void BoundingBoxMarker::create(const BoundingBox& bbox, const Vector3f& color, float transparency, double width)
{
SgShape* shape = new SgShape;
MeshGenerator meshGenerator;
shape->setMesh(meshGenerator.generateBox(Vector3(width, width, width)));
SgMaterial* material = shape->setMaterial(new SgMaterial);
material->setTransparency(transparency);
material->setDiffuseColor(color);
material->setEmissiveColor(color);
const double& x0 = bbox.min().x();
const double& x1 = bbox.max().x();
const double& y0 = bbox.min().y();
const double& y1 = bbox.max().y();
const double& z0 = bbox.min().z();
const double& z1 = bbox.max().z();
addMarker(shape, x0, y0, z0);
addMarker(shape, x0, y0, z1);
addMarker(shape, x0, y1, z0);
addMarker(shape, x0, y1, z1);
addMarker(shape, x1, y0, z0);
addMarker(shape, x1, y0, z1);
addMarker(shape, x1, y1, z0);
addMarker(shape, x1, y1, z1);
}
ForceSensorVisualizerItem::ForceSensorVisualizerItem()
: SensorVisualizerItemBase(this)
{
setName("ForceSensor");
scene = new SgGroup;
SgMaterial* material = new SgMaterial;
Vector3f color(1.0f, 0.2f, 0.2f);
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
MeshGenerator meshGenerator;
cone = new SgShape;
cone->setMesh(meshGenerator.generateCone(0.03, 0.04));
cone->setMaterial(material);
cylinder = new SgShape;
cylinder->setMesh(meshGenerator.generateCylinder(0.01, 1.0));
cylinder->setMaterial(material);
visualRatio = 0.002;
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// High resolution 1280x1024 RGB Image.
if (opt::high_resolution())
grabber.setHighRgbResolution(true);
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(image);
post_processor.processImage(image);
ntk_ensure(image.calibration(), "Uncalibrated rgbd image, cannot project to 3D!");
// Generate a mesh out of the rgbd image.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(image, *image.calibration()->depth_pose, *image.calibration()->rgb_pose);
// Save the grabber mesh to a ply file.
ntk_dbg(0) << "Saving mesh file to output.ply...";
generator.mesh().saveToPlyFile("output.ply");
grabber.stop();
}
void SphereMarker::initialize(double radius, const Vector3f& color, float transparency)
{
SgShapePtr shape = new SgShape;
MeshGenerator meshGenerator;
shape->setMesh(meshGenerator.generateSphere(1.0));
material = shape->setMaterial(new SgMaterial);
material->setDiffuseColor(color);
material->setEmissiveColor(color);
material->setTransparency(transparency);
scale = new SgScaleTransform;
scale->addChild(shape);
scale->setScale(radius);
addChild(scale);
}
Mesh* COLMeshConverter::convert(const COLSphere& sphere)
{
MeshGenerator gen;
float* vertices;
float* normals;
uint32_t* indices;
unsigned int vertexCount, indexCount;
gen.createSphere(vertices, normals, vertexCount, indices, indexCount, sphere.getRadius(), 4, 4);
const COLSurface& surface = sphere.getSurface();
uint8_t matNum = surface.getMaterial();
uint8_t* colors = new uint8_t[vertexCount*4];
uint8_t r, g, b;
getMaterialColors(matNum, r, g, b);
for (unsigned int i = 0 ; i < vertexCount ; i++) {
colors[i*4] = r;
colors[i*4 + 1] = g;
colors[i*4 + 2] = b;
colors[i*4 + 3] = 255;
}
//printf("glBufferData COLMeshConverter 1\n");
GLuint dataBuffer;
glGenBuffers(1, &dataBuffer);
glBindBuffer(GL_ARRAY_BUFFER, dataBuffer);
glBufferData(GL_ARRAY_BUFFER, vertexCount*3*4 + vertexCount*4, NULL, GL_STATIC_DRAW);
Engine::getInstance()->increaseTestMem(vertexCount*3*4 + vertexCount*4, __FILE__, __LINE__);
glBufferSubData(GL_ARRAY_BUFFER, 0, vertexCount*3*4, vertices);
glBufferSubData(GL_ARRAY_BUFFER, vertexCount*3*4, vertexCount*4, colors);
Mesh* mesh = new Mesh(vertexCount, VertexFormatTriangles, 0, dataBuffer, -1, -1, vertexCount*3*4);
