_size(double x, double b, double maxval, double k = 8.0) +{ + double diff = fabs(x-b) * k / b + 1; + double y = maxval / diff; + if (x > b) y = 2 * maxval - y; + return y; +} + +int main(int argc, char** argv) { + std::string sModelPath = argv[argc-11]; + std::string sSrcImage = argv[1]; + std::string sCameraMatrix = folder + "CameraCalibration/drill_n1.cal"; + std::string sTargetMask = folder + "Masks/1280p_All_VideoMask.png"; + std::string sHistSrc = argv[1]; + std::string sHistMask = argv[argc-12]; + + // std::string sModelPath = "/Users/luma/Code/Luma/PWP3D/Files/Models/Renderer/long.obj"; // std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/Red.png"; // std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/900nc.cal"; @@ -24,23 +43,26 @@ int main(void) // std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-3-LiveImage.png"; // red can demo - std::string sModelPath = "/Users/luma/Code/DataSet/Mesh/RedCan.obj"; - std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png"; - std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/Kinect.cal"; - std::string sTargetMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/480p_All_VideoMask.png"; - std::string sHistSrc = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png"; - std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-1-LiveImage.png"; + // std::string sModelPath = "/Users/luma/Code/DataSet/Mesh/RedCan.obj"; + // std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png"; + // std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/Kinect.cal"; + // std::string sTargetMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/480p_All_VideoMask.png"; + // std::string sHistSrc = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png"; + // std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-1-LiveImage.png"; // --------------------------------------------------------------------------- char str[100]; - int i; + int i, n = 10; - int width = 640, height = 480; + int width = 1920, height = 1280; int viewCount = 1, objectCount = 1; int objectId = 0, viewIdx = 0, objectIdx = 0; + double step_r, step_xy, step_z, z, param[n]; Timer t; + for(i = 0; i < n; i++) param[i] = atof(argv[argc-n+i]); + //result visualisation ImageUChar4* ResultImage = new ImageUChar4(width, height); @@ -92,10 +114,15 @@ int main(void) iterConfig->levelSetBandSize = 8; iterConfig->iterObjectIds[viewIdx][objectIdx] = 0; iterConfig->iterViewCount = 1; - iterConfig->iterCount = 1; + iterConfig->iterCount = param[0]; + iterConfig->useCUDAEF = true; + iterConfig->useCUDARender = true; + + objects[objectIdx]->initialPose[viewIdx]->SetFrom( + param[1], param[2], param[3], param[4], param[5], param[6]); //step size per object and view - objects[objectIdx]->stepSize[viewIdx] = new StepSize3D(0.2f, 0.5f, 0.5f, 10.0f); + //objects[objectIdx]->stepSize[viewIdx] = new StepSize3D(0.2f, 0.5f, 0.5f, 10.0f); //initial pose per object and view // Notice the input pose here is angle, not radians for the rotation part @@ -106,8 +133,8 @@ int main(void) // objects[objectIdx]->initialPose[viewIdx]->SetFrom( -3.0f,-4.5f,28.f, -220.90f, -207.77f, 87.48f); // for red can demo - objects[objectIdx]->initialPose[viewIdx]->SetFrom( - 1.0f, 3.0f, 30.f, 180.f, 80.f, 60.f); + // objects[objectIdx]->initialPose[viewIdx]->SetFrom( + // 1.0f, 3.0f, 30.f, 180.f, 80.f, 60.f); //primary initilisation OptimisationEngine::Instance()->Initialise(width, height); @@ -124,41 +151,36 @@ int main(void) cv::Mat ResultMat(height,width,CV_8UC4, ResultImage->pixels); cv::imshow("initial pose", ResultMat); - cv::waitKey(1000); + cv::waitKey(0); std::cout<<"[App] Finish Rendered object initial pose."