void insert_fiber(const CImg<T>& fiber, const CImg<te>& eigen, const CImg<tc>& palette,
const int xm, const int ym, const int zm,
const float vx, const float vy, const float vz,
CImgList<tp>& points, CImgList<tf>& primitives, CImgList<tc>& colors) {
const int N0 = points.size();
float x0 = fiber(0,0), y0 = fiber(0,1), z0 = fiber(0,2), fa0 = eigen.linear_atXYZ(x0,y0,z0,12);
points.insert(CImg<>::vector(vx*(x0 -xm),vy*(y0 - ym),vz*(z0 - zm)));
for (int l = 1; l<fiber.width(); ++l) {
float x1 = fiber(l,0), y1 = fiber(l,1), z1 = fiber(l,2), fa1 = eigen.linear_atXYZ(x1,y1,z1,12);
points.insert(CImg<tp>::vector(vx*(x1 - xm),vy*(y1 - ym),vz*(z1 - zm)));
primitives.insert(CImg<tf>::vector(N0 + l - 1,N0 + l));
const unsigned char
icol = (unsigned char)(fa0*255),
r = palette(icol,0),
g = palette(icol,1),
b = palette(icol,2);
colors.insert(CImg<unsigned char>::vector(r,g,b));
x0 = x1; y0 = y1; z0 = z1; fa0 = fa1;
}
}
void insert_ellipsoid(const CImg<t>& tensor,const float X,const float Y,const float Z,const float tfact,
const float vx, const float vy, const float vz,
CImgList<tp>& points, CImgList<tf>& faces, CImgList<tc>& colors,
const unsigned int res1 = 20, const unsigned int res2 = 20) {
// Compute eigen elements
const float l1 = tensor[0], l2 = tensor[1], l3 = tensor[2], fa = get_FA(l1,l2,l3);
CImg<> vec = CImg<>::matrix(tensor[3],tensor[6],tensor[9],
tensor[4],tensor[7],tensor[10],
tensor[5],tensor[8],tensor[11]);
const int
r = (int)cimg::min(30+1.5f*cimg::abs(255*fa*tensor[3]),255.0f),
g = (int)cimg::min(30+1.5f*cimg::abs(255*fa*tensor[4]),255.0f),
b = (int)cimg::min(30+1.5f*cimg::abs(255*fa*tensor[5]),255.0f);
// Define mesh points
const unsigned int N0 = points.size;
for (unsigned int v=1; v<res2; v++)
for (unsigned int u=0; u<res1; u++) {
const float
alpha = (float)(u*2*cimg::valuePI/res1),
beta = (float)(-cimg::valuePI/2 + v*cimg::valuePI/res2),
x = (float)(tfact*l1*std::cos(beta)*std::cos(alpha)),
y = (float)(tfact*l2*std::cos(beta)*std::sin(alpha)),
z = (float)(tfact*l3*std::sin(beta));
points.insert((CImg<tp>::vector(X,Y,Z)+vec*CImg<tp>::vector(x,y,z)).mul(CImg<tp>::vector(vx,vy,vz)));
}
const unsigned int N1 = points.size;
points.insert((CImg<tp>::vector(X,Y,Z)+vec*CImg<tp>::vector(0,0,-l3*tfact)));
points.insert((CImg<tp>::vector(X,Y,Z)+vec*CImg<tp>::vector(0,0,l3*tfact)));
points[points.size-2](0)*=vx; points[points.size-2](1)*=vy; points[points.size-2](2)*=vz;
points[points.size-1](0)*=vx; points[points.size-1](1)*=vy; points[points.size-1](2)*=vz;
// Define mesh triangles
for (unsigned int vv=0; vv<res2-2; vv++)
for (unsigned int uu=0; uu<res1; uu++) {
const int nv = (vv+1)%(res2-1), nu = (uu+1)%res1;
faces.insert(CImg<tf>::vector(N0+res1*vv+nu,N0+res1*nv+uu,N0+res1*vv+uu));
faces.insert(CImg<tf>::vector(N0+res1*vv+nu,N0+res1*nv+nu,N0+res1*nv+uu));
colors.insert(CImg<tc>::vector(r,g,b));
colors.insert(CImg<tc>::vector(r,g,b));
}
for (unsigned int uu=0; uu<res1; uu++) {
const int nu = (uu+1)%res1;
faces.insert(CImg<tf>::vector(N0+nu,N0+uu,N1));
faces.insert(CImg<tf>::vector(N0+res1*(res2-2)+nu, N1+1,N0+res1*(res2-2)+uu));