Submesh* submesh = new Submesh(mesh, indexCount, indices);
mesh->link();
const Vector3& center = sphere.getCenter();
mesh->setBounds(center[0], center[1], center[2], sphere.getRadius());
delete[] vertices;
delete[] normals;
delete[] indices;
return mesh;
}
TranslationDragger::TranslationDragger(bool setDefaultAxes)
{
draggableAxes_ = TX | TY | TZ;
axisCylinderNormalizedRadius = 0.04;
defaultAxesScale = new SgScaleTransform;
customAxes = new SgGroup;
for(int i=0; i < 3; ++i){
SgMaterial* material = new SgMaterial;
Vector3f color(0.2f, 0.2f, 0.2f);
color[i] = 1.0f;
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
axisMaterials[i] = material;
}
if(setDefaultAxes){
MeshGenerator meshGenerator;
SgMeshPtr mesh = meshGenerator.generateArrow(1.8, 0.08, 0.1, 2.5);
for(int i=0; i < 3; ++i){
SgShape* shape = new SgShape;
shape->setMesh(mesh);
shape->setMaterial(axisMaterials[i]);
SgPosTransform* arrow = new SgPosTransform;
arrow->addChild(shape);
if(i == 0){
arrow->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ()));
} else if(i == 2){
arrow->setRotation(AngleAxis( PI / 2.0, Vector3::UnitX()));
}
SgInvariantGroup* invariant = new SgInvariantGroup;
invariant->setName(axisNames[i]);
invariant->addChild(arrow);
SgSwitch* axis = new SgSwitch;
axis->addChild(invariant);
defaultAxesScale->addChild(axis);
}
addChild(defaultAxesScale);
}
isContainerMode_ = false;
}
int
main (int argc, char* argv [])
{
ntk::arg_base::set_help_option("-h");
ntk::arg_parse(argc, argv);
ntk::ntk_debug_level = cmd::debug_level();
cv::setBreakOnError(true);
QApplication app (argc, argv);
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
RGBDCalibration calibration;
calibration.loadFromFile(cmd::calibration_file());
OpenniRGBDProcessor processor;
RGBDImage image1 (cmd::input_image1(), &calibration, &processor);
RGBDImage image2 (cmd::input_image2(), &calibration, &processor);;
MeshGenerator generator;
generator.setMeshType(MeshGenerator::TriangleMesh);
generator.setUseColor(true);
generator.generate(image1);
global::mesh1 = generator.mesh();
global::mesh1.computeNormalsFromFaces();
generator.generate(image2);
global::mesh2 = generator.mesh();
global::mesh2.computeNormalsFromFaces();
ntk_dbg(0) << "============ ALIGN WITH ICP ============";
alignWithICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH LEVENBERG ICP ============";
alignWithLevenbergICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD ============";
alignWithRGBD(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD THEN ICP ============";
alignWithRGBDThenICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD-ICP ============";
alignWithRGBDICP(image1, image2);
global::mesh1.normals.clear();
global::mesh1.saveToPlyFile("debug_mesh1.ply");
global::mesh2.normals.clear();
global::mesh2.saveToPlyFile("debug_mesh2.ply");
return 0;
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage ref_image, transformed_image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(ref_image);
post_processor.processImage(ref_image);
// Stop the grabber, don't need the kinect anymore.
grabber.stop();
grabber.disconnectFromDevice();
// Artificially apply an in-plane rotation of 5 degrees.
ref_image.copyTo(transformed_image);
cv::warpAffine(ref_image.depth(),
transformed_image.depthRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_NEAREST);
cv::warpAffine(ref_image.rgb(),
transformed_image.rgbRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_LINEAR);
imshow_normalized("depth", ref_image.depth());
imshow_normalized("rotated_depth", transformed_image.depth());
cv::waitKey(0);
// Check if ICP can find the applied transformation.
