opencv/opencv_contrib
1
0
Fork 0
mirror of https://github.com/opencv/opencv_contrib.git synced 2025-10-20 04:25:42 +08:00
Code Issues Releases Wiki Activity

adjust pose of particular obj

Browse Source
This commit is contained in:
Wangyida
2015-10-26 14:41:29 +08:00
parent dd50d5bc93
commit b51d0df48b
3 changed files with 20 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
modules/cnn_3dobj/samples/datagen_all.sh
View File

@@ -83,8 +83,3 @@
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/02.ply -label_class=11 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/02.ply -label_class=11 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/03.ply -label_class=11 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/03.ply -label_class=11 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/04.ply -label_class=11 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/04.ply -label_class=11 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/01.ply -label_class=12 -label_item=1 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.5
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/02.ply -label_class=12 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.5
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/03.ply -label_class=12 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.5
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/04.ply -label_class=12 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.5

6
modules/cnn_3dobj/samples/datagen_front.sh
View File

@@ -16,7 +16,6 @@
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/01.ply -label_class=3 -label_item=1 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/01.ply -label_class=3 -label_item=1 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/02.ply -label_class=3 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/02.ply -label_class=3 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/03.ply -label_class=3 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/04.ply -label_class=3 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/04.ply -label_class=3 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/05.ply -label_class=3 -label_item=5 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/05.ply -label_class=3 -label_item=5 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/06.ply -label_class=3 -label_item=6 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/boat/06.ply -label_class=3 -label_item=6 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/boat_pascal/ -z_range=0.6 -front_view=1
@@ -49,3 +48,8 @@
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/02.ply -label_class=11 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/02.ply -label_class=11 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/03.ply -label_class=11 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/03.ply -label_class=11 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/04.ply -label_class=11 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1 ./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/train/04.ply -label_class=11 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/train_pascal/ -z_range=0.2 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/01.ply -label_class=12 -label_item=1 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.3 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/02.ply -label_class=12 -label_item=2 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.3 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/03.ply -label_class=12 -label_item=3 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.3 -front_view=1
./sphereview_test -plymodel=/Users/yidawang/Downloads/PASCAL3D+_release1.1/CAD/tvmonitor/04.ply -label_class=12 -label_item=4 -bakgrdir=/Users/yidawang/Documents/database/backgrd_pascal/tvmonitor_pascal/ -z_range=0.3 -front_view=1

16
modules/cnn_3dobj/samples/demo_sphereview_data.cpp
View File

@@ -130,8 +130,11 @@ int main(int argc, char *argv[])
double obj_dist, bg_dist, y_range; double obj_dist, bg_dist, y_range;
if (front_view) if (front_view)
{ {
if (label_class == 12)
obj_dist = 340;
else
obj_dist = 240;
ite_depth = ite_depth + 1; ite_depth = ite_depth + 1;
obj_dist = 240;
bg_dist = 700; bg_dist = 700;
y_range = 0.85; y_range = 0.85;
} }
@@ -193,8 +196,6 @@ int main(int argc, char *argv[])
/* Set background color. */ /* Set background color. */
myWindow.setBackgroundColor(viz::Color::gray()); myWindow.setBackgroundColor(viz::Color::gray());
myWindow.spin(); myWindow.spin();
/* Add light. */
//myWindow.addLight(Vec3d(0,0,100000), Vec3d(0,0,0), viz::Color::white(), viz::Color::gray(), viz::Color::black(), viz::Color::white());
/* Create a Mesh widget, loading .ply models. */ /* Create a Mesh widget, loading .ply models. */
viz::Mesh objmesh = viz::Mesh::load(plymodel); viz::Mesh objmesh = viz::Mesh::load(plymodel);
/* Get the center of the generated mesh widget, cause some .ply files, this could be ignored if you are using PASCAL database*/ /* Get the center of the generated mesh widget, cause some .ply files, this could be ignored if you are using PASCAL database*/
@@ -235,6 +236,11 @@ int main(int argc, char *argv[])
{ {
cnt_img = 0; cnt_img = 0;
for(int pose = 0; pose < static_cast<int>(campos.size()); pose++){ for(int pose = 0; pose < static_cast<int>(campos.size()); pose++){
/* Add light. */
// double alpha1 = rand()%(314/2)/100;
// double alpha2 = rand()%(314*2)/100;
// printf("%f %f %f/n", ceil(10000*sqrt(1 - sin(alpha1)*sin(alpha1))*sin(alpha2)), 10000*sqrt(1 - sin(alpha1)*sin(alpha1))*cos(alpha2), sin(alpha1)*10000);
// myWindow.addLight(Vec3d(10000*sqrt(1 - sin(alpha1)*sin(alpha1))*sin(alpha2),10000*sqrt(1 - sin(alpha1)*sin(alpha1))*cos(alpha2),sin(alpha1)*10000), Vec3d(0,0,0), viz::Color::white(), viz::Color::white(), viz::Color::black(), viz::Color::white());
int label_x, label_y, label_z; int label_x, label_y, label_z;
label_x = static_cast<int>(campos.at(pose).x*100); label_x = static_cast<int>(campos.at(pose).x*100);
label_y = static_cast<int>(campos.at(pose).y*100); label_y = static_cast<int>(campos.at(pose).y*100);
@@ -245,6 +251,10 @@ int main(int argc, char *argv[])
imglabel << filename << ' ' << label_class << endl; imglabel << filename << ' ' << label_class << endl;
filename = imagedir + filename; filename = imagedir + filename;
/* Get the pose of the camera using makeCameraPoses. */ /* Get the pose of the camera using makeCameraPoses. */
if (front_view)
{
cam_focal_point.y = cam_focal_point.y - label_x/30;
}
Affine3f cam_pose = viz::makeCameraPose(campos.at(pose)*obj_dist+cam_focal_point, cam_focal_point, cam_y_dir*obj_dist+cam_focal_point); Affine3f cam_pose = viz::makeCameraPose(campos.at(pose)*obj_dist+cam_focal_point, cam_focal_point, cam_y_dir*obj_dist+cam_focal_point);
/* Get the transformation matrix from camera coordinate system to global. */ /* Get the transformation matrix from camera coordinate system to global. */
Affine3f transform = viz::makeTransformToGlobal(Vec3f(1.0f,0.0f,0.0f), Vec3f(0.0f,1.0f,0.0f), Vec3f(0.0f,0.0f,1.0f), campos.at(pose)); Affine3f transform = viz::makeTransformToGlobal(Vec3f(1.0f,0.0f,0.0f), Vec3f(0.0f,1.0f,0.0f), Vec3f(0.0f,0.0f,1.0f), campos.at(pose));