colors.insert(CImg<tc>::vector(r,g,b));
colors.insert(CImg<tc>::vector(r,g,b));
}
}
CImg<> get_fibertrack(CImg<T>& eigen,
const int X0, const int Y0, const int Z0, const float lmax=100,
const float dl=0.1f, const float FAmin=0.7f, const float cmin=0.5f) {
#define align_eigen(i,j,k) \
{ T &u = eigen(i,j,k,3), &v = eigen(i,j,k,4), &w = eigen(i,j,k,5); \
if (u*cu + v*cv + w*cw<0) { u=-u; v=-v; w=-w; }}
CImgList<> resf;
// Forward tracking
float normU = 0, normpU = 0, l = 0, X = (float)X0, Y = (float)Y0, Z = (float)Z0;
T
pu = eigen(X0,Y0,Z0,3),
pv = eigen(X0,Y0,Z0,4),
pw = eigen(X0,Y0,Z0,5);
normpU = (float)std::sqrt(pu*pu + pv*pv + pw*pw);
bool stopflag = false;
while (!stopflag) {
if (X<0 || X>eigen.width() - 1 || Y<0 || Y>eigen.height() - 1 || Z<0 || Z>eigen.depth() - 1 ||
eigen((int)X,(int)Y,(int)Z,12)<FAmin || l>lmax) stopflag = true;
else {
resf.insert(CImg<>::vector(X,Y,Z));
const int
cx = (int)X, px = (cx - 1<0)?0:cx - 1, nx = (cx + 1>=eigen.width())?eigen.width() - 1:cx + 1,
cy = (int)Y, py = (cy - 1<0)?0:cy - 1, ny = (cy + 1>=eigen.height())?eigen.height() - 1:cy + 1,
cz = (int)Z, pz = (cz - 1<0)?0:cz - 1, nz = (cz + 1>=eigen.depth())?eigen.depth() - 1:cz + 1;
const T cu = eigen(cx,cy,cz,3), cv = eigen(cx,cy,cz,4), cw = eigen(cx,cy,cz,5);
align_eigen(px,py,pz); align_eigen(cx,py,pz); align_eigen(nx,py,pz);
align_eigen(px,cy,pz); align_eigen(cx,cy,pz); align_eigen(nx,cy,pz);
align_eigen(px,ny,pz); align_eigen(cx,ny,pz); align_eigen(nx,ny,pz);
align_eigen(px,py,cz); align_eigen(cx,py,cz); align_eigen(nx,py,cz);
align_eigen(px,cy,cz); align_eigen(nx,cy,cz);
align_eigen(px,ny,cz); align_eigen(cx,ny,cz); align_eigen(nx,ny,cz);
align_eigen(px,py,nz); align_eigen(cx,py,nz); align_eigen(nx,py,nz);
align_eigen(px,cy,nz); align_eigen(cx,cy,nz); align_eigen(nx,cy,nz);
align_eigen(px,ny,nz); align_eigen(cx,ny,nz); align_eigen(nx,ny,nz);
const T
u0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,3),
v0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,4),
w0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,5),
u1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,3),
v1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,4),
w1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,5),
u2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,3),
v2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,4),
w2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,5),
u3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,3),
v3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,4),
w3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,5);
T
u = u0/3 + 2*u1/3 + 2*u2/3 + u3/3,
v = v0/3 + 2*v1/3 + 2*v2/3 + v3/3,
w = w0/3 + 2*w1/3 + 2*w2/3 + w3/3;
if (u*pu + v*pv + w*pw<0) { u = -u; v = -v; w = -w; }
normU = (float)std::sqrt(u*u + v*v + w*w);
const float scal = (u*pu + v*pv + w*pw)/(normU*normpU);
if (scal<cmin) stopflag=true;
X+=(pu=u); Y+=(pv=v); Z+=(pw=w);
normpU = normU;
l+=dl;
}
}
// Backward tracking
l = dl; X = (float)X0; Y = (float)Y0; Z = (float)Z0;
pu = eigen(X0,Y0,Z0,3);
pv = eigen(X0,Y0,Z0,4);
pw = eigen(X0,Y0,Z0,5);
