Image generator for 3D model with different poses

modules/sphereview3d/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8)
+project( IcoSphere )
+find_package( OpenCV REQUIRED )
+add_executable( IcoSphere icosphere.cpp )
+target_link_libraries( IcoSphere  ${OpenCV_LIBS} )

modules/sphereview3d/README.md

+Sphere view of 3D objects from .ply files, the windows shows the last view point and press 'q' to exit.
+==============================================

modules/sphereview3d/icosphere.cpp

+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <iostream>
+#include <vector>
+#include <iostream>
+using namespace cv;
+using namespace std;
+
+class IcoSphere {
+
+
+	private:
+		std::vector<float>* vertexNormalsList = new std::vector<float>;
+		std::vector<float>* vertexList = new std::vector<float>;
+		float radius;
+		float X = 0.525731112119133606f;
+		float Z = 0.850650808352039932f;
+		void norm(float v[])
+		{
+
+			float len = 0;
+
+			for (int i = 0; i < 3; ++i) {
+				len += v[i] * v[i];
+			}
+
+			len = sqrt(len);
+
+			for (int i = 0; i < 3; ++i) {
+				v[i] /= ((float)len/(float)radius);
+			}
+		}
+
+		void add(float v[])
+		{
+			Point3f temp_Campos;
+			std::vector<float>* temp = new std::vector<float>;
+			for (int k = 0; k < 3; ++k) {
+				vertexList->push_back(v[k]);
+				vertexNormalsList->push_back(v[k]);
+				temp->push_back(v[k]);
+			}
+			temp_Campos.x = temp->at(0);temp_Campos.y = temp->at(1);temp_Campos.z = temp->at(2);
+			CameraPos->push_back(temp_Campos);
+		}
+
+		void subdivide(float v1[], float v2[], float v3[], int depth)
+		{
+
+			if (depth == 0) {
+				add(v1);
+				add(v2);
+				add(v3);
+				return;
+			}
+
+			float* v12 = new float[3];
+			float* v23 = new float[3];
+			float* v31 = new float[3];
+
+			for (int i = 0; i < 3; ++i) {
+				v12[i] = (v1[i] + v2[i]) / 2;
+				v23[i] = (v2[i] + v3[i]) / 2;
+				v31[i] = (v3[i] + v1[i]) / 2;
+			}
+
+			norm(v12);
+			norm(v23);
+			norm(v31);
+
+			subdivide(v1, v12, v31, depth - 1);
+			subdivide(v2, v23, v12, depth - 1);
+			subdivide(v3, v31, v23, depth - 1);
+			subdivide(v12, v23, v31, depth - 1);
+		}
+
+
+	public:
+
+		std::vector<cv::Point3d>* CameraPos = new std::vector<cv::Point3d>;
+		IcoSphere(float radius_in, int depth_in)
+		{
+
+			int radius = radius_in;
+			int depth = depth_in;
+			X *= radius;
+			Z *= radius;
+
+			float vdata[12][3] = { { -X, 0.0f, Z }, { X, 0.0f, Z },
+					{ -X, 0.0f, -Z }, { X, 0.0f, -Z }, { 0.0f, Z, X }, { 0.0f, Z, -X },
+					{ 0.0f, -Z, X }, { 0.0f, -Z, -X }, { Z, X, 0.0f }, { -Z, X, 0.0f },
+					{ Z, -X, 0.0f }, { -Z, -X, 0.0f } };
+
+
+			int tindices[20][3] = { { 0, 4, 1 }, { 0, 9, 4 }, { 9, 5, 4 },
+					{ 4, 5, 8 }, { 4, 8, 1 }, { 8, 10, 1 }, { 8, 3, 10 }, { 5, 3, 8 },
+					{ 5, 2, 3 }, { 2, 7, 3 }, { 7, 10, 3 }, { 7, 6, 10 }, { 7, 11, 6 },
+					{ 11, 0, 6 }, { 0, 1, 6 }, { 6, 1, 10 }, { 9, 0, 11 },
+					{ 9, 11, 2 }, { 9, 2, 5 }, { 7, 2, 11 } };
+
+			std::vector<float>* texCoordsList = new std::vector<float>;
+			std::vector<int>* indicesList = new std::vector<int>;
+
+			// Iterate over points
+			for (int i = 0; i < 20; ++i) {
+
+				subdivide(vdata[tindices[i][1]], vdata[tindices[i][2]],
+						vdata[tindices[i][3]], depth);
+			}
+			cout << "View points in total: " << CameraPos->size() << endl;
+			cout << "The coordinate of view point: " << endl;
+			for(int i=0; i < CameraPos->size(); i++)
+			   {
+			           cout << CameraPos->at(i).x  << endl;
+			   }
+
+		}
+};
+
+int main(){
+	IcoSphere ViewSphere(16,0);
+	std::vector<cv::Point3d>* campos = ViewSphere.CameraPos;
+	bool camera_pov = (true);
+	/// Create a window
+	viz::Viz3d myWindow("Coordinate Frame");
+
+	/// Add coordinate axes
+	myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+	/// Let's assume camera has the following properties
+	Point3d cam_pos(3.0f,0.0f,0.0f), cam_focal_point(0.0f,0.0f,0.0f), cam_y_dir(-0.0f,-0.0f,-1.0f);
+	for(int pose = 0; pose < campos->size(); pose++){
+		/// We can get the pose of the cam using makeCameraPose
+		Affine3f cam_pose = viz::makeCameraPose(campos->at(pose), cam_focal_point, cam_y_dir);
+
+		/// We can get the transformation matrix from camera coordinate system to global using
+		/// - makeTransformToGlobal. We need the axes of the camera
+		Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), campos->at(pose));
+
+		/// Create a cloud widget.
+
+		viz::Mesh objmesh = viz::Mesh::load("../ape.ply");
+		viz::WMesh mesh_widget(objmesh);
+
+		/// Pose of the widget in camera frame
+		Affine3f cloud_pose = Affine3f().translate(Vec3f(3.0f,3.0f,3.0f));
+		/// Pose of the widget in global frame
+		Affine3f cloud_pose_global = transform * cloud_pose;
+
+		/// Visualize camera frame
+		if (!camera_pov)
+		{
+			viz::WCameraPosition cpw(0.5); // Coordinate axes
+			viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+			myWindow.showWidget("CPW", cpw, cam_pose);
+			myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+		}
+
+		/// Visualize widget
+		mesh_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+		myWindow.showWidget("bunny", mesh_widget, transform);
+
+		/// Set the viewer pose to that of camera
+		if (camera_pov)
+			myWindow.setViewerPose(cam_pose);
+	}
+
+	/// Start event loop.
+	myWindow.spin();
+	return 1;
+}
+