@ -1,4 +1,5 @@
# include <iostream>
# include <map>
# ifdef _WIN32
# define WIN32_LEAN_AND_MEAN 1
@ -78,6 +79,9 @@ public:
upVector = Vec3d ( 0.0 , 1.0 , 0.0 ) ;
fovy = 45.0 ;
zNear = 0.1 ;
zFar = 50 ;
scaleCoeff = 1000.0 ;
vertices = std : : vector < Vec3f > ( 4 , { 2.0f , 0 , - 2.0f } ) ;
colors = std : : vector < Vec3f > ( 4 , { 0 , 0 , 1.0f } ) ;
@ -91,6 +95,9 @@ public:
upVector = Vec3d ( 0.0 , 1.0 , 0.0 ) ;
fovy = 45.0 ;
zNear = 0.1 ;
zFar = 50 ;
scaleCoeff = 1000.0 ;
objectPath = objPath ;
std : : vector < vector < int > > indvec ;
@ -119,6 +126,9 @@ public:
upVector = Vec3d ( 0.0 , 1.0 , 0.0 ) ;
fovy = 45.0 ;
zNear = 0.1 ;
zFar = 50 ;
scaleCoeff = 1000.0 ;
vertices =
{
@ -152,6 +162,9 @@ public:
upVector = Vec3d ( 0.0 , 1.0 , 0.0 ) ;
fovy = 45.0 ;
zNear = 0.1 ;
zFar = 50 ;
scaleCoeff = 1000.0 ;
vertices =
{
@ -181,6 +194,9 @@ public:
upVector = Vec3d ( 0.0 , 1.0 , 0.0 ) ;
fovy = 60.0 ;
zNear = 0.1 ;
zFar = 50 ;
scaleCoeff = 1000.0 ;
vertices =
{
@ -208,11 +224,35 @@ public:
}
}
ModelData ( std : : string modelPath , double fov , double near , double far , double scale , Vec3d pos , Vec3d center , Vec3d up )
{
objectPath = modelPath ;
position = pos ;
lookat = center ;
upVector = up ;
fovy = fov ;
zNear = near ;
zFar = far ;
scaleCoeff = scale ;
std : : vector < vector < int > > indvec ;
loadMesh ( objectPath , vertices , indvec , noArray ( ) , colors ) ;
if ( vertices . size ( ) ! = colors . size ( ) )
{
std : : runtime_error ( " Model should contain normals for each vertex " ) ;
}
for ( const auto & vec : indvec )
{
indices . push_back ( { vec [ 0 ] , vec [ 1 ] , vec [ 2 ] } ) ;
}
}
Vec3d position ;
Vec3d lookat ;
Vec3d upVector ;
double fovy ;
double fovy , zNear , zFar , scaleCoeff ;
std : : vector < Vec3f > vertices ;
std : : vector < Vec3i > indices ;
@ -239,13 +279,11 @@ void draw(void* userdata)
}
static void generateImage ( cv : : Size imgSz , TriangleShadingType shadingType , TriangleCullingMode cullingMode ,
ModelType modelType , std : : string modelPath , cv : : Mat & colorImage , cv : : Mat & depthImage )
const ModelData & modelData , cv : : Mat & colorImage , cv : : Mat & depthImage )
{
namedWindow ( " OpenGL " , WINDOW_OPENGL ) ;
resizeWindow ( " OpenGL " , imgSz . width , imgSz . height ) ;
ModelData modelData ( modelType , modelPath ) ;
DrawData data ;
std : : vector < Vec3f > vertices ;
@ -293,10 +331,9 @@ static void generateImage(cv::Size imgSz, TriangleShadingType shadingType, Trian
data . arr . setColorArray ( colors4f ) ;
data . indices . copyFrom ( idxLinear ) ;
double zNear = 0.1 , zFar = 50 ;
glMatrixMode ( GL_PROJECTION ) ;
glLoadIdentity ( ) ;
gluPerspective ( modelData . fovy , ( double ) imgSz . width / imgSz . height , zNear , zFar ) ;
gluPerspective ( modelData . fovy , ( double ) imgSz . width / imgSz . height , modelData . zNear , modelData . zFar ) ;
glMatrixMode ( GL_MODELVIEW ) ;
glLoadIdentity ( ) ;
@ -343,10 +380,10 @@ static void generateImage(cv::Size imgSz, TriangleShadingType shadingType, Trian
// map from [0, 1] to [zNear, zFar]
for ( auto it = depthImage . begin < float > ( ) ; it ! = depthImage . end < float > ( ) ; + + it )
{
* it = ( float ) ( zNear * zFar / ( double ( * it ) * ( zNear - zFar ) + zFar ) ) ;
* it = ( float ) ( modelData . zNear * modelData . zFar / ( double ( * it ) * ( modelData . zNear - modelData . zFar ) + modelData . zFar ) ) ;
}
cv : : flip ( depthImage , depthImage , 0 ) ;
depthImage . convertTo ( depthImage , CV_16U , 1000.0 ) ;
depthImage . convertTo ( depthImage , CV_16U , modelData . scaleCoeff ) ;
char key = ( char ) waitKey ( 40 ) ;
if ( key = = 27 )
@ -364,6 +401,26 @@ int main(int argc, char* argv[])
" { help h usage ? | | show this message } "
" { outPath | | output path for generated images } "
" { modelPath | | path to 3d model to render } "
" { custom | | pass it to use custom camera parameters instead of iterating through test parameters } "
" { fov | 45.0 | (if custom parameters are used) field of view } "
