Mesh Mesh::fromMap(const Map &depth, const Map &intensities, bool centralizeLoadedMesh)
{
if ((depth.w != intensities.w) || (depth.h != intensities.h))
throw FACELIB_EXCEPTION("incompatibile input map sizes");
std::map<std::pair<int,int>, int> coordToIndex;
VectorOfPoints points;
Colors colors;
int index = 0;
for (int y = 0; y < depth.h; y++)
{
for (int x = 0; x < depth.w; x++)
{
if (depth.isSet(x,y))
{
if (!intensities.isSet(x,y)) throw FACELIB_EXCEPTION("intensities point is not valid");
points.push_back(cv::Point3d(x, depth.h-y-1, depth.get(x,y)));
uchar intensity = intensities.get(x, y);
colors.push_back(cv::Vec3b(intensity, intensity, intensity));
coordToIndex[std::pair<int,int>(x,y)] = index;
index++;
}
}
}
Mesh mesh = Mesh::fromPointcloud(points, centralizeLoadedMesh, false);
mesh.colors = colors;
// triangles
for (int y = 0; y < depth.h; y++)
{
for (int x = 0; x < depth.w; x++)
{
if (depth.isSet(x,y) &&
depth.isValidCoord(x, y+1) && depth.isSet(x, y+1) &&
depth.isValidCoord(x+1, y+1) && depth.isSet(x+1, y+1))
{
mesh.triangles.push_back(cv::Vec3i(coordToIndex[std::pair<int,int>(x,y)], coordToIndex[std::pair<int,int>(x,y+1)], coordToIndex[std::pair<int,int>(x+1,y+1)]));
}
if (depth.isSet(x,y) &&
depth.isValidCoord(x+1, y+1) && depth.isSet(x+1, y+1) &&
depth.isValidCoord(x+1, y) && depth.isSet(x+1, y))
{
mesh.triangles.push_back(cv::Vec3i(coordToIndex[std::pair<int,int>(x,y)], coordToIndex[std::pair<int,int>(x+1,y+1)], coordToIndex[std::pair<int,int>(x+1,y)]));
}
}
}
return mesh;
}
Mesh Mesh::fromABS(const std::string &filename, const std::string &texture, bool centralizeLoadedMesh)
{
cv::Mat_<cv::Vec3b> image;
if (!texture.empty())
image = cv::imread(texture);
std::ifstream in(filename);
if (!in.is_open())
throw FACELIB_EXCEPTION("can't open file " + filename);
std::string line;
int mapHeight;
in >> mapHeight;
std::getline(in, line);
int mapwidth;
in >> mapwidth;
std::getline(in, line);
std::getline(in, line);
int total = mapwidth*mapHeight;
std::vector<int> flags(total);
std::vector<double> xPoints(total);
std::vector<double> yPoints(total);
std::vector<double> zPoints(total);
for (int i = 0; i < total; i++)
in >> (flags[i]);
for (int i = 0; i < total; i++)
in >> (xPoints[i]);
for (int i = 0; i < total; i++)
in >> (yPoints[i]);
for (int i = 0; i < total; i++)
in >> (zPoints[i]);
VectorOfPoints points;
Colors colors;
for (int i = 0; i < total; i++)
{
if (flags[i])
{
cv::Point3d p;
p.x = xPoints[i];
p.y = yPoints[i];
p.z = zPoints[i];
points.push_back(p);
if (!texture.empty())
{
int x = i % 640;
int y = i / 640;
colors.push_back(image(y, x));
}
}
}
Mesh mesh = Mesh::fromPointcloud(points, centralizeLoadedMesh);
mesh.colors = colors;
return mesh;
}
int main( int argc, char ** argv )
{
/* Check that we are running against at least GDAL 1.4 (probably older in fact !) */
/* Note to developers : if we use newer API, please change the requirement */
if (atoi(GDALVersionInfo("VERSION_NUM")) < 1400)
{
fprintf(stderr, "At least, GDAL >= 1.4.0 is required for this version of %s, "
"which was compiled against GDAL %s\n", argv[0], GDAL_RELEASE_NAME);
exit(1);
}
/* -------------------------------------------------------------------- */
/* Generic arg processing. */
/* -------------------------------------------------------------------- */
GDALAllRegister();
GDALSetCacheMax( 100000000 );
argc = GDALGeneralCmdLineProcessor( argc, &argv, 0 );
if( argc < 1 )