normpU = (float)std::sqrt(pu*pu + pv*pv + pw*pw);
stopflag = false;
while (!stopflag) {
if (X<0 || X>eigen.width() - 1 || Y<0 || Y>eigen.height() - 1 || Z<0 || Z>eigen.depth() - 1 ||
eigen((int)X,(int)Y,(int)Z,12)<FAmin || l>lmax) stopflag = true;
else {
const int
cx = (int)X, px = (cx - 1<0)?0:cx - 1, nx = (cx + 1>=eigen.width())?eigen.width() - 1:cx + 1,
cy = (int)Y, py = (cy - 1<0)?0:cy - 1, ny = (cy + 1>=eigen.height())?eigen.height() - 1:cy + 1,
cz = (int)Z, pz = (cz - 1<0)?0:cz - 1, nz = (cz + 1>=eigen.depth())?eigen.depth() - 1:cz + 1;
const T cu = eigen(cx,cy,cz,3), cv = eigen(cx,cy,cz,4), cw = eigen(cx,cy,cz,5);
align_eigen(px,py,pz); align_eigen(cx,py,pz); align_eigen(nx,py,pz);
align_eigen(px,cy,pz); align_eigen(cx,cy,pz); align_eigen(nx,cy,pz);
align_eigen(px,ny,pz); align_eigen(cx,ny,pz); align_eigen(nx,ny,pz);
align_eigen(px,py,cz); align_eigen(cx,py,cz); align_eigen(nx,py,cz);
align_eigen(px,cy,cz); align_eigen(nx,cy,cz);
align_eigen(px,ny,cz); align_eigen(cx,ny,cz); align_eigen(nx,ny,cz);
align_eigen(px,py,nz); align_eigen(cx,py,nz); align_eigen(nx,py,nz);
align_eigen(px,cy,nz); align_eigen(cx,cy,nz); align_eigen(nx,cy,nz);
align_eigen(px,ny,nz); align_eigen(cx,ny,nz); align_eigen(nx,ny,nz);
const T
u0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,3),
v0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,4),
w0 = 0.5f*dl*eigen.linear_atXYZ(X,Y,Z,5),
u1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,3),
v1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,4),
w1 = 0.5f*dl*eigen.linear_atXYZ(X + u0,Y + v0,Z + w0,5),
u2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,3),
v2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,4),
w2 = 0.5f*dl*eigen.linear_atXYZ(X + u1,Y + v1,Z + w1,5),
u3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,3),
v3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,4),
w3 = 0.5f*dl*eigen.linear_atXYZ(X + u2,Y + v2,Z + w2,5);
T
u = u0/3 + 2*u1/3 + 2*u2/3 + u3/3,
v = v0/3 + 2*v1/3 + 2*v2/3 + v3/3,
w = w0/3 + 2*w1/3 + 2*w2/3 + w3/3;
if (u*pu + v*pv + w*pw<0) { u = -u; v = -v; w = -w; }
normU = (float)std::sqrt(u*u + v*v + w*w);
const float scal = (u*pu + v*pv + w*pw)/(normU*normpU);
if (scal<cmin) stopflag=true;
X-=(pu=u); Y-=(pv=v); Z-=(pw=w);
normpU=normU;
l+=dl;
resf.insert(CImg<>::vector(X,Y,Z),0);
}
}
return resf>'x';
}
// Main procedure
//----------------
int main(int argc,char **argv) {
// Read command line arguments.
cimg_usage("Render an image as a surface");
const char *file_i = cimg_option("-i",cimg_imagepath "logo.bmp","Input image");
const char *file_o = cimg_option("-o",(char*)0,"Output 3D object");
const float sigma = cimg_option("-smooth",1.0f,"Amount of image smoothing");
const float ratioz = cimg_option("-z",0.25f,"Aspect ratio along z-axis");
const unsigned int di = cimg_option("-di",10,"Step for isophote skipping");
// Load 2D image file.
std::fprintf(stderr,"\n- Load file '%s'",cimg::basename(file_i)); std::fflush(stderr);
const CImg<unsigned char>
img = CImg<>(file_i).blur(sigma).resize(-100,-100,1,3),
norm = img.get_norm().normalize(0,255);
// Compute surface with triangles.
