opencv_contrib/modules/cnn_3dobj/samples/sphereview_3dobj_demo.cpp

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#define HAVE_CAFFE
#include <opencv2/cnn_3dobj.hpp>
#include <opencv2/viz/vizcore.hpp>
#include <iostream>
#include <stdlib.h>
using namespace cv;
using namespace std;
using namespace cv::cnn_3dobj;
int main(int argc, char *argv[]){
	const String keys = "{help | | demo :$ ./sphereview_test -ite_depth=2 -plymodel=../3Dmodel/ape.ply -imagedir=../data/images_ape/ -labeldir=../data/label_ape.txt -num_class=4 -label_class=0, then press 'q' to run the demo for images generation when you see the gray background and a coordinate.}"
			     "{ite_depth | 2 | Iteration of sphere generation.}"
			     "{plymodel | ../3Dmodel/ape.ply | path of the '.ply' file for image rendering. }"
			     "{imagedir | ../data/images_all/ | path of the generated images for one particular .ply model. }"
			     "{labeldir | ../data/label_all.txt | path of the generated images for one particular .ply model. }"
			     "{num_class | 4 | total number of classes of models}"
			     "{label_class | 0 | class label of current .ply model}";
	cv::CommandLineParser parser(argc, argv, keys);
	parser.about("Demo for Sphere View data generation");
	if (parser.has("help"))
	{
		parser.printMessage();
		return 0;
	}
	int ite_depth = parser.get<int>("ite_depth");
	string plymodel = parser.get<string>("plymodel");
	string imagedir = parser.get<string>("imagedir");
	string labeldir = parser.get<string>("labeldir");
	int num_class = parser.get<int>("num_class");
	int label_class = parser.get<int>("label_class");
	cv::cnn_3dobj::IcoSphere ViewSphere(10,ite_depth);
	std::vector<cv::Point3d> campos = ViewSphere.CameraPos;
	std::fstream imglabel;
	char* p=(char*)labeldir.data();
	imglabel.open(p, fstream::app|fstream::out);
	bool camera_pov = (true);
	/// Create a window
	viz::Viz3d myWindow("Coordinate Frame");
	myWindow.setWindowSize(Size(64,64));
	/// Add coordinate axes
	myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
	myWindow.setBackgroundColor(viz::Color::gray());
	myWindow.spin();
	/// Set background color
	/// Let's assume camera has the following properties
	/// Create a cloud widget.
	viz::Mesh objmesh = viz::Mesh::load(plymodel);
	Point3d cam_focal_point = ViewSphere.getCenter(objmesh.cloud);
	float radius = ViewSphere.getRadius(objmesh.cloud, cam_focal_point);
	Point3d cam_y_dir(0.0f,0.0f,1.0f);
	const char* headerPath = "./header_for_";
	const char* binaryPath = "./binary_";
	ViewSphere.createHeader((int)campos.size(), 64, 64, headerPath);
	for(int pose = 0; pose < (int)campos.size(); pose++){
		char* temp = new char;
		sprintf (temp,"%d",label_class);
		string filename = temp;
		filename += "_";
		sprintf (temp,"%d",pose);
		filename += temp;
		filename += ".png";
		imglabel << filename << ' ' << (int)(campos.at(pose).x*100) << ' ' << (int)(campos.at(pose).y*100) << ' ' << (int)(campos.at(pose).z*100) << endl;
		filename = imagedir + filename;
		/// We can get the pose of the cam using makeCameraPoses
		Affine3f cam_pose = viz::makeCameraPose(campos.at(pose)*radius+cam_focal_point, cam_focal_point, cam_y_dir*radius+cam_focal_point);
		/// We can get the transformation matrix from camera coordinate system to global using
		/// - makeTransformToGlobal. We need the axes of the camera
		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));
		viz::WMesh mesh_widget(objmesh);
		/// Pose of the widget in camera frame
		Affine3f cloud_pose = Affine3f().translate(Vec3f(1.0f,1.0f,1.0f));
		/// Pose of the widget in global frame
		Affine3f cloud_pose_global = transform * cloud_pose;
		/// Visualize camera frame
		if (!camera_pov)
		{
			viz::WCameraPosition cpw(1); // Coordinate axes
			viz::WCameraPosition cpw_frustum(Vec2f(0.5, 0.5)); // Camera frustum
			myWindow.showWidget("CPW", cpw, cam_pose);
			myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
		}

		/// Visualize widget
		mesh_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
		myWindow.showWidget("ape", mesh_widget, cloud_pose_global);

		/// Set the viewer pose to that of camera
		if (camera_pov)
			myWindow.setViewerPose(cam_pose);
		myWindow.saveScreenshot(filename);
		ViewSphere.writeBinaryfile(filename, binaryPath, headerPath,(int)campos.size()*num_class, label_class, (int)(campos.at(pose).x*100), (int)(campos.at(pose).y*100), (int)(campos.at(pose).z*100));
	}
	imglabel.close();
	return 1;
};