exit( -argc );
/* -------------------------------------------------------------------- */
/* Parse arguments. */
/* -------------------------------------------------------------------- */
int i;
const char *pszOutFile = NULL;
const char *pszInFile = NULL;
int nMaxNonBlack = 2;
int nNearDist = 15;
int bNearWhite = FALSE;
int bSetAlpha = FALSE;
int bSetMask = FALSE;
const char* pszDriverName = "HFA";
int bFormatExplicitelySet = FALSE;
char** papszCreationOptions = NULL;
int bQuiet = FALSE;
Colors oColors;
for( i = 1; i < argc; i++ )
{
if( EQUAL(argv[i], "--utility_version") )
{
printf("%s was compiled against GDAL %s and is running against GDAL %s\n",
argv[0], GDAL_RELEASE_NAME, GDALVersionInfo("RELEASE_NAME"));
return 0;
}
else if( EQUAL(argv[i], "-o") && i < argc-1 )
pszOutFile = argv[++i];
else if( EQUAL(argv[i], "-of") && i < argc-1 )
{
pszDriverName = argv[++i];
bFormatExplicitelySet = TRUE;
}
else if( EQUAL(argv[i], "-white") ) {
bNearWhite = TRUE;
}
/***** -color c1,c2,c3...cn *****/
else if( EQUAL(argv[i], "-color") && i < argc-1 ) {
Color oColor;
/***** tokenize the arg on , *****/
char **papszTokens;
papszTokens = CSLTokenizeString2( argv[++i], ",", 0 );
/***** loop over the tokens *****/
int iToken;
for( iToken = 0; papszTokens && papszTokens[iToken]; iToken++ )
{
/***** ensure the token is an int and add it to the color *****/
if ( IsInt( papszTokens[iToken] ) )
oColor.push_back( atoi( papszTokens[iToken] ) );
else {
CPLError(CE_Failure, CPLE_AppDefined,
"Colors must be valid integers." );
CSLDestroy( papszTokens );
exit(1);
}
}
CSLDestroy( papszTokens );
/***** check if the number of bands is consistant *****/
if ( oColors.size() > 0 &&
oColors.front().size() != oColor.size() )
{
CPLError(CE_Failure, CPLE_AppDefined,
"ERROR: all -color args must have the same number of values.\n" );
exit(1);
}
/***** add the color to the colors *****/
oColors.push_back( oColor );
}
else if( EQUAL(argv[i], "-nb") && i < argc-1 )
nMaxNonBlack = atoi(argv[++i]);
else if( EQUAL(argv[i], "-near") && i < argc-1 )
nNearDist = atoi(argv[++i]);
else if( EQUAL(argv[i], "-setalpha") )
bSetAlpha = TRUE;
else if( EQUAL(argv[i], "-setmask") )
bSetMask = TRUE;
else if( EQUAL(argv[i], "-q") || EQUAL(argv[i], "-quiet") )
bQuiet = TRUE;
else if( EQUAL(argv[i], "-co") && i < argc-1 )
papszCreationOptions = CSLAddString(papszCreationOptions, argv[++i]);
else if( argv[i][0] == '-' )
Usage();
else if( pszInFile == NULL )
pszInFile = argv[i];
else
Usage();
}
if( pszInFile == NULL )
Usage();
if( pszOutFile == NULL )
pszOutFile = pszInFile;
/* -------------------------------------------------------------------- */
/* Open input file. */
/* -------------------------------------------------------------------- */
GDALDatasetH hInDS, hOutDS = NULL;
int nXSize, nYSize, nBands;
if( pszOutFile == pszInFile )
hInDS = hOutDS = GDALOpen( pszInFile, GA_Update );
else
hInDS = GDALOpen( pszInFile, GA_ReadOnly );
if( hInDS == NULL )
exit( 1 );
nXSize = GDALGetRasterXSize( hInDS );
nYSize = GDALGetRasterYSize( hInDS );
nBands = GDALGetRasterCount( hInDS );
int nDstBands = nBands;
if( hOutDS != NULL && papszCreationOptions != NULL)
{
CPLError(CE_Warning, CPLE_AppDefined,
"Warning: creation options are ignored when writing to an existing file.");
}
/* -------------------------------------------------------------------- */
/* Do we need to create output file? */
/* -------------------------------------------------------------------- */