<histogramVarBin[views[viewIdx]->viewId]->mergeAlphaForeground = 0.03f; + //objects[objectIdx]->histogramVarBin[views[viewIdx]->viewId]->mergeAlphaBackground = 0.02f; - for (i=0; i<4; i++) + bool sequence = argc > 14; + int loopcount = sequence ? argc-12 : 101; + for (i=1; iuseCUDAEF = true; - iterConfig->useCUDARender = true; - break; - case 1: - iterConfig->useCUDAEF = false; - iterConfig->useCUDARender = true; - break; - case 2: - iterConfig->useCUDAEF = true; - iterConfig->useCUDARender = false; - break; - case 3: - iterConfig->useCUDAEF = false; - iterConfig->useCUDARender = false; - break; - } - - printf("======= mode: useCUDAAEF: %d, use CUDARender %d ========;\n", - iterConfig->useCUDAEF, iterConfig->useCUDARender); - - sprintf(str, "/Users/luma/Code/Luma/PWP3D/Files/Results/result%04d.png", i); + z = objects[objectIdx]->initialPose[viewIdx]->translation->z; + + step_r = step_size(z, param[3], param[7]); + step_xy = step_size(z, param[3], param[8]); + step_z = step_size(z, param[3], param[9]); + objects[objectIdx]->stepSize[viewIdx]->SetFrom(step_r, step_xy, step_xy, step_z); + + printf("%d Step: %f %f %f\n", i, step_r, step_xy, step_z); + ImageUtils::Instance()->LoadImageFromFile(camera, argv[sequence ? i : 1]); + OptimisationEngine::Instance()->RegisterViewImage(views[viewIdx], camera); //main processing t.restart(); OptimisationEngine::Instance()->Minimise(objects, views, iterConfig); + objects[objectIdx]->initialPose[viewIdx]->SetFrom(objects[objectIdx]->pose[viewIdx]); t.check("Iteration"); + + //update at your own risk + //HistogramEngine::Instance()->UpdateVarBinHistogram( + // objects[objectIdx], views[viewIdx], camera, objects[objectIdx]->pose[viewIdx]); //result plot VisualisationEngine::Instance()->GetImage( @@ -166,10 +188,11 @@ int main(void) objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]); //result save to file - // ImageUtils::Instance()->SaveImageToFile(result, str); + sprintf(str, "%sResults/result_%03d.png", folder.c_str(), i); + //ImageUtils::Instance()->SaveImageToFile(ResultImage, str); cv::Mat ResultMat(height,width,CV_8UC4, ResultImage->pixels); cv::imshow("result", ResultMat); - cv::waitKey(2000); + cv::waitKey(1); printf("final pose result %f %f %f %f %f %f %f\n\n", objects[objectIdx]->pose[viewIdx]->translation->x, @@ -179,15 +202,15 @@ int main(void) objects[objectIdx]->pose[viewIdx]->rotation->vector4d.y, objects[objectIdx]->pose[viewIdx]->rotation->vector4d.z, objects[objectIdx]->pose[viewIdx]->rotation->vector4d.w); - } - //posteriors plot - sprintf(str, "/Users/luma/Code/Luma/PWP3D/Files/Results/posteriors.png"); - VisualisationEngine::Instance()->GetImage( - ResultImage, GETIMAGE_POSTERIORS, - objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]); + //posteriors plot + sprintf(str, "%sResults/posterior_%03d.png", folder.c_str(), i); + VisualisationEngine::Instance()->GetImage( + ResultImage, GETIMAGE_POSTERIORS, + objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]); - ImageUtils::Instance()->SaveImageToFile(ResultImage, str); + //ImageUtils::Instance()->SaveImageToFile(ResultImage, str); + } //primary engine destructor OptimisationEngine::Instance()->Shutdown(); diff --git a/CMakeLists.txt b/CMakeLists.txt index 887f549..85ad65a 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -13,14 +13,15 @@ include(SetPlatformVars) # Overide with cmake -DCMAKE_BUILD_TYPE=Debug {dir} if( NOT CMAKE_BUILD_TYPE ) - set( CMAKE_BUILD_TYPE Release ) + set( CMAKE_BUILD_TYPE Debug ) endif() option(BUILD_SHARED_LIBS "Build Shared Library" ON) add_subdirectory(PerseusLib) -option(BUILD_PWP3D_APP "Build PWP3D App" OFF) +option(BUILD_PWP3D_APP "Build PWP3D App" ON) if(BUILD_PWP3D_APP) add_subdirectory(Application) + target_include_directories(PWP3DAPP PUBLIC .) endif() diff --git a/Files/CameraCalibration/canon_t3.cal b/Files/CameraCalibration/canon_t3.cal new file mode 100755 index 0000000..43e4f07 --- /dev/null +++ b/Files/CameraCalibration/canon_t3.cal @@ -0,0 +1,4 @@ +Perseus_CalFile +1920 1280 +1661.4874 1650.7941 +977.53137 612.69568 \ No newline at end of file diff --git a/Files/CameraCalibration/drill_n1.cal b/Files/CameraCalibration/drill_n1.cal new file mode 100755 index 0000000..f421c1a --- /dev/null +++ b/Files/CameraCalibration/drill_n1.cal @@ -0,0 +1,4 @@ +Perseus_CalFile +1920 1280 +1711.7103 1711.7113 +961.36137 632.54090 \ No newline at end of file diff --git a/Files/Images/shuttle.jpg b/Files/Images/shuttle.jpg new file mode 100644 index 