// // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2014, OpenCV Foundation, all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. #include <iostream> #include "opencv2/surface_matching.hpp" #include "opencv2/surface_matching/ppf_helpers.hpp" using namespace std; static void help(const string& errorMessage) { cout << "Program init error : " << errorMessage << endl; cout << "\nUsage : ppf_normal_computation [input model file] [output model file]" << endl; cout << "\nPlease start again with new parameters" << endl; } int main(int argc, char** argv) { if (argc < 3) { help("Not enough input arguments"); exit(1); } string modelFileName = (string)argv[1]; string outputFileName = (string)argv[2]; cv::Mat points, pointsAndNormals; cout << "Loading points\n"; cv::ppf_match_3d::loadPLYSimple(modelFileName.c_str(), 1).copyTo(points); cout << "Computing normals\n"; cv::Vec3d viewpoint(0, 0, 0); cv::ppf_match_3d::computeNormalsPC3d(points, pointsAndNormals, 6, false, viewpoint); std::cout << "Writing points\n"; cv::ppf_match_3d::writePLY(pointsAndNormals, outputFileName.c_str()); //the following function can also be used for debugging purposes //cv::ppf_match_3d::writePLYVisibleNormals(pointsAndNormals, outputFileName.c_str()); std::cout << "Done\n"; return 0; }