332 lines
14 KiB
C++
332 lines
14 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/**
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* @file demo_sphereview_data.cpp
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* @brief Generating training data for CNN with triplet loss.
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* @author Yida Wang
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*/
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#include <opencv2/cnn_3dobj.hpp>
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#include <opencv2/viz/vizcore.hpp>
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#include <iostream>
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#include <stdlib.h>
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#include <time.h>
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using namespace cv;
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using namespace std;
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using namespace cv::cnn_3dobj;
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/**
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* @function listDir
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* @brief Making all files names under a directory into a list
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*/
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static void listDir(const char *path, std::vector<String>& files, bool r)
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{
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DIR *pDir;
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struct dirent *ent;
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char childpath[512];
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pDir = opendir(path);
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memset(childpath, 0, sizeof(childpath));
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while ((ent = readdir(pDir)) != NULL)
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{
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if (ent->d_type & DT_DIR)
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{
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if (strcmp(ent->d_name, ".") == 0 || strcmp(ent->d_name, "..") == 0 || strcmp(ent->d_name, ".DS_Store") == 0)
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{
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continue;
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}
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if (r)
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{
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sprintf(childpath, "%s/%s", path, ent->d_name);
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listDir(childpath,files,false);
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}
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}
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else
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{
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if (strcmp(ent->d_name, ".DS_Store") != 0)
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files.push_back(ent->d_name);
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}
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}
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sort(files.begin(),files.end());
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};
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int main(int argc, char *argv[])
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{
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const String keys = "{help | | demo :$ ./sphereview_test -ite_depth=2 -plymodel=../data/3Dmodel/ape.ply -imagedir=../data/images_all/ -labeldir=../data/label_all.txt -num_class=6 -label_class=0, then press 'q' to run the demo for images generation when you see the gray background and a coordinate.}"
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"{ite_depth | 3 | Iteration of sphere generation.}"
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"{plymodel | ../data/3Dmodel/ape.ply | Path of the '.ply' file for image rendering. }"
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"{imagedir | ../data/images_all/ | Path of the generated images for one particular .ply model. }"
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"{labeldir | ../data/label_all.txt | Path of the generated images for one particular .ply model. }"
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"{bakgrdir | | Path of the backgroud images sets. }"
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"{cam_head_x | 0 | Head of the camera. }"
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"{cam_head_y | 0 | Head of the camera. }"
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"{cam_head_z | -1 | Head of the camera. }"
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"{semisphere | 1 | Camera only has positions on half of the whole sphere. }"
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"{z_range | 0.6 | Maximum camera position on z axis. }"
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"{center_gen | 0 | Find center from all points. }"
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"{image_size | 128 | Size of captured images. }"
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"{label_class | | Class label of current .ply model. }"
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"{label_item | | Item label of current .ply model. }"
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"{rgb_use | 0 | Use RGB image or grayscale. }"
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"{num_class | 6 | Total number of classes of models. }"
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"{binary_out | 0 | Produce binaryfiles for images and label. }"
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"{view_region | 0 | Take a special view of front or back angle}";
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/* Get parameters from comand line. */
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cv::CommandLineParser parser(argc, argv, keys);
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parser.about("Generating training data for CNN with triplet loss");
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if (parser.has("help"))
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{
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parser.printMessage();
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return 0;
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}
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int ite_depth = parser.get<int>("ite_depth");
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String plymodel = parser.get<String>("plymodel");
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String imagedir = parser.get<String>("imagedir");
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String labeldir = parser.get<String>("labeldir");
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String bakgrdir = parser.get<String>("bakgrdir");
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int label_class = parser.get<int>("label_class");
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int label_item = parser.get<int>("label_item");
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float cam_head_x = parser.get<float>("cam_head_x");
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float cam_head_y = parser.get<float>("cam_head_y");
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float cam_head_z = parser.get<float>("cam_head_z");
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int semisphere = parser.get<int>("semisphere");
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float z_range = parser.get<float>("z_range");