std::fprintf(stderr,"\n- Create image surface"); std::fflush(stderr);
CImgList<unsigned int> primitives;
CImgList<unsigned char> colors;
const CImg<> points = img.get_elevation3d(primitives,colors,norm*-ratioz);
// Compute image isophotes.
std::fprintf(stderr,"\n- Compute image isophotes"); std::fflush(stderr);
CImgList<unsigned int> isoprimitives;
CImgList<unsigned char> isocolors;
CImg<> isopoints;
for (unsigned int i = 0; i<255; i+=di) {
CImgList<> prims;
const CImg<> pts = norm.get_isoline3d(prims,(float)i);
isopoints.append_object3d(isoprimitives,pts,prims);
}
cimglist_for(isoprimitives,l) {
const unsigned int i0 = isoprimitives(l,0);
const float x0 = isopoints(i0,0), y0 = isopoints(i0,1);
const unsigned char
r = (unsigned char)img.linear_atXY(x0,y0,0),
g = (unsigned char)img.linear_atXY(x0,y0,1),
b = (unsigned char)img.linear_atXY(x0,y0,2);
isocolors.insert(CImg<unsigned char>::vector(r,g,b));
}
cimg_forX(isopoints,ll) isopoints(ll,2) = -ratioz*norm.linear_atXY(isopoints(ll,0),isopoints(ll,1));
// Save object if necessary
if (file_o) {
std::fprintf(stderr,"\n- Save 3d object as '%s'",cimg::basename(file_o)); std::fflush(stderr);
points.save_off(primitives,colors,file_o);
}
// Enter event loop
std::fprintf(stderr,
"\n- Enter interactive loop.\n\n"
"Reminder : \n"
" + Use mouse to rotate and zoom object\n"
" + key 'F' : Toggle fullscreen\n"
" + key 'Q' or 'ESC' : Quit\n"
" + Any other key : Change rendering type\n\n"); std::fflush(stderr);
const char *const title = "Image viewed as a surface";
CImgDisplay disp(800,600,title,0);
unsigned int rtype = 2;
CImg<float> pose = CImg<float>::identity_matrix(4);
while (!disp.is_closed()) {
const unsigned char white[3]={ 255, 255, 255 };
CImg<unsigned char> visu(disp.width(),disp.height(),1,3,0);
visu.draw_text(10,10,"%s",white,0,1,24,
rtype==0?"Points":(rtype==1?"Lines":(rtype==2?"Faces":(rtype==3?"Flat-shaded faces":
(rtype==4?"Gouraud-shaded faces":(rtype==5?"Phong-shaded faces":"Isophotes"))))));
static bool first_time = true;
if (rtype==6) visu.display_object3d(disp,isopoints,isoprimitives,isocolors,first_time,1,-1,true,
500.0f,0.0f,0.0f,-5000.0f,0.0f,0.0f,true,pose.data());
else visu.display_object3d(disp,points,primitives,colors,first_time,rtype,-1,true,
500.0f,0.0f,0.0f,-5000.0f,0.0f,0.0f,true,pose.data());
first_time = false;
switch (disp.key()) {
case 0: break;
case cimg::keyBACKSPACE: rtype = (7 + rtype - 1)%7; break;
case cimg::keyQ:
case cimg::keyESC: disp.close(); break;
case cimg::keyF:
if (disp.is_fullscreen()) disp.resize(800,600); else disp.resize(disp.screen_width(),disp.screen_height());
disp.toggle_fullscreen();
break;
default: rtype = (rtype + 1)%7; break;
}
}
return 0;
}
// Main procedure
//----------------
int main (int argc, char **argv) {
cimg_usage("Compute the skeleton of a shape, using Hamilton-Jacobi equations");
// Read command line arguments
cimg_help("Input/Output options\n"
"--------------------");
const char* file_i = cimg_option("-i",cimg_imagepath "milla.bmp","Input (black&white) image");
const int median = cimg_option("-median",0,"Apply median filter");
const bool invert = cimg_option("-inv",false,"Invert image values");
const char* file_o = cimg_option("-o",(char*)0,"Output skeleton image");
const bool display = cimg_option("-visu",true,"Display results");
cimg_help("Skeleton computation parameters\n"
"-------------------------------");
const float thresh = cimg_option("-t",-0.3f,"Threshold");
const bool curve = cimg_option("-curve",false,"Create medial curve");
cimg_help("Torsello correction parameters\n"
"------------------------------");
const bool correction = cimg_option("-corr",false,"Torsello correction");
const float dlt1 = 2;
const float dlt2 = cimg_option("-dlt",1.0f,"Discrete step");
// Load the image (forcing it to be scalar with 2 values { 0,1 }).