0000000..524ceca Binary files /dev/null and b/Files/Images/shuttle.jpg differ diff --git a/Files/Masks/1280p_All_VideoMask.png b/Files/Masks/1280p_All_VideoMask.png new file mode 100644 index 0000000..4996974 Binary files /dev/null and b/Files/Masks/1280p_All_VideoMask.png differ diff --git a/Files/Masks/drill_n1.png b/Files/Masks/drill_n1.png new file mode 100644 index 0000000..d2fbf7b Binary files /dev/null and b/Files/Masks/drill_n1.png differ diff --git a/Files/Masks/shuttle.png b/Files/Masks/shuttle.png new file mode 100644 index 0000000..fcb65ba Binary files /dev/null and b/Files/Masks/shuttle.png differ diff --git a/Files/Models/drill_4k.obj b/Files/Models/drill_4k.obj new file mode 100644 index 0000000..f016d09 --- /dev/null +++ b/Files/Models/drill_4k.obj @@ -0,0 +1,6163 @@ +#### +# +# OBJ File Generated by Meshlab +# +#### +# Object drill_4k.obj +# +# Vertices: 2050 +# Faces: 4096 +# +#### +g drill +v -0.664237 0.558287 -2.752459 +v -0.699547 0.541393 -2.813817 +v -0.928048 0.397272 -2.328275 +v -0.919404 0.455338 -2.454860 +v -1.138950 -0.393358 -2.708019 +v 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156 158 139 +f 138 156 139 +f 156 285 158 +f 243 255 279 +f 137 168 255 +f 243 137 255 +f 139 172 168 +f 137 139 168 +f 158 183 172 +f 139 158 172 +f 158 285 183 +f 255 272 279 +f 168 233 272 +f 255 168 272 +f 172 234 233 +f 168 172 233 +f 183 244 234 +f 172 183 234 +f 183 285 244 +f 272 294 279 +f 233 324 294 +f 272 233 294 +f 234 319 324 +f 233 234 324 +f 244 312 319 +f 234 244 319 +f 244 285 312 +f 294 303 279 +f 324 385 303 +f 294 324 303 +f 319 384 385 +f 324 319 385 +f 312 372 384 +f 319 312 384 +f 312 285 372 +f 303 310 279 +f 385 426 310 +f 303 385 310 +f 384 422 426 +f 385 384 426 +f 372 411 422 +f 384 372 422 +f 372 285 411 +f 310 309 279 +f 426 425 309 +f 310 426 309 +f 422 421 425 +f 426 422 425 +f 411 410 421 +f 422 411 421 +f 411 285 410 +f 309 302 279 +f 425 380 302 +f 309 425 302 +f 421 379 380 +f 425 421 380 +f 410 369 379 +f 421 410 379 +f 410 285 369 +# 2476 faces + +g diff --git a/Files/Results/step_size.png b/Files/Results/step_size.png new file mode 100644 index 0000000..bc8e30d Binary files /dev/null and b/Files/Results/step_size.png differ diff --git a/PerseusLib/CMakeLists.txt b/PerseusLib/CMakeLists.txt index 223a0d2..f9d6032 100644 --- a/PerseusLib/CMakeLists.txt +++ b/PerseusLib/CMakeLists.txt @@ -109,7 +109,7 @@ set(HAVE_NPP 1) set(CUDA_PROPAGATE_HOST_FLAGS off) # Generate code for 2.0 and 3.0 CUDA compute architectures (TODO: Verify this works) -set(CUDA_NVCC_FLAGS "-use_fast_math -gencode arch=compute_30,code=sm_30 -gencode arch=compute_20,code=sm_20" ) +set(CUDA_NVCC_FLAGS "-use_fast_math -gencode arch=compute_52,code=sm_52" ) # Make sure that NPP is found if(NOT CUDA_npp_LIBRARY) diff --git a/PerseusLib/Objects/View3DParams.h b/PerseusLib/Objects/View3DParams.h index da3f407..37b2b37 100755 --- a/PerseusLib/Objects/View3DParams.h +++ b/PerseusLib/Objects/View3DParams.h @@ -12,7 +12,7 @@ class View3DParams View3DParams(void) { zBufferOffset = 0.0001f; - zFar = 50.0f; + zFar = 400.0f; zNear = 0.01f; } diff --git a/PerseusLib/Optimiser/Engine/OptimisationEngine.cpp b/PerseusLib/Optimiser/Engine/OptimisationEngine.cpp index 4590fb6..5c41748 100755 --- a/PerseusLib/Optimiser/Engine/OptimisationEngine.cpp +++ b/PerseusLib/Optimiser/Engine/OptimisationEngine.cpp @@ -26,7 +26,7 @@ void OptimisationEngine::Initialise(int width, int height) this->SetPresetStepSizes(); - MathUtils::Instance()->ReadAndAllocateHeaviside(8192, "/Users/luma/Code/Luma/PWP3D/Files/Others/heaviside.txt"); + MathUtils::Instance()->ReadAndAllocateHeaviside(8192, "/home/src/pwp3d/Files/Others/heaviside.txt"); initialiseCUDA(width, height, MathUtils::Instance()->heavisideFunction, MathUtils::Instance()->heavisideSize); diff --git a/PerseusLib/Renderer/Model/Model.cpp b/PerseusLib/Renderer/Model/Model.cpp index acb0123..16593e5 100755 --- a/PerseusLib/Renderer/Model/Model.cpp +++ b/PerseusLib/Renderer/Model/Model.cpp @@ -111,11 +111,13 @@ int Model::createFromFile(FILE *file) buf[strlen(buf)-1] = '\0'; break; case 'f': //face + if (this->groups.size() == 0) + this->groups.push_back(group); fscanf(file, "%s", buf); sscanf(buf, "%d", &v); face = new ModelFace(); face->vertices.push_back(v-1); - while(fscanf(file, "%d", &v) > 0){ + while(fscanf(file, "%d%*[/0-9]", &v) > 0){ face->vertices.push_back(v-1); } diff --git a/README.md b/README.md index 183a19a..f4e0c87 100644 --- a/README.md +++ b/README.md @@ -10,3 +10,45 @@ For more detail of the paper, see: See original paper from: PWP3D: Real-time Segmentation and Tracking of 3D Objects Victor Adrian Prisacariu, Ian Reid + +## Contribution + +While dealing with the project, the following issues were encountered: + +* Limited Z-buffer range, causing objects located beyond to break like [this](https://www.youtube.com/watch?v=JzWpxeS0Y38). Increasing it allows to support larger models without having any accuracy implications. Read more in section 5.1 of the paper. + +* Step size depends on distance to the camera, decreasing as the object gets closer and vise-versa. A simple function is provided to dynamically adjust it according to distance difference. Additional parameter `k` specifies the rate of change, so that starting distance of `24` with step size of `0.1` would produce this [plot](/Files/Results/step_size.png). + +The main challenges are manual initialization and continuous adaptation of the background and foreground histograms. Simply updating them from object pose only causes quicker corruption even under prefect 3D model alignment. More sophisticated technique has been developed recently [[1](https://doi.org/10.1007/s11263-015-0873-2), [2](https://doi.org/10.1109/iccv.2017.23)], but implementing it will take some effort. + +## Demo + +### Still image + +Run the following command for a Shuttle convergence example similar to the one provided by the authors + +``` +PWP3DAPP Images/shuttle.jpg Masks/shuttle.png Models/shuttle.obj 1 0 -2 24 20 180 -70 0.04 0.1 1 +``` + +The last 10 numbers define initialization parameters. First is iteration count, next 3 indicate starting position, next 3 initial rotation angle in degrees and final 3 set the gradient step size: first for rotation on all 3 axises, second for translation on x-y axis and third for translation on z axis, or scale change. + +### Sequence of images + +Download RGB images of a power drill in [YCB dataset](http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com). Resize them to 1920x1280 and rename sequentially, padding with leading zeros. Then execute the following command: + +``` +PWP3DAPP path/to/images_*.jpg Masks/drill_n1.png Models/drill_4k.obj 10 0 0 24 88 192 0 0.1 0.2 2 +``` + +This should produce results similar to the [video](https://www.youtube.com/watch?v=O7tr2cwzhsQ). Note that the first argument actually has to be expanded by the shell globbing rules. You can also list multiple images manually instead. + +To test your own images, prepare your files as before. Additionally you'll need the following: + +* An alpha-mask of the object in the first image in the set for background / foreground histogram initialization. +* 3D mesh model of the object. If it's a super high-poly laser-scanned model, better simplify it in [Meshlab](//github.com/cnr-isti-vclab/meshlab). +* Intrinsic camera calibration parameters. Create your own with this OpenCV [tutorial](https://docs.opencv.org/3.1.0/dc/dbb/tutorial_py_calibration.html), or simply try generic first. They scale along with resolution, so you only need one file for various image dimensions. + +In the source code set your image resolution, path to calibration file and video mask. + +Coming up with the right set of parameters is a bit tricky. Usually these are unique per object and can be determined experimentally. First, set the distance to the camera and vary the pose. The virtual object should clearly overlap the real one and be rotated less than 90° away on all axises. Then adjust initial step size relative to the distance, so it would be scaled accordingly falling in the best working range. \ No newline at end of file