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int center_gen = parser.get<int>("center_gen");
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int image_size = parser.get<int>("image_size");
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int rgb_use = parser.get<int>("rgb_use");
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int num_class = parser.get<int>("num_class");
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int binary_out = parser.get<int>("binary_out");
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int view_region = parser.get<int>("view_region");
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double obj_dist, bg_dist, y_range;
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if (view_region == 1 || view_region == 2)
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{
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/* Set for TV */
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if (label_class == 12)
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obj_dist = 340;
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else
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obj_dist = 250;
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ite_depth = ite_depth + 1;
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bg_dist = 700;
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y_range = 0.85;
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}
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else if (view_region == 0)
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{
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obj_dist = 370;
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bg_dist = 400;
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}
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if (label_class == 5 || label_class == 10 || label_class == 11 || label_class == 12)
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ite_depth = ite_depth + 1;
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cv::cnn_3dobj::icoSphere ViewSphere(10,ite_depth);
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std::vector<cv::Point3d> campos;
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std::vector<cv::Point3d> campos_temp = ViewSphere.CameraPos;
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/* Regular objects on the ground using a semisphere view system */
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if (semisphere == 1)
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{
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if (view_region == 1)
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z >= 0 && campos_temp.at(pose).z < z_range && campos_temp.at(pose).y < -y_range)
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campos.push_back(campos_temp.at(pose));
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}
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}
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else if (view_region == 2)
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z >= 0 && campos_temp.at(pose).z < z_range && campos_temp.at(pose).y > y_range)
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campos.push_back(campos_temp.at(pose));
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}
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}
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else
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{
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/* Set for sofa */
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if (label_class == 10)
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z >= 0 && campos_temp.at(pose).z < z_range && campos_temp.at(pose).y < -0.4)
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campos.push_back(campos_temp.at(pose));
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}
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}
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else
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z >= 0 && campos_temp.at(pose).z < z_range)
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campos.push_back(campos_temp.at(pose));
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}
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}
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}
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}
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/* Special object such as plane using a full space of view sphere */
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else
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{
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if (view_region == 1)
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z < 0.2 && campos_temp.at(pose).z > -0.2 && campos_temp.at(pose).y < -y_range)
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campos.push_back(campos_temp.at(pose));
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}
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}
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else if (view_region == 2)
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z < 0.2 && campos_temp.at(pose).z > -0.2 && campos_temp.at(pose).y > y_range)
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campos.push_back(campos_temp.at(pose));
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}
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}
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else
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{
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for (int pose = 0; pose < static_cast<int>(campos_temp.size()); pose++)
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{
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if (campos_temp.at(pose).z < 0.2 && campos_temp.at(pose).z > -0.6)
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campos.push_back(campos_temp.at(pose));
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}
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}
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}
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std::fstream imglabel;
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imglabel.open(labeldir.c_str(), fstream::app|fstream::out);
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bool camera_pov = true;
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/* Create a window using viz. */
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viz::Viz3d myWindow("Coordinate Frame");
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/* Set window size. */
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myWindow.setWindowSize(Size(image_size,image_size));
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/* Set background color. */
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myWindow.setBackgroundColor(viz::Color::gray());
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myWindow.spinOnce();
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/* Create a Mesh widget, loading .ply models. */
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viz::Mesh objmesh = viz::Mesh::load(plymodel);
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/* Get the center of the generated mesh widget, cause some .ply files, this could be ignored if you are using PASCAL database*/
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Point3d cam_focal_point;
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if (center_gen)
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cam_focal_point = ViewSphere.getCenter(objmesh.cloud);
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else
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cam_focal_point = Point3d(0,0,0);
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const char* headerPath = "../data/header_for_";