RelativePoseEstimatorICP estimator;
estimator.setDistanceThreshold(0.5); // points are associated if distance is < 50cm
estimator.setVoxelSize(0.01); // points are clustered into 1cm cells.
estimator.setMaxIterations(100); // no more than 100 ICP iterations
estimator.setReferenceImage(ref_image);
estimator.estimateNewPose(transformed_image);
// Should be almost 0
ntk_dbg_print(estimator.currentPose().cvTranslation(), 1);
// Should be around 5 degrees around the z axis.
ntk_dbg_print(estimator.currentPose().cvEulerRotation()*float(180/ntk::math::pi), 1);
// Save the processed images as point clouds.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(ref_image);
generator.mesh().saveToPlyFile("ref.ply");
generator.generate(transformed_image);
generator.mesh().saveToPlyFile("transformed.ply");
generator.generate(transformed_image, estimator.currentPose(), estimator.currentPose());
generator.mesh().saveToPlyFile("transformed_corrected.ply");
}
// handle default argument
bool initialize(MeshGenerator &self, const Cube *cube, Mesh *mesh, float iso)
{
return self.initialize(cube, mesh, iso);
}
RotationDragger::RotationDragger()
{
draggableAxes_ = RX | RY | RZ;
MeshGenerator meshGenerator;
meshGenerator.setDivisionNumber(36);
SgMeshPtr beltMesh1 = meshGenerator.generateDisc(1.0, 1.0 - 0.2);
meshGenerator.setDivisionNumber(24);
SgMeshPtr beltMesh2 = meshGenerator.generateCylinder(1.0, 0.2, false, false);
scale = new SgScaleTransform;
// make dragger belts
for(int i=0; i < 3; ++i){
SgMaterial* material = new SgMaterial;
Vector3f color(0.2f, 0.2f, 0.2f);
color[i] = 1.0f;
material->setDiffuseColor(Vector3f::Zero());
material->setEmissiveColor(color);
material->setAmbientIntensity(0.0f);
material->setTransparency(0.6f);
SgShape* beltShape1 = new SgShape;
beltShape1->setMesh(beltMesh1);
beltShape1->setMaterial(material);
SgShape* beltShape2 = new SgShape;
beltShape2->setMesh(beltMesh2);
beltShape2->setMaterial(material);
ViewpointDependentRenderingSelector* selector = new ViewpointDependentRenderingSelector;
SgPosTransform* transform1 = new SgPosTransform;
if(i == 0){ // x-axis
selector->setAxis(Vector3::UnitX());
transform1->setRotation(AngleAxis(PI / 2.0, Vector3::UnitY()));
} else if(i == 1){ // y-axis
selector->setAxis(Vector3::UnitY());
transform1->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitX()));
} else if(i == 2) { // z-axis
selector->setAxis(Vector3::UnitZ());
}
transform1->addChild(beltShape1);
SgInvariantGroup* belt1 = new SgInvariantGroup;
belt1->setName(axisNames[i]);
belt1->addChild(transform1);
selector->addChild(belt1);
SgPosTransform* transform2 = new SgPosTransform;
if(i == 0){ // x-axis
transform2->setRotation(AngleAxis(-PI / 2.0, Vector3::UnitZ()));
} else if(i == 2) { // z-axis
transform2->setRotation(AngleAxis(PI / 2.0, Vector3::UnitX()));
}
transform2->addChild(beltShape2);
SgInvariantGroup* belt2 = new SgInvariantGroup;
belt2->setName(axisNames[i]);
belt2->addChild(transform2);
selector->addChild(belt2);
SgSwitch* axis = new SgSwitch;
axis->addChild(selector);
scale->addChild(axis);
}
addChild(scale);
isContainerMode_ = false;
}
Mesh* COLMeshConverter::convert(const COLModel& model)
{
const COLSphere* spheres = model.getSphereCount() != 0 ? &model.getSpheres()[0] : NULL;
const COLBox* boxes = model.getBoxCount() != 0 ? &model.getBoxes()[0] : NULL;
GLuint dataBuffer;
glGenBuffers(1, &dataBuffer);
glBindBuffer(GL_ARRAY_BUFFER, dataBuffer);
unsigned int vertexCount = 0;
uint32_t sphereCount = model.getSphereCount();
uint32_t boxCount = model.getBoxCount();
float** boxVertexArrays = new float*[boxCount];
