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Added normal computation sample and ply writing with visible normals for debugging

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This commit is contained in:
felix
2015-06-21 20:10:46 -04:00
parent 595c6b2176
commit 8b25cca2a4
3 changed files with 142 additions and 0 deletions
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56
modules/surface_matching/src/ppf_helpers.cpp
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@@ -163,6 +163,62 @@ void writePLY(Mat PC, const char* FileName)
return;
}
void writePLYVisibleNormals(Mat PC, const char* FileName)
{
std::ofstream outFile(FileName);
if (!outFile)
{
//cerr << "Error opening output file: " << FileName << "!" << endl;
printf("Error opening output file: %s!\n", FileName);
exit(1);
}
////
// Header
////
const int pointNum = (int)PC.rows;
const int vertNum = (int)PC.cols;
const bool hasNormals = vertNum == 6;
outFile << "ply" << std::endl;
outFile << "format ascii 1.0" << std::endl;
outFile << "element vertex " << (hasNormals? 2*pointNum:pointNum) << std::endl;
outFile << "property float x" << std::endl;
outFile << "property float y" << std::endl;
outFile << "property float z" << std::endl;
if (hasNormals)
{
outFile << "property uchar red" << std::endl;
outFile << "property uchar green" << std::endl;
outFile << "property uchar blue" << std::endl;
}
outFile << "end_header" << std::endl;
////
// Points
////
for (int pi = 0; pi < pointNum; ++pi)
{
const float* point = (float*)(&PC.data[pi*PC.step]);
outFile << point[0] << " " << point[1] << " " << point[2];
if (hasNormals)
{
outFile << " 127 127 127" << std::endl;
outFile << point[0]+point[3] << " " << point[1]+point[4] << " " << point[2]+point[5];
outFile << " 255 0 0";
}
outFile << std::endl;
}
return;
}
Mat samplePCUniform(Mat PC, int sampleStep)
{
int numRows = PC.rows/sampleStep;