" { posx | 1.0 | (if custom parameters are used) camera position x } "
" { posy | 1.0 | (if custom parameters are used) camera position y } "
" { posz | 1.0 | (if custom parameters are used) camera position z } "
" { lookatx | 0.0 | (if custom parameters are used) lookup camera direction x } "
" { lookaty | 0.0 | (if custom parameters are used) lookup camera direction y } "
" { lookatz | 0.0 | (if custom parameters are used) lookup camera direction z } "
" { upx | 0.0 | (if custom parameters are used) up camera direction x } "
" { upy | 1.0 | (if custom parameters are used) up camera direction y } "
" { upz | 0.0 | (if custom parameters are used) up camera direction z } "
" { resx | 640 | (if custom parameters are used) camera resolution x } "
" { resy | 480 | (if custom parameters are used) camera resolution y } "
" { zNear | 0.1 | (if custom parameters are used) near z clipping plane } "
" { zFar | 50 | (if custom parameters are used) far z clipping plane } "
" { scaleCoeff | 1000 | (if custom parameters are used) scale coefficient for saving depth } "
" { shading | | (if custom parameters are used) shading type: white/flat/shaded } "
" { culling | | (if custom parameters are used) culling type: none/cw/ccw } "
" { colorPath | | (if custom parameters are used) output path for color image } "
" { depthPath | | (if custom parameters are used) output path for depth image } "
) ;
parser . about ( " This app is used to generate test data for triangleRasterize() function " ) ;
@ -380,77 +437,109 @@ int main(int argc, char* argv[])
return - 1 ;
}
std : : string outPath = parser . get < std : : string > ( " outPath " ) ;
if ( outPath . empty ( ) )
if ( parser . has ( " custom " ) )
{
std : : cout < < " No output path given " < < std : : endl ;
return - 1 ;
double fov = parser . get < double > ( " fov " ) ;
Vec3d position , lookat , upVector ;
position [ 0 ] = parser . get < double > ( " posx " ) ;
position [ 1 ] = parser . get < double > ( " posy " ) ;
position [ 2 ] = parser . get < double > ( " posz " ) ;
lookat [ 0 ] = parser . get < double > ( " lookatx " ) ;
lookat [ 1 ] = parser . get < double > ( " lookaty " ) ;
lookat [ 2 ] = parser . get < double > ( " lookatz " ) ;
upVector [ 0 ] = parser . get < double > ( " upx " ) ;
upVector [ 1 ] = parser . get < double > ( " upy " ) ;
upVector [ 2 ] = parser . get < double > ( " upz " ) ;
Size res ;
res . width = parser . get < int > ( " resx " ) ;
res . height = parser . get < int > ( " resy " ) ;
double zNear = parser . get < double > ( " zNear " ) ;
double zFar = parser . get < double > ( " zFar " ) ;
double scaleCoeff = parser . get < double > ( " scaleCoeff " ) ;
std : : map < std : : string , cv : : TriangleShadingType > shadingTxt = {
{ " white " , RASTERIZE_SHADING_WHITE } ,
{ " flat " , RASTERIZE_SHADING_FLAT } ,
{ " shaded " , RASTERIZE_SHADING_SHADED } ,
} ;
cv : : TriangleShadingType shadingType = shadingTxt . at ( parser . get < std : : string > ( " shading " ) ) ;
std : : map < std : : string , cv : : TriangleCullingMode > cullingTxt = {
{ " none " , RASTERIZE_CULLING_NONE } ,
{ " cw " , RASTERIZE_CULLING_CW } ,
{ " ccw " , RASTERIZE_CULLING_CCW } ,
} ;
cv : : TriangleCullingMode cullingMode = cullingTxt . at ( parser . get < std : : string > ( " culling " ) ) ;
std : : string colorPath = parser . get < std : : string > ( " colorPath " ) ;
std : : string depthPath = parser . get < std : : string > ( " depthPath " ) ;
Mat colorImage , depthImage ;
ModelData modelData ( modelPath , fov , zNear , zFar , scaleCoeff , position , lookat , upVector ) ;
generateImage ( res , shadingType , cullingMode , modelData , colorImage , depthImage ) ;
cv : : imwrite ( colorPath , colorImage ) ;
cv : : imwrite ( depthPath , depthImage ) ;
}
std : : array < cv : : Size , 4 > resolutions = { cv : : Size { 700 , 700 } , cv : : Size { 640 , 480 } , cv : : Size ( 256 , 256 ) , cv : : Size ( 320 , 240 ) } ;
for ( const auto & res : resolutions )
else
{
for ( const auto shadingType : {
RASTERIZE_SHADING_WHITE ,
RASTERIZE_SHADING_FLAT ,
