testModel.cpp

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// Usage: testModel <model_dir>

#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include <opencv/cv.h>
#include <opencv/highgui.h>

#include "../ObjectModel.h"

#include "ros/ros.h"
#include "DUtils.h"
#include "DUtilsCV.h"

using namespace std;

// ---------------------------------------------------------------------------

int main(int argc, char *argv[])
{
  ros::init(argc, argv, "testModel");
  
  if(argc < 1)
  {
    cout << "Usage: " << argv[0] << " <model dir>" << endl;
    return 0;
  }

  string model_dir = argv[1];
  
  cout << "-- Creating test directory" << endl;
  
  string test_dir = model_dir + "/test";
  DUtils::FileFunctions::MkDir(test_dir.c_str());
  
  cout << "-- Loading model" << endl;
  
  ObjectModel model;
  model.loadDirectory(model_dir, true);

  vector<ObjectModel::Face>::const_iterator fit;
  for(fit = model.Faces.begin(); fit != model.Faces.end(); ++fit)
  {
    const int idx = fit - model.Faces.begin();
    
    cv::Mat cTo = DUtilsCV::Transformations::composeRt(fit->cRo, fit->cto);
    
    cout << "-- Copying image " << idx << endl;
    cv::Mat image, aux;
    if(fit->image.channels() == 3)
    {
      cv::cvtColor(fit->image, aux, CV_RGB2GRAY);
      cv::cvtColor(aux, image, CV_GRAY2RGB);
    }else
    {
      cv::cvtColor(fit->image, image, CV_GRAY2RGB);
    }

    cout << "-- Drawing image " << idx << endl;

    DUtilsCV::Drawing::drawKeyPoints(image, fit->surf.keys);
    model.getVisualizationModel().draw(image, cTo, fit->A);
    
    char buffer[512];
    sprintf(buffer, "%s/test_%03d.png", test_dir.c_str(), idx);
    cv::imwrite(buffer, image);
  }
  
  cout << "Done. Results saved in " << test_dir << endl;

}

// ---------------------------------------------------------------------------