depth_reprojection.cc

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#include "../lib/args.h"
#include "../lib/point.h"
#include "../lib/ply_exporter.h"
#include "../lib/image_io.h"
#include "../lib/opencv.h"
#include "lib/kinect_reprojection.h"
#include "lib/densify/depth_densify.h"
#include "lib/kinect_internal_parameters.h"
#include "lib/common.h"
#include <cstdlib>
#include <iostream>
#include <vector>
#include <stdexcept>
#include <fstream>
#include <string>

using namespace tlz;


void do_depth_reprojection(const cv::Mat_<ushort>& in, cv::Mat_<ushort>& out, cv::Mat_<uchar>& out_mask, const kinect_reprojection& reproj, const std::string& method) {    
    cv::Mat_<real> in_float = in;
    auto samples = reproj.reproject_ir_to_color_samples(in_float, in_float);
    cv::Mat_<real> out_float(texture_height, texture_width);
    make_depth_densify(method)->densify(samples, out_float, out_mask);
    out = out_float;
}


int main(int argc, const char* argv[]) {
    get_args(argc, argv, "input.png output.png/- output_mask.png/- reprojection_parameters.json method [=was_flipped]");
    std::string input_filename = in_filename_arg();
    std::string output_filename = out_filename_opt_arg();
    std::string output_mask_filename = out_filename_opt_arg();
    std::string reprojection_parameters_filename = in_filename_arg();
    std::string method = string_arg();
    bool was_flipped = bool_opt_arg("was_flipped", true);
    
    std::cout << "reading parameters" << std::endl;
    kinect_reprojection_parameters reprojection_parameters = decode_kinect_reprojection_parameters(import_json_file(reprojection_parameters_filename));
    kinect_reprojection reproj(reprojection_parameters);
    
    std::cout << "reading input depth map" << std::endl;
    cv::Mat_<ushort> in_depth = load_depth(input_filename.c_str());
    if(was_flipped) cv::flip(in_depth, in_depth, 1);
        
    std::cout << "doing depth densification" << std::endl;
    cv::Mat_<ushort> out_depth(texture_height, texture_width);
    cv::Mat_<uchar> out_mask(texture_height, texture_width);
    do_depth_reprojection(in_depth, out_depth, out_mask, reproj, method);
    
    std::cout << "saving output depth map+mask" << std::endl;
    if(was_flipped) {
        cv::flip(out_depth, out_depth, 1);
        cv::flip(out_mask, out_mask, 1);
    }
    if(!output_filename.empty()) save_depth(output_filename.c_str(), out_depth);
    if(!output_mask_filename.empty()) cv::imwrite(output_mask_filename.c_str(), out_mask);
    
    std::cout << "done" << std::endl;
}