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Add RGB to Triangle, ITMMesh and the generated OBJ files. Fix #21 #22

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Add RGB to Triangle, ITMMesh and the generated OBJ files. Fix #21 #22

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c8ba187
Add RGB to Triangle, ITMMesh and the generated OBJ files.
vinjn Sep 19, 2015
abefdb6
Converts space to tab.
vinjn Sep 19, 2015
e2a761f
Add rgb information when meshing with CUDA.
connerbrooks Feb 9, 2016
7ed7dac
Merge pull request #1 from connerbrooks/feature/cuda_meshing_rgb
vinjn Feb 18, 2016
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4 changes: 2 additions & 2 deletions InfiniTAM/Engine/UIEngine.cpp
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Expand Up @@ -209,8 +209,8 @@ void UIEngine::glutKeyUpFunction(unsigned char key, int x, int y)
else uiEngine->mainEngine->turnOffIntegration();
break;
case 'w':
printf("saving mesh to disk ...");
uiEngine->SaveSceneToMesh("mesh.stl");
printf("saving colorful mesh to disk ...");
uiEngine->SaveSceneToMesh("mesh.obj");
printf(" done\n");
break;
default:
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95 changes: 57 additions & 38 deletions InfiniTAM/ITMLib/Engine/DeviceAgnostic/ITMRepresentationAccess.h
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Expand Up @@ -64,8 +64,8 @@ _CPU_AND_GPU_CODE_ inline int findVoxel(const CONSTPTR(ITMLib::Objects::ITMPlain
Vector3i point = point_orig - voxelIndex->offset;

if ((point.x < 0) || (point.x >= voxelIndex->size.x) ||
(point.y < 0) || (point.y >= voxelIndex->size.y) ||
(point.z < 0) || (point.z >= voxelIndex->size.z)) {
(point.y < 0) || (point.y >= voxelIndex->size.y) ||
(point.z < 0) || (point.z >= voxelIndex->size.z)) {
isFound = false;
return -1;
}
Expand Down Expand Up @@ -245,91 +245,91 @@ _CPU_AND_GPU_CODE_ inline Vector3f computeSingleNormalFromSDF(const CONSTPTR(TVo
float p1, p2, v1;
// gradient x
p1 = front.x * ncoeff.y * ncoeff.z +
front.z * coeff.y * ncoeff.z +
back.x * ncoeff.y * coeff.z +
back.z * coeff.y * coeff.z;
front.z * coeff.y * ncoeff.z +
back.x * ncoeff.y * coeff.z +
back.z * coeff.y * coeff.z;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(-1, 0, 0), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(-1, 1, 0), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(-1, 0, 1), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(-1, 1, 1), isFound).sdf;
p2 = tmp.x * ncoeff.y * ncoeff.z +
tmp.y * coeff.y * ncoeff.z +
tmp.z * ncoeff.y * coeff.z +
tmp.w * coeff.y * coeff.z;
tmp.y * coeff.y * ncoeff.z +
tmp.z * ncoeff.y * coeff.z +
tmp.w * coeff.y * coeff.z;
v1 = p1 * coeff.x + p2 * ncoeff.x;

p1 = front.y * ncoeff.y * ncoeff.z +
front.w * coeff.y * ncoeff.z +
back.y * ncoeff.y * coeff.z +
back.w * coeff.y * coeff.z;
front.w * coeff.y * ncoeff.z +
back.y * ncoeff.y * coeff.z +
back.w * coeff.y * coeff.z;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(2, 0, 0), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(2, 1, 0), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(2, 0, 1), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(2, 1, 1), isFound).sdf;
p2 = tmp.x * ncoeff.y * ncoeff.z +
tmp.y * coeff.y * ncoeff.z +
tmp.z * ncoeff.y * coeff.z +
tmp.w * coeff.y * coeff.z;
tmp.y * coeff.y * ncoeff.z +
tmp.z * ncoeff.y * coeff.z +
tmp.w * coeff.y * coeff.z;

ret.x = TVoxel::SDF_valueToFloat(p1 * ncoeff.x + p2 * coeff.x - v1);

// gradient y
p1 = front.x * ncoeff.x * ncoeff.z +
front.y * coeff.x * ncoeff.z +
back.x * ncoeff.x * coeff.z +
back.y * coeff.x * coeff.z;
front.y * coeff.x * ncoeff.z +
back.x * ncoeff.x * coeff.z +
back.y * coeff.x * coeff.z;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, -1, 0), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, -1, 0), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, -1, 1), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, -1, 1), isFound).sdf;
p2 = tmp.x * ncoeff.x * ncoeff.z +
tmp.y * coeff.x * ncoeff.z +
tmp.z * ncoeff.x * coeff.z +
tmp.w * coeff.x * coeff.z;
tmp.y * coeff.x * ncoeff.z +
tmp.z * ncoeff.x * coeff.z +
tmp.w * coeff.x * coeff.z;
v1 = p1 * coeff.y + p2 * ncoeff.y;

