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demo.m
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%addpath('util');
%加载坐标，2x眼睛、鼻子、2x嘴巴
for n =1:1
x = 10*n;
%x=10;
str1=mat2str(x);
str2='.txt';
path2='.png';
path3='.jpg';
name='lidong0.5/';
landmark_path_1='sample/label/infrared/lidong0.5/';
landmark_path=[landmark_path_1,str1,str2];
%color_path='sample/data/color/001_Kinect_FE_1COLOR/01.jpg';
% depth_path_='sample/data/depth/001_Kinect_FE_1DEPTH/lidong0.5/';
depth_path='/home/alien/save/build/depth/13.001866.png'
% depth_path=[depth_path_,str1,path2];
%color_face = imread(color_path); figure(2),imshow(color_face);
depth_face = imread(depth_path); figure(3),imshow(depth_face,[500,800]);
landmark = readLandmark(landmark_path);
%nose_tip = calcNTP(landmark);
nose_tip = landmark(:,3); %第三列
%extract roi by nose tip
%根据手动标记的鼻尖的 x 和 y 坐标，从原始深度帧（512 × 424）中裁剪出 180 × 180 的脸，并将其线性插值到 360 × 360
imgSize = [180, 180];
roi=depth_face(nose_tip(2)-imgSize(1)/2 +1:nose_tip(2)+imgSize(1)/2 ,nose_tip(1)-imgSize(2)/2 +1:nose_tip(1)+imgSize(2)/2);
figure(4),imshow(roi,[500,800]);
reSize=360;
roi_face = imresize(roi,[reSize,reSize],'bilinear','AntiAliasing',false);
%x(i,j,k)的含义是第k层矩阵的第i行第j列元素;
%floor 朝负无穷大方向取整
%mod 取模 点云图,这部分应该是取出异常值
pc_template=zeros(3,reSize*reSize);
pc_template(1,:) = floor((0:(reSize*reSize-1)) /reSize)+1;
pc_template(2,:) = mod(0:(reSize*reSize-1),reSize)+1;
pc_template(3,:) = roi_face(:);%将所有roi_face数据变成pc_template的第三行
figure(5),pcshow(pointCloud(pc_template'));
r=100;
%基于x和y坐标在给定鼻尖周围定位一个10×10的面片，并使用其中值而不是平均值作为修改点
xo=double(reSize/2); yo=double(reSize/2);
zo=double(median(median(roi_face(xo-10:xo+10,yo-10:yo+10))));
% zo=493;
pc_template(3,((xo-pc_template(2,:)).*(xo-pc_template(2,:))+(yo-pc_template(1,:)).*(yo-pc_template(1,:))+(zo-pc_template(3,:)).*(zo-pc_template(3,:)))>r*r)=0;
pc_face=pc_template(:,pc_template(3,:)>0);
figure(6),pcshow(pointCloud(pc_face'));
% [depth,mask] = calcDepthAndNormal(pc_face,1,0);
pc=pc_face'; %这一撇是转置的意思，xyzpoints的输入必须是Mx3
pc(:,3)=max(pc(:,3))-pc(:,3); %矩阵的底三列元素
% point_cloud=pointCloud(pc);
%point_cloud=pcdenoise(point_cloud); %点云去躁
% vertex=point_cloud.Location()';
%要旋转的矩阵dep(pc,uint8((max(pc(:,1))-min(pc(:,1)))*scale),uint8((max(pc(:,2))-min(pc(:,2))))*scale)
%角度 -90
%方法：双线性
% depth=imrotate(dep(pc,uint8((max(pc(:,1))-min(pc(:,1)))*scale),uint8((max(pc(:,2))-min(pc(:,2))))*scale),-90,'bilinear');
% depth=dep(pc,uint8((max(pc(:,1))-min(pc(:,1)))*scale),uint8((max(pc(:,2))-min(pc(:,2))))*scale));
% depth=dep(pc,uint8((max(pc(:,1))-min(pc(:,1)))),uint8((max(pc(:,2))-min(pc(:,2)))));
% function ret = dep(data, size_x, size_y)
size_x = uint8((max(pc(:,1))-min(pc(:,1))))
size_y = uint8((max(pc(:,2))-min(pc(:,2))))
x = pc(:,1);
y = pc(:,2);
z = pc(:,3);
max_x = max(x);
min_x = min(x);
max_y = max(y);
min_y = min(y);
min_z = min(z);
max_z = max(z);
range_x = max_x - min_x;
range_y = max_y - min_y;
ret = zeros(size_x, size_y);
ret(:,:) = min_z;
len = size(x, 1);
% min_z = 999;
for i = 1:len
X = floor((x(i)- min_x) / range_x * (size_x-1))+1;
Y = floor((y(i)- min_y) / range_y * (size_y-1))+1;
ret(X, Y) = max(ret(X, Y), z(i));
