ref: 2da0a7ecb1f439fc35f6fe24592be6fbf381376a
dir: /tools/3D-Reconstruction/sketch_3D_reconstruction/sketch_3D_reconstruction.pde/
/*The dataset is from
*Computer Vision Group
*TUM Department of Informatics Technical
*University of Munich
*https://vision.in.tum.de/data/datasets/rgbd-dataset/download#freiburg1_xyz
*/
PointCloud point_cloud; // pointCloud object
Camera cam; // build camera object
MotionField mf; // motion field
void setup() {
size(640, 480, P3D);
// basic settings
float focal = 525.0f; // focal distance of camera
int frame_no = 0; // frame number
float fov = PI / 3; // field of view
int block_size = 8; // block size
float normalizer = 5000.0f; // normalizer
// initialize
point_cloud = new PointCloud();
// synchronized rgb, depth and ground truth
String head = "../data/";
String[] rgb_depth_gt = loadStrings(head + "rgb_depth_groundtruth.txt");
// read in rgb and depth image file paths as well as corresponding camera
// posiiton and quaternion
String[] info = split(rgb_depth_gt[frame_no], ' ');
String rgb_path = head + info[1];
String depth_path = head + info[3];
float tx = float(info[7]), ty = float(info[8]),
tz = float(info[9]); // real camera position
float qx = float(info[10]), qy = float(info[11]), qz = float(info[12]),
qw = float(info[13]); // quaternion
// build transformer
Transform trans = new Transform(tx, ty, tz, qx, qy, qz, qw, focal, width,
height, normalizer);
PImage rgb = loadImage(rgb_path);
PImage depth = loadImage(depth_path);
// generate point cloud
point_cloud.generate(rgb, depth, trans);
// get the center of cloud
PVector cloud_center = point_cloud.getCloudCenter();
// initialize camera
cam =
new Camera(fov, new PVector(0, 0, 0), cloud_center, new PVector(0, 1, 0));
// initialize motion field
mf = new MotionField(cam, point_cloud, block_size);
}
void draw() {
background(0);
// run camera dragged mouse to rotate camera
// w: go forward
// s: go backward
// a: go left
// d: go right
// up arrow: go up
// down arrow: go down
//+ increase move speed
//- decrease move speed
// r: rotate the camera
// b: reset to initial position
cam.run();
// render the point lists
point_cloud.render();
// update motion field
mf.run();
// draw motion field
mf.showMotionField();
}