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plan.txt
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plan.txt
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Camera Projection matrices: pmvs/txt
Images: pmvs/visualize
GPS positions in LSR space: pmvs/pos
Read in PLY
DID WITH PCL
Read header infomation
get vert info
read lines until you get to "element"
read number of vertices
get face info
read lines until you get to "element"
read number of faces
read until you get to end_header
Read points (element vertex)
for number of vertices
get line, read first 3 numbers for x,y,z
Read triangle information (element face)
for number of faces
get line, read 2nd,3rd,4th number for triangle information
Read in Patches file
Store total number of points
Point information
For each point need to store:
3D point
3D normal
Number of images
Indices of best 5 images
Read file
Open file with known filename
if file is open
Read first line, make sure it says PATCHES
Read next line to get number of points
for the number of points
read 9 lines for that 1 point and
extract information from those 9 lines
if the xyz is in the ply file save the patch information
Read in Camera projection files
Array of cameras
Store 3x4 matrix as eigen::matrix
RQ Decomposition to find camera pointing direction
Read in center files (may not be needed if RQ works)
PLY file - x,y,z locations for each camera
Read images
only the 22 images
Read option file (for 22 target image indices)
For each triangle chose best image for triangle
Make cost function for images from camera information from best images list in patch info
Busy area - can move through files
Constant area - try to stay on same image
Combining two images (seam of 2 images) - blend them
Distance from edge of image
Proj matrix to 2D, see how close to dim of image
Display with OpenGL
IF MEMORY IS A PROBLEM
Look into histogram of images used
See if we can throw any away