ExampleTriangleMesh.cpp

/*
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @example ExampleTriangleMesh.cpp
 *  @relates ThreeDOut,TriangleMesh
    @ingroup g_examples
    @brief Example for TriangleMesh object, writes a wrl with an image using level of detail
    @author MIP */

#include <Utils/TriangleMesh.hh>
#include <Utils/ThreeDOut.hh>
#include <Base/Image/ImageIO.hh>
#include <Filter/Rescale.hh>
#include <Base/Common/FileHandling.hh>
#include <Image/Camera.hh>
#include <sstream>

#include <iostream>

using namespace std;
using namespace BIAS;

//#define TILE_MODE
#define TILE_WIDTH 129
#define TILE_HEIGHT 129

void usage(char* name)
{
  cout<<"usage:\n";
  cout<<name<<" <depthmap> <projection> <texture> [minCornerAngleDEG] [outputFile] [LevelOfDetail]\n";
  cout<<endl<<endl;
  cout<<"minCornerAngleDEG: discard triangle which contain a smaller angle"
      <<endl;
  cout<<"LevelOfDetail: 1:vertex for each pixel of full resolution, 2:"
      <<" of half resolution"<<endl;
}

int main(int argc, char* argv[])
{
  bool TileMode = true;
  if(argc<3) {
    usage(argv[0]);
    return -1;
  }

  Camera<unsigned char> texture;
  if(ImageIO::Load(argv[3], texture)!=0) {
    cout<<"texture could not be loaded!\n";
    usage(argv[0]);
    return -1;
  }
  texture.ParseMetaData();
  Camera<float> depthMap;
  if(ImageIO::Load(argv[1], depthMap)!=0) {
    cout<<"depth map could not be loaded!\n";
    usage(argv[0]);
    if (string(argv[1])==string("UNITSPHERE")) {
      depthMap.Init(texture.GetWidth(), texture.GetHeight(), 1);
      depthMap.FillImageWithConstValue(1.0f);
    }
    else return -1;
  }
  depthMap.ParseMetaData();

  Projection P;
  if (P.Load(argv[2])!=0) {
    if (texture.IsProjValid()) {
      P = texture.GetProj();
    } else if (depthMap.IsProjValid()) {
      P = depthMap.GetProj();
    } else {
      cout<<"Projection could not be loaded from file or meta data!\n";
      usage(argv[0]);
      return -1;
    }
  }

  cout<<"meshing..."; cout.flush();
  double minCornerAngle = 3.0*M_PI/180.0;
  double maxViewingAngle = 91.0 * M_PI / 180.0;
  if(argc>4) {
    minCornerAngle = atof(argv[4])*M_PI/180.0;
  }
  cout<<"minCornerAngle = "<<minCornerAngle<<endl;
  TriangleMesh mesh(minCornerAngle, maxViewingAngle);

  double LevelOfDetail = -1.0;
  if(argc>6) {
    LevelOfDetail = atof(argv[6]);
  }
  if (LevelOfDetail>=0.0) TileMode = false;
  else TileMode = true;

  cout<<"Level of detail is "<< LevelOfDetail<<endl;
  if (fabs(LevelOfDetail)!=1.0) {
    //double maxlevel = log(double(depthMap.GetWidth()))/log(2.0)-6;
    //cout<<"maximum level is "<<maxlevel<<endl;

    for (double curLevel = 1.0;
         curLevel<fabs(LevelOfDetail); curLevel += 1.0) {
      Gauss<float, float> DepthSmooth;
      DepthSmooth.SetSigma(sqrt(1.0*1.0 - 0.5*0.5));
      Image<float> copyOfDepth = depthMap;
      DepthSmooth.Filter7x7GreyIgnoreBelowThreshold(depthMap, copyOfDepth,
                                                    0.0f);
      depthMap.Release();
      depthMap.Init(copyOfDepth.GetWidth()/2, copyOfDepth.GetHeight()/2);
      for (unsigned int y=0; y<depthMap.GetHeight(); y++) {
        for (unsigned int x=0; x<depthMap.GetWidth(); x++) {
          depthMap.GetImageDataArray()[y][x] =
            copyOfDepth.GetImageDataArray()[2*y][2*x];
        }
      }
      P.Rescale(2.0);
      //ImageIO::Save("depth"+FileHandling::toString(curLevel), depthMap);
      ImageIO::Save("depth"+FileHandling::toString(curLevel), depthMap);
    }

  }

  string vrmlfilename = "DenseTriangleMesh.wrl";
  if(argc>5) vrmlfilename = argv[5];
  ThreeDOut vrmlOut;
  if (!TileMode) {

    mesh.GenerateSimplifiedMesh(depthMap, P, texture, 0, 0,
                                depthMap.GetWidth(),
                                depthMap.GetHeight(), 0.7, 3.0);
    cout<<"finished\n"<<flush;

    vrmlOut.AddTriangleMesh(mesh, "mesh_from_"+string(argv[1]),
                            argv[3], true);
    cout<<"Writing VRML to "<<vrmlfilename<<flush<<endl;
    vrmlOut.VRMLOut(vrmlfilename);
    cout<<"finished\n";
  } else {

    // tile here into small image blocks, allows for writing of huge files
    ofstream vrmlfile(vrmlfilename.c_str());
    vrmlOut.VRMLOutWriteHeader(vrmlfile);

    unsigned int width, height;
    P.GetParameters()->GetImageSize(width, height);
    unsigned int tileWidth, tileHeight;
    bool xFinished = false;
    bool yFinished = false;
    //  bool finished = false;
    unsigned int xStart, yStart;
    unsigned int tileNum = 0;
    yStart = 0;
    int numTiles = (height/(TILE_HEIGHT-1)+1)*(width/(TILE_WIDTH-1)+1);
    cout<<"Writing "<< numTiles
        <<" tiles: "<<flush;
    while(!yFinished) {
      if(yStart+TILE_HEIGHT >= height) {
        yFinished = true;
        tileHeight = height-yStart;
      }
      else tileHeight = TILE_HEIGHT;

      cout<< double(tileNum)/double(numTiles)*100.0<<"% "<<flush;
      xFinished = false;
      xStart = 0;
      while(!xFinished) {
        stringstream ss;
        ss<<"mesh_from_"<<string(argv[1])<<"_t"<<tileNum;
        tileNum++;
        if(xStart+TILE_WIDTH >= width) {
          xFinished = true;
          tileWidth = width -xStart;
        }
        else
          tileWidth = TILE_WIDTH;

        if(mesh.GenerateDenseMesh(depthMap, P, texture,
                                  xStart, yStart, tileWidth, tileHeight)==0) {
          vrmlOut.AddTriangleMesh(mesh, ss.str(),
                                  argv[3], false);
          vrmlOut.VRMLOutIndexedFaceSets(vrmlfile);
          vrmlOut.RemoveAll();
        }
        xStart+=(tileWidth-1);
      }
      yStart+=(tileHeight-1);
    }
    cout<< "  finished."<<endl<<flush;
  }

  return 0;
}