p1 = front.z * ncoeff.x * ncoeff.z +
front.w * coeff.x * ncoeff.z +
back.z * ncoeff.x * coeff.z +
back.w * coeff.x * coeff.z;
front.w * coeff.x * ncoeff.z +
back.z * ncoeff.x * coeff.z +
back.w * coeff.x * coeff.z;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 2, 0), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 2, 0), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 2, 1), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 2, 1), isFound).sdf;
p2 = tmp.x * ncoeff.x * ncoeff.z +
tmp.y * coeff.x * ncoeff.z +
tmp.z * ncoeff.x * coeff.z +
tmp.w * coeff.x * coeff.z;
tmp.y * coeff.x * ncoeff.z +
tmp.z * ncoeff.x * coeff.z +
tmp.w * coeff.x * coeff.z;

ret.y = TVoxel::SDF_valueToFloat(p1 * ncoeff.y + p2 * coeff.y - v1);

// gradient z
p1 = front.x * ncoeff.x * ncoeff.y +
front.y * coeff.x * ncoeff.y +
front.z * ncoeff.x * coeff.y +
front.w * coeff.x * coeff.y;
front.y * coeff.x * ncoeff.y +
front.z * ncoeff.x * coeff.y +
front.w * coeff.x * coeff.y;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 0, -1), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 0, -1), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 1, -1), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 1, -1), isFound).sdf;
p2 = tmp.x * ncoeff.x * ncoeff.y +
tmp.y * coeff.x * ncoeff.y +
tmp.z * ncoeff.x * coeff.y +
tmp.w * coeff.x * coeff.y;
tmp.y * coeff.x * ncoeff.y +
tmp.z * ncoeff.x * coeff.y +
tmp.w * coeff.x * coeff.y;
v1 = p1 * coeff.z + p2 * ncoeff.z;

p1 = back.x * ncoeff.x * ncoeff.y +
back.y * coeff.x * ncoeff.y +
back.z * ncoeff.x * coeff.y +
back.w * coeff.x * coeff.y;
back.y * coeff.x * ncoeff.y +
back.z * ncoeff.x * coeff.y +
back.w * coeff.x * coeff.y;
tmp.x = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 0, 2), isFound).sdf;
tmp.y = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 0, 2), isFound).sdf;
tmp.z = readVoxel(voxelData, voxelIndex, pos + Vector3i(0, 1, 2), isFound).sdf;
tmp.w = readVoxel(voxelData, voxelIndex, pos + Vector3i(1, 1, 2), isFound).sdf;
p2 = tmp.x * ncoeff.x * ncoeff.y +
tmp.y * coeff.x * ncoeff.y +
tmp.z * ncoeff.x * coeff.y +
tmp.w * coeff.x * coeff.y;
tmp.y * coeff.x * ncoeff.y +
tmp.z * ncoeff.x * coeff.y +
tmp.w * coeff.x * coeff.y;

ret.z = TVoxel::SDF_valueToFloat(p1 * ncoeff.z + p2 * coeff.z - v1);

Expand All @@ -343,6 +343,12 @@ struct VoxelColorReader<false,TVoxel,TIndex> {
_CPU_AND_GPU_CODE_ static Vector4f interpolate(const CONSTPTR(TVoxel) *voxelData, const CONSTPTR(typename TIndex::IndexData) *voxelIndex,
const THREADPTR(Vector3f) & point)
{ return Vector4f(0.0f,0.0f,0.0f,0.0f); }

_CPU_AND_GPU_CODE_ static Vector4f uninterpolate(const CONSTPTR(TVoxel) *voxelData, const CONSTPTR(typename TIndex::IndexData) *voxelIndex,
const THREADPTR(Vector3f) & point)
{
return Vector4f(0.0f, 0.0f, 0.0f, 0.0f);
}
};

template<class TVoxel, class TIndex>
Expand All @@ -353,4 +359,17 @@ struct VoxelColorReader<true,TVoxel,TIndex> {
typename TIndex::IndexCache cache;
return readFromSDF_color4u_interpolated<TVoxel,TIndex>(voxelData, voxelIndex, point, cache);
}

_CPU_AND_GPU_CODE_ static Vector3f uninterpolate(const CONSTPTR(TVoxel) *voxelData, const CONSTPTR(typename TIndex::IndexData) *voxelIndex,
const THREADPTR(Vector3i) & point)
{
typename TIndex::IndexCache cache;
bool isFound;
TVoxel resn = readVoxel(voxelData, voxelIndex, point, isFound, cache);

if (isFound)
return Vector3f(resn.clr.r / 255.0f, resn.clr.g / 255.0f, resn.clr.b / 255.0f);
else
return Vector3f(0.0f, 0.0f, 0.0f);
}
};
4 changes: 4 additions & 0 deletions InfiniTAM/ITMLib/Engine/DeviceSpecific/CPU/ITMMeshingEngine_CPU.cpp
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Expand Up @@ -43,11 +43,15 @@ void ITMMeshingEngine_CPU<TVoxel, ITMVoxelBlockHash>::MeshScene(ITMMesh *mesh, c

if (cubeIndex < 0) continue;

