Open3DのReconstruction systemをC++に移植（その1-3 make_fragment)

openFrameworksの呼び出し部分の例と実行結果。

ofApp.cpp

// Open3D: www.open3d.org
// The MIT License (MIT)
// See license file or visit www.open3d.org for details

#include "ofApp.h"

#include "make_fragments.h"

#pragma comment(lib, "Open3D.lib")
//#pragma comment(lib, "Core.lib")
//#pragma comment(lib, "IO.lib")
//#pragma comment(lib, "Visualization.lib")
#pragma comment(lib, "jsoncpp.lib")
#pragma comment(lib, "jpeg.lib")
#pragma comment(lib, "tinyfiledialogs.lib")
#pragma comment(lib, "png.lib")

#pragma comment(lib, "opencv_core400.lib")
#pragma comment(lib, "opencv_features2d400.lib")
#pragma comment(lib, "opencv_highgui400.lib")
#pragma comment(lib, "opencv_calib3d400.lib")

//--------------------------------------------------------------
void ofApp::setup() {
	make_fragments_main("D:/workspace/016", "");
	register_fragments_main("D:/workspace/016");
	integrate_scene_main("D:/workspace/016", "");
}

//--------------------------------------------------------------
void ofApp::update() {

}

//--------------------------------------------------------------
void ofApp::draw() {

}

//--------------------------------------------------------------
void ofApp::keyPressed(int key) {

}

//--------------------------------------------------------------
void ofApp::keyReleased(int key) {

}

//--------------------------------------------------------------
void ofApp::mouseMoved(int x, int y) {

}

//--------------------------------------------------------------
void ofApp::mouseDragged(int x, int y, int button) {

}

//--------------------------------------------------------------
void ofApp::mousePressed(int x, int y, int button) {

}

//--------------------------------------------------------------
void ofApp::mouseReleased(int x, int y, int button) {

}

//--------------------------------------------------------------
void ofApp::mouseEntered(int x, int y) {

}

//--------------------------------------------------------------
void ofApp::mouseExited(int x, int y) {

}

//--------------------------------------------------------------
void ofApp::windowResized(int w, int h) {

}

//--------------------------------------------------------------
void ofApp::gotMessage(ofMessage msg) {

}

//--------------------------------------------------------------
void ofApp::dragEvent(ofDragInfo dragInfo) {

}

実行結果

一つのセグメントの処理が一巡すると下のようなメッセージが表示されて/fragmentsフォルダの下に次の３つのファイルが生成されます。

[GlobalOptimizationLM] Optimizing PoseGraph having 100 nodes and 118 edges.
Line process weight : 44793.956121
[Initial ] residual : 2.438500e+04, lambda : 2.543928e+02
[Iteration 00] residual : 5.961908e+03, valid edges : 118, time : 0.005 sec.
[Iteration 01] residual : 3.527648e+03, valid edges : 118, time : 0.005 sec.
[Iteration 02] residual : 3.525901e+03, valid edges : 118, time : 0.005 sec.
[Iteration 03] residual : 3.525896e+03, valid edges : 118, time : 0.005 sec.
Current_residual - new_residual < 1.000000e-06 * current_residual
[GlobalOptimizationLM] total time : 0.025 sec.
[GlobalOptimizationLM] Optimizing PoseGraph having 100 nodes and 118 edges.
Line process weight : 44793.956121
[Initial ] residual : 3.525896e+03, lambda : 2.608960e+02
Current_residual - new_residual < 1.000000e-06 * current_residual
[GlobalOptimizationLM] total time : 0.003 sec.
CompensateReferencePoseGraphNode : reference : 0

fragment_000.json (posegarph)
fragment_000.ply (mesh)
fragment_optimized_000.json (最適化したposegraph)

今日のそうめん

もっともっと大きなのもオススメ。
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