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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include <iostream>
#include <memory>
#include <thread>
#include "open3d/Open3D.h"
using namespace open3d;
class VisualizerWithDepthCapture
: public visualization::VisualizerWithCustomAnimation {
protected:
void KeyPressCallback(GLFWwindow *window,
int key,
int scancode,
int action,
int mods) override {
if (action == GLFW_RELEASE) {
return;
}
if (key == GLFW_KEY_S) {
CaptureDepthImage("depth.png");
CaptureDepthPointCloud("depth.ply");
camera::PinholeCameraTrajectory camera;
camera.parameters_.resize(1);
view_control_ptr_->ConvertToPinholeCameraParameters(
camera.parameters_[0]);
io::WriteIJsonConvertible("camera.json", camera);
} else if (key == GLFW_KEY_L) {
if (utility::filesystem::FileExists("depth.png") &&
utility::filesystem::FileExists("camera.json")) {
camera::PinholeCameraTrajectory camera;
io::ReadIJsonConvertible("camera.json", camera);
auto image_ptr = io::CreateImageFromFile("depth.png");
auto pointcloud_ptr =
geometry::PointCloud::CreateFromDepthImage(
*image_ptr, camera.parameters_[0].intrinsic_,
camera.parameters_[0].extrinsic_);
AddGeometry(pointcloud_ptr);
}
} else if (key == GLFW_KEY_K) {
if (utility::filesystem::FileExists("depth.ply")) {
auto pointcloud_ptr = io::CreatePointCloudFromFile("depth.ply");
AddGeometry(pointcloud_ptr);
}
} else if (key == GLFW_KEY_P) {
if (utility::filesystem::FileExists("depth.png") &&
utility::filesystem::FileExists("camera.json")) {
camera::PinholeCameraTrajectory camera;
io::ReadIJsonConvertible("camera.json", camera);
view_control_ptr_->ConvertFromPinholeCameraParameters(
camera.parameters_[0]);
}
} else {
visualization::VisualizerWithCustomAnimation::KeyPressCallback(
window, key, scancode, action, mods);
}
UpdateRender();
}
};
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > DepthCapture");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc != 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
data::BunnyMesh bunny_mesh;
auto mesh_ptr = io::CreateMeshFromFile(bunny_mesh.GetPath());
mesh_ptr->ComputeVertexNormals();
utility::LogInfo("Press S to capture a depth image.");
VisualizerWithDepthCapture visualizer;
visualizer.CreateVisualizerWindow("Depth Capture", 640, 480, 200, 200);
visualizer.AddGeometry(mesh_ptr);
visualizer.Run();
visualizer.DestroyVisualizerWindow();
if (!utility::filesystem::FileExists("depth.png") ||
!utility::filesystem::FileExists("camera.json")) {
utility::LogInfo("Depth has not been captured.");
return 1;
}
auto image_ptr = io::CreateImageFromFile("depth.png");
visualization::DrawGeometries({image_ptr});
camera::PinholeCameraTrajectory camera;
io::ReadIJsonConvertible("camera.json", camera);
auto pointcloud_ptr = geometry::PointCloud::CreateFromDepthImage(
*image_ptr, camera.parameters_[0].intrinsic_,
camera.parameters_[0].extrinsic_);
VisualizerWithDepthCapture visualizer1;
visualizer1.CreateVisualizerWindow("Depth Validation", 640, 480, 200, 200);
visualizer1.AddGeometry(pointcloud_ptr);
visualizer1.Run();
visualizer1.DestroyVisualizerWindow();
utility::LogInfo("Press L to validate the depth image.");
utility::LogInfo("Press P to load the capturing camera pose.");
VisualizerWithDepthCapture visualizer2;
visualizer2.CreateVisualizerWindow("Depth Validation", 640, 480, 200, 200);
visualizer2.AddGeometry(mesh_ptr);
visualizer2.Run();
visualizer2.DestroyVisualizerWindow();
utility::LogInfo("End of the test.");
return 0;
}
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