ref: 2157d613c56095de9ec442376b6386ba9fc0e584
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 */ Scene scene; void setup() { size(640, 480, P3D); // default settings 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 PointCloud 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, fov, width, height, normalizer); PImage rgb = loadImage(rgb_path); PImage depth = loadImage(depth_path); // generate point cloud point_cloud.generate(rgb, depth, trans); // initialize camera Camera camera = new Camera(fov, new PVector(0, 0, 0), new PVector(0, 0, 1), new PVector(0, 1, 0)); // initialize motion field MotionField motion_field = new MotionField(block_size); // initialize scene scene = new Scene(camera, point_cloud, motion_field); } boolean inter = false; 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 scene.run(); // true: make interpolation; false: do not make // interpolation if (keyPressed && key == 'o') { inter = true; } scene.render( false); // true: turn on motion field; false: turn off motion field // save frame with no motion field scene.save("../data/frame/raw"); background(0); scene.render(true); showGrids(scene.motion_field.block_size); // save frame with motion field scene.save("../data/frame/raw_mv"); scene.saveMotionField("../data/frame/mv"); }