if( hOutDS == NULL )
{
GDALDriverH hDriver = GDALGetDriverByName( pszDriverName );
if (hDriver == NULL)
exit(1);
if (!bQuiet && !bFormatExplicitelySet)
CheckExtensionConsistency(pszOutFile, pszDriverName);
if (bSetAlpha)
{
/***** fixme there should be a way to preserve alpha band data not in the collar *****/
if (nBands == 4)
nBands --;
else
nDstBands ++;
}
if (bSetMask)
{
if (nBands == 4)
nDstBands = nBands = 3;
}
hOutDS = GDALCreate( hDriver, pszOutFile,
nXSize, nYSize, nDstBands, GDT_Byte,
papszCreationOptions );
if( hOutDS == NULL )
exit( 1 );
double adfGeoTransform[6];
if( GDALGetGeoTransform( hInDS, adfGeoTransform ) == CE_None )
{
GDALSetGeoTransform( hOutDS, adfGeoTransform );
GDALSetProjection( hOutDS, GDALGetProjectionRef( hInDS ) );
}
}
else
{
if (bSetAlpha)
{
if (nBands != 4 &&
(nBands < 2 ||
GDALGetRasterColorInterpretation(GDALGetRasterBand(hOutDS, nBands)) != GCI_AlphaBand))
{
CPLError(CE_Failure, CPLE_AppDefined,
"Last band is not an alpha band.");
exit(1);
}
nBands --;
}
if (bSetMask)
{
if (nBands == 4)
nDstBands = nBands = 3;
}
}
/***** set a color if there are no colors set? *****/
if ( oColors.size() == 0) {
Color oColor;
/***** loop over the bands to get the right number of values *****/
int iBand;
for (iBand = 0; iBand < nBands ; iBand++) {
/***** black or white? *****/
if (bNearWhite)
oColor.push_back(255);
else
oColor.push_back(0);
}
/***** add the color to the colors *****/
oColors.push_back(oColor);
}
/***** does the number of bands match the number of color values? *****/
if ( (int)oColors.front().size() != nBands ) {
CPLError( CE_Failure, CPLE_AppDefined,
"-color args must have the same number of values as the non alpha input band count.\n" );
exit(1);
}
/***** check the input and output datasets are the same size *****/
if (GDALGetRasterXSize(hOutDS) != nXSize ||
GDALGetRasterYSize(hOutDS) != nYSize)
{
CPLError(CE_Failure, CPLE_AppDefined,
"The dimensions of the output dataset don't match "
"the dimensions of the input dataset.");
exit(1);
}
int iBand;
for( iBand = 0; iBand < nBands; iBand++ )
{
GDALRasterBandH hBand = GDALGetRasterBand(hInDS, iBand+1);
if (GDALGetRasterDataType(hBand) != GDT_Byte)
{
CPLError(CE_Warning, CPLE_AppDefined,
"Band %d is not of type GDT_Byte. It can lead to unexpected results.", iBand+1);
}
if (GDALGetRasterColorTable(hBand) != NULL)
{
CPLError(CE_Warning, CPLE_AppDefined,
"Band %d has a color table, which is ignored by nearblack. "
"It can lead to unexpected results.", iBand+1);
}
}
GDALRasterBandH hMaskBand = NULL;
if (bSetMask) {
/***** if there isn't already a mask band on the output file create one *****/
if ( GMF_PER_DATASET != GDALGetMaskFlags( GDALGetRasterBand(hOutDS, 1) ) )
{
if ( CE_None != GDALCreateDatasetMaskBand(hOutDS, GMF_PER_DATASET) ) {
CPLError(CE_Failure, CPLE_AppDefined,
"Failed to create mask band on output DS");
bSetMask = FALSE;
}
}
if (bSetMask) {
hMaskBand = GDALGetMaskBand(GDALGetRasterBand(hOutDS, 1));
}
}
/* -------------------------------------------------------------------- */
/* Allocate a line buffer. */
/* -------------------------------------------------------------------- */
GByte *pabyLine;
GByte *pabyMask=NULL;
int *panLastLineCounts;
pabyLine = (GByte *) CPLMalloc(nXSize * nDstBands);
if (bSetMask)
pabyMask = (GByte *) CPLMalloc(nXSize);
panLastLineCounts = (int *) CPLCalloc(sizeof(int),nXSize);
