public void SaveToOBJ(string directory, string objPath)
{
var objFilename = Path.GetFileNameWithoutExtension(objPath);
var objDirectory = Path.GetDirectoryName(objPath);
if (!Directory.Exists(objDirectory))
Directory.CreateDirectory(objDirectory);
// Because we need to form triangles, we go back to the depth image
var quadOffsets = new System.Drawing.Point[]
{
new System.Drawing.Point(0, 0),
new System.Drawing.Point(1, 0),
new System.Drawing.Point(0, 1),
new System.Drawing.Point(1, 0),
new System.Drawing.Point(1, 1),
new System.Drawing.Point(0, 1),
};
var streamWriter = new CultureInvariantStreamWriter(objDirectory + "/" + objFilename + ".obj");
var mtlFileWriter = new CultureInvariantStreamWriter(objDirectory + "/" + objFilename + ".mtl");
streamWriter.WriteLine("mtllib " + objFilename + ".mtl");
uint nextVertexIndex = 1;
var depthImage = new FloatImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
foreach (var camera in cameras)
{
mtlFileWriter.WriteLine("newmtl camera" + camera.name);
mtlFileWriter.WriteLine("Ka 1.000000 1.000000 1.000000");
mtlFileWriter.WriteLine("Kd 1.000000 1.000000 1.000000");
mtlFileWriter.WriteLine("Ks 0.000000 0.000000 0.000000");
mtlFileWriter.WriteLine("Tr 1.000000");
mtlFileWriter.WriteLine("illum 1");
mtlFileWriter.WriteLine("Ns 0.000000");
mtlFileWriter.WriteLine("map_Kd " + objFilename + "_" + camera.name + ".jpg");
File.Copy(directory + "/camera" + camera.name + "/color.jpg", objDirectory + "/" + objFilename + "_" + camera.name + ".jpg", true);
streamWriter.WriteLine("usemtl camera" + camera.name);
// load depth image
string cameraDirectory = directory + "/camera" + camera.name;
depthImage.LoadFromFile(cameraDirectory + "/mean.bin");
var calibration = camera.calibration;
var depthFrameToCameraSpaceTable = calibration.ComputeDepthFrameToCameraSpaceTable();
var vertices = new Vertex[Kinect2Calibration.depthImageWidth * Kinect2Calibration.depthImageHeight];
var colorCamera = new Matrix(4, 1);
var depthCamera = new Matrix(4, 1);
var world = new Matrix(4, 1);
for (int y = 0; y < Kinect2Calibration.depthImageHeight; y++)
for (int x = 0; x < Kinect2Calibration.depthImageWidth; x++)
{
// depth camera coords
var depth = depthImage[x, y] / 1000f; // m
// convert to depth camera space
var point = depthFrameToCameraSpaceTable[Kinect2Calibration.depthImageWidth * y + x];
depthCamera[0] = point.X * depth;
depthCamera[1] = point.Y * depth;
depthCamera[2] = depth;
depthCamera[3] = 1;
// world coordinates
world.Mult(camera.pose, depthCamera);
//world.Scale(1.0 / world[3]); not necessary for this transform
// convert to color camera space
colorCamera.Mult(calibration.depthToColorTransform, depthCamera);
colorCamera.Scale(1.0 / colorCamera[3]);
// project to color image
double colorU, colorV;
CameraMath.Project(calibration.colorCameraMatrix, calibration.colorLensDistortion, colorCamera[0], colorCamera[1], colorCamera[2], out colorU, out colorV);
colorU /= (double)Kinect2Calibration.colorImageWidth;
colorV /= (double)Kinect2Calibration.colorImageHeight;
var vertex = new Vertex();
vertex.x = (float)world[0];
vertex.y = (float)world[1];
vertex.z = (float)world[2];
vertex.u = (float)colorU;
vertex.v = (float)colorV;
vertices[Kinect2Calibration.depthImageWidth * y + x] = vertex;
}
streamWriter.WriteLine("g camera" + camera.name);
streamWriter.WriteLine("usemtl camera" + camera.name);
// examine each triangle
for (int y = 0; y < Kinect2Calibration.depthImageHeight - 1; y++)
for (int x = 0; x < Kinect2Calibration.depthImageWidth - 1; x++)
{
int offseti = 0;
for (int tri = 0; tri < 2; tri++)
{
// the indexes of the vertices of this triangle
var i0 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti].Y) + (x + quadOffsets[offseti].X);
var i1 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti + 1].Y) + (x + quadOffsets[offseti + 1].X);
var i2 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti + 2].Y) + (x + quadOffsets[offseti + 2].X);
// is triangle valid?
bool nonZero = (vertices[i0].z != 0) && (vertices[i1].z != 0) && (vertices[i2].z != 0);
bool jump01 = Vertex.DistanceSquared(vertices[i0], vertices[i1]) < 0.2 * 0.2;
bool jump02 = Vertex.DistanceSquared(vertices[i0], vertices[i2]) < 0.2 * 0.2;
bool jump12 = Vertex.DistanceSquared(vertices[i1], vertices[i2]) < 0.2 * 0.2;
bool valid = nonZero && jump01 && jump02 && jump12;
if (valid)
{
// only add the vertex if we haven't already
if (vertices[i0].index == 0)
{
streamWriter.WriteLine(vertices[i0]);
vertices[i0].index = nextVertexIndex++;
}
if (vertices[i1].index == 0)
{
streamWriter.WriteLine(vertices[i1]);
vertices[i1].index = nextVertexIndex++;
}
if (vertices[i2].index == 0)
{
streamWriter.WriteLine(vertices[i2]);
vertices[i2].index = nextVertexIndex++;
}
streamWriter.WriteLine("f {0}/{0} {1}/{1} {2}/{2}", vertices[i0].index, vertices[i1].index, vertices[i2].index);
}
offseti += 3;
}
}
}
streamWriter.Close();
mtlFileWriter.Close();
}
public static void SaveToPly(string filename, Float3Image pts3D)
{
using (var file = new CultureInvariantStreamWriter(filename, false, Encoding.ASCII))
{
// Write Header
file.WriteLine("ply");
file.WriteLine("format ascii 1.0");
file.WriteLine("comment VCGLIB generated");
// Write Elements
file.WriteLine("element vertex " + pts3D.Width * pts3D.Height);
file.WriteLine("property float x\nproperty float y\nproperty float z");
//file.WriteLine("element face 0");
//file.WriteLine("property list uchar int vertex_indices");
file.WriteLine("end_header");
for (int r = 0; r < pts3D.Height; r++)
{
for (int c = 0; c < pts3D.Width; c++)
{
Float3 xyz = pts3D[c, r];
if (xyz.z == float.NaN)
{
file.WriteLine("0 0 0");
continue;
}
file.WriteLine(xyz.x.ToString("0.000") + " " + xyz.y.ToString("0.000") + " " + xyz.z.ToString("0.000"));
}
}
}
}