RASTERIZE_SHADING_SHADED
} )
std : : string outPath = parser . get < std : : string > ( " outPath " ) ;
if ( outPath . empty ( ) )
{
std : : string shadingName ;
switch ( shadingType )
{
case RASTERIZE_SHADING_WHITE : shadingName = " White " ; break ;
case RASTERIZE_SHADING_FLAT : shadingName = " Flat " ; break ;
case RASTERIZE_SHADING_SHADED : shadingName = " Shaded " ; break ;
default :
break ;
}
std : : cout < < " No output path given " < < std : : endl ;
return - 1 ;
}
for ( const auto cullingMode : {
RASTERIZE_CULLING_NONE ,
RASTERIZE_CULLING_CW ,
RASTERIZE_CULLING_CCW
} )
std : : array < cv : : Size , 4 > resolutions = { cv : : Size { 700 , 700 } , cv : : Size { 640 , 480 } , cv : : Size ( 256 , 256 ) , cv : : Size ( 320 , 240 ) } ;
std : : vector < std : : pair < cv : : TriangleShadingType , std : : string > > shadingTxt = {
{ RASTERIZE_SHADING_WHITE , " White " } ,
{ RASTERIZE_SHADING_FLAT , " Flat " } ,
{ RASTERIZE_SHADING_SHADED , " Shaded " } ,
} ;
std : : vector < std : : pair < cv : : TriangleCullingMode , std : : string > > cullingTxt = {
{ RASTERIZE_CULLING_NONE , " None " } ,
{ RASTERIZE_CULLING_CW , " CW " } ,
{ RASTERIZE_CULLING_CCW , " CCW " } ,
} ;
std : : vector < std : : pair < ModelType , std : : string > > modelTxt = {
{ ModelType : : File , " File " } ,
{ ModelType : : Clipping , " Clipping " } ,
{ ModelType : : Color , " Color " } ,
{ ModelType : : Centered , " Centered " } ,
} ;
for ( const auto & res : resolutions )
{
for ( const auto shadingPair : shadingTxt )
{
std : : string cullingName ;
switch ( cullingMode )
{
case RASTERIZE_CULLING_NONE : cullingName = " None " ; break ;
case RASTERIZE_CULLING_CW : cullingName = " CW " ; break ;
case RASTERIZE_CULLING_CCW : cullingName = " CCW " ; break ;
default : break ;
}
cv : : TriangleShadingType shadingType = shadingPair . first ;
std : : string shadingName = shadingPair . second ;
for ( const auto modelType : {
ModelType : : File ,
ModelType : : Clipping ,
ModelType : : Color ,
ModelType : : Centered ,
} )
for ( const auto cullingPair : cullingTxt )
{
std : : string modelName ;
switch ( modelType )
cv : : TriangleCullingMode cullingMode = cullingPair . first ;
std : : string cullingName = cullingPair . second ;
for ( const auto modelPair : modelTxt )
{
case ModelType : : File : modelName = " File " ; break ;
case ModelType : : Clipping : modelName = " Clipping " ; break ;
case ModelType : : Color : modelName = " Color " ; break ;
case ModelType : : Centered : modelName = " Centered " ; break ;
default :
break ;
}
ModelType modelType = modelPair . first ;
std : : string modelName = modelPair . second ;
std : : string suffix = cv : : format ( " %s_%dx%d_Cull%s " , modelName . c_str ( ) , res . width , res . height , cullingName . c_str ( ) ) ;
std : : string suffix = cv : : format ( " %s_%dx%d_Cull%s " , modelName . c_str ( ) , res . width , res . height , cullingName . c_str ( ) ) ;
std : : cout < < suffix + " _ " + shadingName < < " ... " < < std : : endl ;
std : : cout < < suffix + " _ " + shadingName < < " ... " < < std : : endl ;
cv : : Mat colorImage , depthImage ;
generateImage ( res , shadingType , cullingMode , modelType , modelPath , colorImage , depthImage ) ;
cv : : Mat colorImage , depthImage ;
std : : string gtPathColor = outPath + " /example_image_ " + suffix + " _ " + shadingName + " .png " ;
std : : string gtPathDepth = outPath + " /depth_image_ " + suffix + " .png " ;
ModelData modelData ( modelType , modelPath ) ;
generateImage ( res , shadingType , cullingMode , modelData , colorImage , depthImage ) ;
cv : : imwrite ( gtPathColor , colorImage ) ;
cv : : imwrite ( gtPathDepth , depthImage ) ;
std : : string gtPathColor = outPath + " /example_image_ " + suffix + " _ " + shadingName + " .png " ;
std : : string gtPathDepth = outPath + " /depth_image_ " + suffix + " .png " ;
cv : : imwrite ( gtPathColor , colorImage ) ;
cv : : imwrite ( gtPathDepth , depthImage ) ;
}
}
}
}
Rostislav Vasilikhin
10 months ago
committed by
GitHub