CImg<unsigned int> image0(file_i), image = image0.get_norm().quantize(2).normalize(0.0f,1.0f);
if (median) image.blur_median(median);
if (invert) (image-=1)*=-1;
if (display) (image0.get_normalize(0,255),image.get_normalize(0,255)).display("Input image - Binary image");
// Compute distance map.
CImgList<float> visu;
CImg<float> distance = image.get_distance(0);
if (display) visu.insert(distance);
// Compute the gradient of the distance function, and the flux (divergence) of the gradient field.
const CImgList<float> grad = distance.get_gradient("xyz");
CImg<float> flux = image.get_flux(grad,1,1);
if (display) visu.insert(flux);
// Use the Torsello correction of the flux if necessary.
if (correction) {
CImg<float>
logdensity = image.get_logdensity(distance,grad,flux,dlt1),
nflux = image.get_corrected_flux(logdensity,grad,flux,dlt2);
if (display) visu.insert(logdensity).insert(nflux);
flux = nflux;
}
if (visu) {
cimglist_apply(visu,normalize)(0,255);
visu.display(visu.size()==2?"Distance function - Flux":"Distance function - Flux - Log-density - Corrected flux");
}
// Compute the skeleton
const CImg<unsigned int> skel = image.get_skeleton(flux,distance,curve,thresh);
if (display) {
(image0.resize(-100,-100,1,3)*=0.7f).get_shared_channel(1)|=skel*255.0;
image0.draw_image(0,0,0,0,image*255.0,0.5f).display("Image + Skeleton");
}
// Save output image if necessary.
if (file_o) skel.save(file_o);
return 0;
}
void display3D(CImg<T> image,
const char *file_o,const float ratioz,const unsigned int di,
const char *file_pose_i,const char *file_pose_o,
unsigned int rtype,bool color_type)
{
std::cout<<"display image as 3D surface"<<std::flush;
const CImg<unsigned char> norm=image.get_norm().normalize(0,255);
// Compute surface with triangles.
std::fprintf(stderr,"\n- Create image surface");
std::fflush(stderr);
CImgList<unsigned int> primitives;
////image colors
CImgList<unsigned char> colors;
const CImg<> points = image.get_elevation3d(primitives,colors,norm*-ratioz);
////constant colors
CImgList<unsigned char> colors2;
colors2=colors;
cimglist_for(colors2,l) colors2(l).fill(255);//white
// Compute image isophotes.
std::fprintf(stderr,"\n- Compute image isophotes");
std::fflush(stderr);
CImgList<unsigned int> isoprimitives;
////image colors
CImgList<unsigned char> isocolors;
CImg<> isopoints;
for (unsigned int i = 0; i<255; i+=di) {
CImgList<> prims;
const CImg<> pts = norm.get_isoline3d(prims,(float)i);
isopoints.append_object3d(isoprimitives,pts,prims);
}
cimglist_for(isoprimitives,l) {
const unsigned int i0 = isoprimitives(l,0);
const float x0 = isopoints(i0,0), y0 = isopoints(i0,1);
const unsigned char
r = (unsigned char)image.linear_atXY(x0,y0,0),
g = (unsigned char)image.linear_atXY(x0,y0,1),
b = (unsigned char)image.linear_atXY(x0,y0,2);
isocolors.insert(CImg<unsigned char>::vector(r,g,b));
}
cimg_forX(isopoints,l) isopoints(l,2) = -ratioz*norm.linear_atXY(isopoints(l,0),isopoints(l,1));
////constant colors
CImgList<unsigned char> isocolors2;
isocolors2=isocolors;
cimglist_for(isocolors2,l) isocolors2(l).fill(255);//white
// Save object if necessary
if (file_o)
{
std::fprintf(stderr,"\n- Save 3d object as '%s'",cimg::basename(file_o));
std::fflush(stderr);
points.save_off(primitives,colors,file_o);
}
//display GUI information
std::fprintf(stderr,