Vector3f clr = VoxelColorReader<TVoxel::hasColorInformation, TVoxel, ITMVoxelBlockHash>::
uninterpolate(localVBA, hashTable, globalPos + Vector3i(x, y, z));

for (int i = 0; triangleTable[cubeIndex][i] != -1; i += 3)
{
triangles[noTriangles].p0 = vertList[triangleTable[cubeIndex][i]] * factor;
triangles[noTriangles].p1 = vertList[triangleTable[cubeIndex][i + 1]] * factor;
triangles[noTriangles].p2 = vertList[triangleTable[cubeIndex][i + 2]] * factor;
triangles[noTriangles].clr = clr;

if (noTriangles < noMaxTriangles - 1) noTriangles++;
}
Expand Down
2 changes: 1 addition & 1 deletion InfiniTAM/ITMLib/Engine/ITMMainEngine.cpp
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Expand Up @@ -104,7 +104,7 @@ void ITMMainEngine::SaveSceneToMesh(const char *objFileName)
{
if (mesh == NULL) return;
meshingEngine->MeshScene(mesh, scene);
mesh->WriteSTL(objFileName);
mesh->WriteOBJ(objFileName);
}

void ITMMainEngine::ProcessFrame(ITMUChar4Image *rgbImage, ITMShortImage *rawDepthImage, ITMIMUMeasurement *imuMeasurement)
Expand Down
11 changes: 6 additions & 5 deletions InfiniTAM/ITMLib/Objects/ITMMesh.h
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Expand Up @@ -14,7 +14,7 @@ namespace ITMLib
class ITMMesh
{
public:
struct Triangle { Vector3f p0, p1, p2; };
struct Triangle { Vector3f p0, p1, p2, clr; };

MemoryDeviceType memoryType;

Expand Down Expand Up @@ -49,10 +49,11 @@ namespace ITMLib
{
for (uint i = 0; i < noTotalTriangles; i++)
{
fprintf(f, "v %f %f %f\n", triangleArray[i].p0.x, triangleArray[i].p0.y, triangleArray[i].p0.z);
fprintf(f, "v %f %f %f\n", triangleArray[i].p1.x, triangleArray[i].p1.y, triangleArray[i].p1.z);
fprintf(f, "v %f %f %f\n", triangleArray[i].p2.x, triangleArray[i].p2.y, triangleArray[i].p2.z);
}
const auto& clr = triangleArray[i].clr;
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@vinjn: Please can you replace auto with Vector3f? The former breaks the build on older compilers.

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Sure, what about other changes.

fprintf(f, "v %f %f %f %f %f %f\n", triangleArray[i].p0.x, triangleArray[i].p0.y, triangleArray[i].p0.z, clr.r, clr.g, clr.b);
fprintf(f, "v %f %f %f %f %f %f\n", triangleArray[i].p1.x, triangleArray[i].p1.y, triangleArray[i].p1.z, clr.r, clr.g, clr.b);
fprintf(f, "v %f %f %f %f %f %f\n", triangleArray[i].p2.x, triangleArray[i].p2.y, triangleArray[i].p2.z, clr.r, clr.g, clr.b);
}

for (uint i = 0; i<noTotalTriangles; i++) fprintf(f, "f %d %d %d\n", i * 3 + 2 + 1, i * 3 + 1 + 1, i * 3 + 0 + 1);
fclose(f);
Expand Down
2 changes: 1 addition & 1 deletion InfiniTAM/ITMLib/Utils/ITMLibDefines.h
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Expand Up @@ -186,7 +186,7 @@ struct ITMVoxel_f
/** This chooses the information stored at each voxel. At the moment, valid
options are ITMVoxel_s, ITMVoxel_f, ITMVoxel_s_rgb and ITMVoxel_f_rgb
*/
typedef ITMVoxel_s ITMVoxel;
typedef ITMVoxel_s_rgb ITMVoxel;

/** This chooses the way the voxels are addressed and indexed. At the moment,
valid options are ITMVoxelBlockHash and ITMPlainVoxelArray.
Expand Down
4 changes: 3 additions & 1 deletion InfiniTAM/InfiniTAM.cpp
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Expand Up @@ -44,7 +44,9 @@ static void CreateDefaultImageSource(ImageSourceEngine* & imageSource, IMUSource
if (imageSource == NULL)
{
printf("trying OpenNI device: %s\n", (filename1==NULL)?"<OpenNI default device>":filename1);
imageSource = new OpenNIEngine(calibFile, filename1);

// Set useInternalCalibration to true if ITMVoxel::hasColorInformation is true
imageSource = new OpenNIEngine(calibFile, filename1, ITMVoxel::hasColorInformation);
if (imageSource->getDepthImageSize().x == 0)
{
delete imageSource;
Expand Down