/* -------------------------------------------------------------------- */
/* Processing data one line at a time. */
/* -------------------------------------------------------------------- */
int iLine;
for( iLine = 0; iLine < nYSize; iLine++ )
{
CPLErr eErr;
eErr = GDALDatasetRasterIO( hInDS, GF_Read, 0, iLine, nXSize, 1,
pabyLine, nXSize, 1, GDT_Byte,
nBands, NULL, nDstBands, nXSize * nDstBands, 1 );
if( eErr != CE_None )
break;
if (bSetAlpha)
{
int iCol;
for(iCol = 0; iCol < nXSize; iCol ++)
{
pabyLine[iCol * nDstBands + nDstBands - 1] = 255;
}
}
if (bSetMask)
{
int iCol;
for(iCol = 0; iCol < nXSize; iCol ++)
{
pabyMask[iCol] = 255;
}
}
ProcessLine( pabyLine, pabyMask, 0, nXSize-1, nBands, nDstBands,
nNearDist, nMaxNonBlack, bNearWhite, &oColors,
panLastLineCounts,
TRUE, // bDoHorizontalCheck
TRUE, // bDoVerticalCheck
FALSE // bBottomUp
);
ProcessLine( pabyLine, pabyMask, nXSize-1, 0, nBands, nDstBands,
nNearDist, nMaxNonBlack, bNearWhite, &oColors,
panLastLineCounts,
TRUE, // bDoHorizontalCheck
FALSE, // bDoVerticalCheck
FALSE // bBottomUp
);
eErr = GDALDatasetRasterIO( hOutDS, GF_Write, 0, iLine, nXSize, 1,
pabyLine, nXSize, 1, GDT_Byte,
nDstBands, NULL, nDstBands, nXSize * nDstBands, 1 );
if( eErr != CE_None )
break;
/***** write out the mask band line *****/
if (bSetMask) {
eErr = GDALRasterIO ( hMaskBand, GF_Write, 0, iLine, nXSize, 1,
pabyMask, nXSize, 1, GDT_Byte,
0, 0 );
if( eErr != CE_None ) {
CPLError(CE_Warning, CPLE_AppDefined,
"ERROR writeing out line to mask band.");
break;
}
}
if (!bQuiet)
GDALTermProgress( 0.5 * ((iLine+1) / (double) nYSize), NULL, NULL );
}
/* -------------------------------------------------------------------- */
/* Now process from the bottom back up .*/
/* -------------------------------------------------------------------- */
memset( panLastLineCounts, 0, sizeof(int) * nXSize);
for( iLine = nYSize-1; iLine >= 0; iLine-- )
{
CPLErr eErr;
eErr = GDALDatasetRasterIO( hOutDS, GF_Read, 0, iLine, nXSize, 1,
pabyLine, nXSize, 1, GDT_Byte,
nDstBands, NULL, nDstBands, nXSize * nDstBands, 1 );
if( eErr != CE_None )
break;
/***** read the mask band line back in *****/
if (bSetMask) {
eErr = GDALRasterIO ( hMaskBand, GF_Read, 0, iLine, nXSize, 1,
pabyMask, nXSize, 1, GDT_Byte,
0, 0 );
if( eErr != CE_None )
break;
}
ProcessLine( pabyLine, pabyMask, 0, nXSize-1, nBands, nDstBands,
nNearDist, nMaxNonBlack, bNearWhite, &oColors,
panLastLineCounts,
TRUE, // bDoHorizontalCheck
TRUE, // bDoVerticalCheck
TRUE // bBottomUp
);
ProcessLine( pabyLine, pabyMask, nXSize-1, 0, nBands, nDstBands,
nNearDist, nMaxNonBlack, bNearWhite, &oColors,
panLastLineCounts,
TRUE, // bDoHorizontalCheck
FALSE, // bDoVerticalCheck
TRUE // bBottomUp
);
eErr = GDALDatasetRasterIO( hOutDS, GF_Write, 0, iLine, nXSize, 1,
pabyLine, nXSize, 1, GDT_Byte,
nDstBands, NULL, nDstBands, nXSize * nDstBands, 1 );
if( eErr != CE_None )
break;
/***** write out the mask band line *****/
if (bSetMask) {
eErr = GDALRasterIO ( hMaskBand, GF_Write, 0, iLine, nXSize, 1,
pabyMask, nXSize, 1, GDT_Byte,
0, 0 );
if( eErr != CE_None )
break;
}
if (!bQuiet)
GDALTermProgress( 0.5 + 0.5 * (nYSize-iLine) / (double) nYSize,
NULL, NULL );
}
CPLFree(pabyLine);
if (bSetMask)
CPLFree(pabyMask);
CPLFree( panLastLineCounts );
GDALClose( hOutDS );
if( hInDS != hOutDS )
GDALClose( hInDS );
GDALDumpOpenDatasets( stderr );
CSLDestroy( argv );
CSLDestroy( papszCreationOptions );
GDALDestroyDriverManager();
return 0;
}