float** sphereVertexArrays = new float*[sphereCount];
uint32_t** boxIndexArrays = new uint32_t*[boxCount];
uint32_t** sphereIndexArrays = new uint32_t*[sphereCount];
unsigned int* boxVertexCounts = new unsigned int[boxCount];
unsigned int* sphereVertexCounts = new unsigned int[sphereCount];
unsigned int* boxIndexCounts = new unsigned int[boxCount];
unsigned int* sphereIndexCounts = new unsigned int[sphereCount];
MeshGenerator gen;
for (uint32_t i = 0 ; i < sphereCount ; i++) {
const COLSphere& sphere = spheres[i];
float* tmpNormals;
gen.createSphere(sphereVertexArrays[i], tmpNormals, sphereVertexCounts[i], sphereIndexArrays[i],
sphereIndexCounts[i], sphere.getRadius(), 4, 4, sphere.getCenter());
delete[] tmpNormals;
vertexCount += sphereVertexCounts[i];
}
for (uint32_t i = 0 ; i < boxCount ; i++) {
const COLBox& box = boxes[i];
gen.createBox(boxVertexArrays[i], boxVertexCounts[i], boxIndexArrays[i], boxIndexCounts[i],
box.getMinimum(), box.getMaximum());
vertexCount += boxVertexCounts[i];
}
unsigned int modelVertexCount;
float* modelVertices;
uint8_t* modelColors;
uint32_t* modelIndices;
unsigned int modelIndexCount;
convertVertexModel(model.getVertices(), model.getVertexCount(),
model.getFaceCount() != 0 ? &model.getFaces()[0] : NULL, model.getFaceCount(),
modelVertexCount, modelVertices, modelColors, modelIndices, modelIndexCount);
vertexCount += modelVertexCount;
//printf("glBufferData COLMeshConverter 3\n");
glBufferData(GL_ARRAY_BUFFER, vertexCount*3*4 + vertexCount*4, NULL, GL_STATIC_DRAW);
Engine::getInstance()->increaseTestMem(vertexCount*3*4 + vertexCount*4, __FILE__, __LINE__);
int vertexOffset = 0;
int colorOffset = vertexCount*3*4;
glBufferSubData(GL_ARRAY_BUFFER, 0, modelVertexCount*3*4, modelVertices);
glBufferSubData(GL_ARRAY_BUFFER, colorOffset, modelVertexCount*4, modelColors);
vertexOffset = modelVertexCount;
/*Mesh* mesh = new Mesh(vertexCount, VertexFormatTriangles, MeshVertexColors, dataBuffer, -1, -1,
colorOffset);*/
Mesh* mesh = new Mesh(vertexCount, VertexFormatTriangles, 0, dataBuffer, vertexCount*3*4 + vertexCount*4,
0, 0, -1, -1, -1, -1, vertexCount*3*4, 0);
delete[] modelVertices;
delete[] modelColors;
uint8_t r, g, b;
for (uint32_t i = 0 ; i < sphereCount ; i++) {
const COLSphere& sphere = spheres[i];
unsigned int vertexCount = sphereVertexCounts[i];
// Create the vertex colors array
uint8_t* colors = new uint8_t[vertexCount*4];
const COLSurface& surface = sphere.getSurface();
uint8_t matNum = surface.getMaterial();
getMaterialColors(matNum, r, g, b);
for (unsigned int j = 0 ; j < vertexCount ; j++) {
colors[j*4] = r;
colors[j*4+1] = g;
colors[j*4+2] = b;
colors[j*4+3] = 255;
}
// Fill the buffers with vertex data
glBufferSubData(GL_ARRAY_BUFFER, vertexOffset*3*4, vertexCount*3*4, sphereVertexArrays[i]);
glBufferSubData(GL_ARRAY_BUFFER, colorOffset + vertexOffset*4, vertexCount*4, colors);
vertexOffset += vertexCount;
delete[] colors;
}
for (uint32_t i = 0 ; i < boxCount ; i++) {
const COLBox& box = boxes[i];
unsigned int vertexCount = boxVertexCounts[i];
// Create the vertex colors array
uint8_t* colors = new uint8_t[vertexCount*4];
const COLSurface& surface = box.getSurface();
uint8_t matNum = surface.getMaterial();
getMaterialColors(matNum, r, g, b);
for (unsigned int j = 0 ; j < vertexCount ; j++) {
colors[j*4] = r;
colors[j*4+1] = g;
colors[j*4+2] = b;
colors[j*4+3] = 255;
}
// Fill the buffers with vertex data
glBufferSubData(GL_ARRAY_BUFFER, vertexOffset*3*4, vertexCount*3*4, boxVertexArrays[i]);
glBufferSubData(GL_ARRAY_BUFFER, colorOffset + vertexOffset*4, vertexCount*4, colors);