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const char* binaryPath = "../data/binary_";
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if (binary_out)
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{
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ViewSphere.createHeader(static_cast<int>(campos.size()), image_size, image_size, headerPath);
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}
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float radius = ViewSphere.getRadius(objmesh.cloud, cam_focal_point);
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objmesh.cloud = objmesh.cloud/radius*100;
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cam_focal_point = cam_focal_point/radius*100;
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Point3d cam_y_dir;
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cam_y_dir.x = cam_head_x;
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cam_y_dir.y = cam_head_y;
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cam_y_dir.z = cam_head_z;
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char temp[1024];
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std::vector<String> name_bkg;
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if (bakgrdir.size() != 0)
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{
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/* List the file names under a given path */
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listDir(bakgrdir.c_str(), name_bkg, false);
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for (unsigned int i = 0; i < name_bkg.size(); i++)
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{
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name_bkg.at(i) = bakgrdir + name_bkg.at(i);
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}
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}
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/* Images will be saved as .png files. */
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size_t cnt_img;
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srand((int)time(0));
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do
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{
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cnt_img = 0;
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for(int pose = 0; pose < static_cast<int>(campos.size()); pose++){
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/* Add light. */
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// double alpha1 = rand()%(314/2)/100;
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// double alpha2 = rand()%(314*2)/100;
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// printf("%f %f %f/n", ceil(10000*sqrt(1 - sin(alpha1)*sin(alpha1))*sin(alpha2)), 10000*sqrt(1 - sin(alpha1)*sin(alpha1))*cos(alpha2), sin(alpha1)*10000);
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// myWindow.addLight(Vec3d(10000*sqrt(1 - sin(alpha1)*sin(alpha1))*sin(alpha2),10000*sqrt(1 - sin(alpha1)*sin(alpha1))*cos(alpha2),sin(alpha1)*10000), Vec3d(0,0,0), viz::Color::white(), viz::Color::white(), viz::Color::black(), viz::Color::white());
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int label_x, label_y, label_z;
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label_x = static_cast<int>(campos.at(pose).x*100);
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label_y = static_cast<int>(campos.at(pose).y*100);
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label_z = static_cast<int>(campos.at(pose).z*100);
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sprintf (temp,"%02i_%02i_%04i_%04i_%04i_%02i", label_class, label_item, label_x, label_y, label_z, static_cast<int>(obj_dist/100));
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String filename = temp;
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filename += ".png";
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imglabel << filename << ' ' << label_class << endl;
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filename = imagedir + filename;
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/* Get the pose of the camera using makeCameraPoses. */
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if (view_region != 0)
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{
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cam_focal_point.x = cam_focal_point.y - label_x/5;
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}
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Affine3f cam_pose = viz::makeCameraPose(campos.at(pose)*obj_dist+cam_focal_point, cam_focal_point, cam_y_dir*obj_dist+cam_focal_point);
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/* Get the transformation matrix from camera coordinate system to global. */
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Affine3f transform = viz::makeTransformToGlobal(Vec3f(1.0f,0.0f,0.0f), Vec3f(0.0f,1.0f,0.0f), Vec3f(0.0f,0.0f,1.0f), campos.at(pose));
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viz::WMesh mesh_widget(objmesh);
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/* Pose of the widget in camera frame. */
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Affine3f cloud_pose = Affine3f().translate(Vec3f(1.0f,1.0f,1.0f));
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/* Pose of the widget in global frame. */
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Affine3f cloud_pose_global = transform * cloud_pose;
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/* Visualize camera frame. */
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if (!camera_pov)
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{
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viz::WCameraPosition cpw(1); // Coordinate axes
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viz::WCameraPosition cpw_frustum(Vec2f(0.5, 0.5)); // Camera frustum
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myWindow.showWidget("CPW", cpw, cam_pose);
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myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
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}
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/* Visualize widget. */
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if (bakgrdir.size() != 0)
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{
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cv::Mat img_bg = cv::imread(name_bkg.at(rand()%name_bkg.size()));
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/* Back ground images has a distance of 2 times of radius of camera view distance */
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cv::viz::WImage3D background_widget(img_bg, Size2d(image_size*4.2, image_size*4.2), Vec3d(-campos.at(pose)*bg_dist+cam_focal_point), Vec3d(campos.at(pose)*bg_dist-cam_focal_point), Vec3d(0,0,-1)*bg_dist+Vec3d(0,2*cam_focal_point.y,0));
|
||
|
|
myWindow.showWidget("bgwidget", background_widget, cloud_pose_global);
|
||
|
|
}
|
||
|
|
// mesh_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||
|
|
myWindow.showWidget("targetwidget", mesh_widget, cloud_pose_global);
|
||
|
|
|
||
|
|
/* Set the viewer pose to that of camera. */
|
||
|
|
if (camera_pov)
|
||
|
|
myWindow.setViewerPose(cam_pose);
|
||
|
|
/* Save screen shot as images. */
|
||
|
|
myWindow.saveScreenshot(filename);
|
||
|
|
if (binary_out)
|
||
|
|
{
|
||
|
|
/* Write images into binary files for further using in CNN training. */
|
||
|
|
ViewSphere.writeBinaryfile(filename, binaryPath, headerPath,static_cast<int>(campos.size())*num_class, label_class, static_cast<int>(campos.at(pose).x*100), static_cast<int>(campos.at(pose).y*100), static_cast<int>(campos.at(pose).z*100), rgb_use);
|
||
|
|
}
|
||
|
|
cnt_img++;
|
||
|
|
}
|
||
|
|
} while (cnt_img != campos.size());
|
||
|
|
imglabel.close();
|
||
|
|
return 1;
|
||
|
|
};
|