min_z = min(min_z, ret(X, Y));
end
range_z = max_z - min_z;
ret = max(ret, min_z);
depth = round((ret - min_z) / range_z * 255);
% end
mask=depth;
nn=size(mask,1);
mm=size(mask,2);
max_x=nn;
min_y=1;
min_x=1;
max_y=mm;
croped_face=depth(min_x:max_x,min_y:max_y);
depth=croped_face;
croped_mask=mask(min_x:max_x,min_y:max_y);
mask=croped_mask;
m=uint8(depth)
figure(77),imshow(uint8(depth))
%figure(78),imshow(uint8(mask))
depth=normalizeValue(depth);
figure(88),imshow(uint8(depth));
depth=normalizeSize(depth);
figure(99),imshow(uint8(depth));
%DE
img_size =180;
figure(7),imshow(uint8(depth));
normal = calcNormal(uint8(depth));
figure(8),imshow(normal);%得到normal图
depth=imresize(depth,[img_size img_size]);
normal=imresize(normal,[img_size img_size]);
path1='./result/test/';
path2='./result/test2/';
path1_=[path1,name,str1,path3];
path2_=[path2,name,str1,path3];
imwrite(uint8(depth),path1_);
%%imwrite(uint8(depth),'./python/data/lidong/gallery/lidong/depth.jpg');%这个就是这个demo识别时候用到的图了
imwrite(uint8(normal),path2_);%
% pc_face=pcdenoise(pointCloud(pc_face'));
% selected_pc=pc_face.Location';%max(selected_pc(3,:)),min(selected_pc(3,:))
% fid = fopen('result/face.obj','wt');
% fprintf(fid, 'v %d %d %.2f\n',selected_pc);
% fclose(fid);
% %------------姿势生成
% face_vertex=readOBJ('result/face.obj');
% type='PoseVariation';
% degree=20;degree_1=40;degree_2=60;
% rotation=[[0,0,0];
% [0,degree/180*pi,0];[0,-degree/180*pi,0];[degree/180*pi,0,0];[-degree/180*pi,0,0];
% [0,degree_1/180*pi,0];[0,-degree_1/180*pi,0];
% [0,degree_2/180*pi,0];[0,-degree_2/180*pi,0]];
% rotation_type={'nu',...
% 'yaw=20','yaw=-20','pitch=20','pitch=-20',...
% 'yaw=40','yaw=-40',...
% 'yaw=60','yaw=-60',};
% img_size=128;
%
% for r_i =1:size(rotation,1)
% vertex=(face_vertex'*RotationMatrix(rotation(r_i,1),rotation(r_i,2),rotation(r_i,3)))';
% [depth,mask]=calcDepthAndNormal(vertex,1,1);
% if size(depth,1)<50
% continue;
% end
% depth=normalizeValue(depth);%imshow(uint8(depth));
% depth=normalizeSize(depth);mask=normalizeSize(mask);
% normal=calcNormal(depth);%imshow(uint8(normal));
%
% depth=imresize(depth,[img_size img_size]);
% normal=imresize(normal,[img_size img_size]);
% imwrite(uint8(depth),['result/' rotation_type{r_i} '.jpg']);
% imwrite(uint8(normal),['result/' rotation_type{r_i} '.jpg']);
% end
% %--------------------------------------------------------------------------------
% type='ShapeVariation';
% [depth,mask]=calcDepthAndNormal(pc_face.Location',1,1);
% % Shape Jittering 形状抖动
% [ depth_noise,normal_noise ] = noise( depth,mask,'gaussian',0,0.00002 );
% depth_noise=imresize(depth_noise,[img_size img_size]);
% normal_noise=imresize(normal_noise,[img_size img_size]);
% imwrite(uint8(depth_noise),'result/depth_Jittering.jpg');
% imwrite(uint8(normal_noise),'result/normal_Jittering.jpg');
% % Shape Scaling 形状缩放
% scale=1.1;
% [depth_shrink,normal_shrink]=shrink(depth,mask,scale);
% depth_shrink=imresize(depth_shrink,[img_size img_size]);
% normal_shrink=imresize(normal_shrink,[img_size img_size]);
% imwrite(uint8(depth_shrink),'result/depth_Scaling.jpg');
% imwrite(uint8(normal_shrink),'result/normal_Scaling.jpg');
end