"\n- Enter interactive loop.\n\n"
"GUI reminder: \n"
" + Use mouse to rotate and zoom object\n"
" + key 'F' : toggle Fullscreen\n"
" + key 'Q' or 'ESC' : Quit (i.e. exit)\n"
" load or save file:\n"
" + key 'S' : Save displayed image (i.e. 3D view)\n"
" + key 'O' : save pOse (i.e. 3D view parameters)\n"
" + key 'R' : Read pose (i.e. 3D view parameters)\n"
" render type:\n"
" + key 'C' : color render (image or constant)\n"
" + key 'T' : poinTs render\n"
" + key 'L' : Lines render\n"
" + key 'A' : fAces render\n"
" + key 'H' : flat-sHaded faces render\n"
" + key 'G' : Gouraud-shaded faces render\n"
" + key 'P' : Phong-shaded faces render\n"
" + key 'I' : Isophotes render\n"
" + key 'BackSpace' : change rendering type (i.e. decrement type)\n"
" + Any other key : change rendering type (i.e. increment type)\n\n"
);
std::fflush(stderr);
const char *const title = "Image viewed as a surface";
CImgDisplay disp(800,600,title,0);
CImg<float> pose=CImg<float>::identity_matrix(4);
//load pose if set
if(file_pose_i) {
std::cerr<<"- read pose from file \""<<file_pose_i<<"\"\n"<<std::flush;
pose.load(file_pose_i);
}
//pose.print("pose");std::cerr<<std::flush;
//GUI loop
while (!disp.is_closed())
{
const unsigned char text_color[3]= {123,234,234};
CImg<unsigned char> visu(disp.width(),disp.height(),1,3,0);
visu.draw_text(10,10,"%s",text_color,0,1,24,
rtype==0?"Points (0,T)":(rtype==1?"Lines (1,L)":(rtype==2?"Faces (2,A)":(rtype==3?"Flat-shaded faces (3,H)":
(rtype==4?"Gouraud-shaded faces (4,G)":(rtype==5?"Phong-shaded faces (5,P)":"Isophotes (6,I)"))))));
static bool first_time=(file_pose_i)?false:true;
if (rtype==6) visu.display_object3d(disp,isopoints,isoprimitives,(color_type)?isocolors:isocolors2,first_time,1,-1,true,
500.0f,0.0f,0.0f,-5000.0f,0.0f,0.0f,true,pose.data());
else visu.display_object3d(disp,points,primitives,(color_type)?colors:colors2,first_time,rtype,-1,true,
500.0f,0.0f,0.0f,-5000.0f,0.0f,0.0f,true,pose.data());
first_time=false;
//pose.print("pose");std::cerr<<std::flush;
switch (disp.key())
{
case 0:
break;
case cimg::keyBACKSPACE:
rtype=(7+rtype-1)%7;
break;
case cimg::keyQ:
case cimg::keyESC:
disp.close();
break;
//fullscreen display or not
case cimg::keyF:
if (disp.is_fullscreen()) disp.resize(800,600);
else disp.resize(disp.screen_width(),disp.screen_height());
disp.toggle_fullscreen();
break;
//save display
case cimg::keyS: {
std::string file_tmp="CImg_surface3D.png";
std::cerr<<"saving display as image in \""<<file_tmp<<"\".\n"<<std::flush;
CImg<unsigned char> tmp;
disp.snapshot(tmp);
tmp.save(file_tmp.c_str());
}
break;
//save pose
case cimg::keyO: {
std::cerr<<"saving pose in file \""<<file_pose_o<<"\".\n"<<std::flush;
pose.save(file_pose_o);
}
break;
//load pose
case cimg::keyR: {
std::cerr<<"loading pose from file \""<<file_pose_i<<"\".\n"<<std::flush;
pose.load(file_pose_i);
}
break;
//display type
case cimg::keyC:
color_type=(color_type)?false:true;
break;//color type
case cimg::keyT:
rtype=0;
break;//poinTs
case cimg::keyL:
rtype=1;
break;//Lines
case cimg::keyA:
rtype=2;
break;//fAces
case cimg::keyH:
rtype=3;
break;//flat-sHaded faces
case cimg::keyG:
rtype=4;
break;//Gouraud-shaded faces
case cimg::keyP:
rtype=5;
break;//Phong-shaded faces
case cimg::keyI:
rtype=6;
break;//Isophotes
default:
rtype = (rtype+1)%7;
break;
}//Key switch
}//GUI loop
}