vertexOffset += vertexCount;
delete[] colors;
}
Submesh* submesh = new Submesh(mesh, modelIndexCount, modelIndices);
vertexOffset = modelVertexCount;
delete[] modelIndices;
for (uint32_t i = 0 ; i < sphereCount ; i++) {
unsigned int indexCount = sphereIndexCounts[i];
uint32_t* indices = sphereIndexArrays[i];
for (unsigned int j = 0 ; j < indexCount ; j++) {
indices[j] += vertexOffset;
}
Submesh* submesh = new Submesh(mesh, indexCount, indices);
vertexOffset += sphereVertexCounts[i];
delete[] sphereVertexArrays[i];
delete[] sphereIndexArrays[i];
}
delete[] sphereVertexArrays;
delete[] sphereIndexArrays;
delete[] sphereVertexCounts;
delete[] sphereIndexCounts;
for (uint32_t i = 0 ; i < boxCount ; i++) {
unsigned int indexCount = boxIndexCounts[i];
uint32_t* indices = boxIndexArrays[i];
for (unsigned int j = 0 ; j < indexCount ; j++) {
indices[j] += vertexOffset;
}
Submesh* submesh = new Submesh(mesh, indexCount, indices);
vertexOffset += boxVertexCounts[i];
delete[] boxVertexArrays[i];
delete[] boxIndexArrays[i];
}
delete[] boxVertexArrays;
delete[] boxIndexArrays;
delete[] boxVertexCounts;
delete[] boxIndexCounts;
mesh->link();
const COLBounds& bounds = model.getBounds();
const Vector3& center = bounds.getCenter();
mesh->setBounds(center.getX(), center.getY(), center.getZ(), bounds.getRadius());
return mesh;
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver);
// Start the grabber.
grabber.setHighRgbResolution(false);
grabber.setCustomBayerDecoding(true);
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage ref_image, transformed_image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
for (int i = 0; i < 5; ++i)
grabber.waitForNextFrame();
grabber.copyImageTo(ref_image);
post_processor.processImage(ref_image);
// Stop the grabber, don't need the kinect anymore.
grabber.stop();
grabber.disconnectFromDevice();
// Artificially apply an in-plane rotation of 5 degrees.
ref_image.copyTo(transformed_image);
#if 1
cv::warpAffine(ref_image.depth(),
transformed_image.depthRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_NEAREST);
cv::warpAffine(ref_image.rgb(),
transformed_image.rgbRef(),
cv::getRotationMatrix2D(Point2f(320,240), 5, 1),
cv::Size(640,480),
cv::INTER_LINEAR);
#endif
#if 0
imshow_normalized("rgb", ref_image.rgb());
imshow_normalized("rotated_rgb", transformed_image.rgb());
cv::waitKey(0);
#endif
Pose3D target_pose = *ref_image.calibration()->depth_pose;
// Artificially apply some changes.
target_pose.applyTransformBefore(cv::Vec3f(0,1.0,0), cv::Vec3f(M_PI*4.0,0,M_PI/2.0));
RelativePoseEstimatorMarkers estimator;
estimator.setMarkerSize(opt::marker_size());
estimator.setSourceImage(transformed_image);
estimator.setTargetImage(ref_image);
estimator.setTargetPose(target_pose);
estimator.estimateNewPose();
// Should be almost -0.0874827 0.997087 0.000867769
ntk_dbg_print(estimator.estimatedSourcePose().cvTranslation(), 1);
// Should be almost -0.350163 -0.0560269 95.1153
ntk_dbg_print(estimator.estimatedSourcePose().cvEulerRotation()*float(180/ntk::math::pi), 1);
// Save the processed images as point clouds.
MeshGenerator generator;
generator.setUseColor(true);
generator.setMeshType(MeshGenerator::PointCloudMesh);
generator.generate(ref_image, target_pose, target_pose);
generator.mesh().saveToPlyFile("ref.ply");
generator.generate(transformed_image, target_pose, target_pose);
generator.mesh().saveToPlyFile("transformed.ply");
generator.generate(transformed_image, estimator.estimatedSourcePose(), estimator.estimatedSourcePose());
generator.mesh().saveToPlyFile("transformed_corrected.ply");
}
