assert(argc > 1 && "usage: render_depth YOUR_CONFIGURATION.json");

auto cfg = LoadJson(argv[1]);

// get opengl version

int major_version = cfg.get("major_version", 4).asInt();

int minor_version = cfg.get("minor_version", 3).asInt();

// get parameters

int imH = cfg.get("image_height", 480).asInt();

int imW = cfg.get("image_width", 640).asInt();

float z_near = cfg.get("z_near", 0.05).asFloat();

float z_far = cfg.get("z_far", 10.0).asFloat();

float fx = cfg.get("fx", 400).asFloat();

float fy = cfg.get("fy", 400).asFloat();

float cx = cfg.get("cx", 320).asFloat();

float cy = cfg.get("cy", 240).asFloat();

// init to current camera transformation

Mat4f g_curr_init = Mat4f::Identity();

std::cout << "g_curr_init=" << g_curr_init << std::endl;

RendererPtr ptr = std::make_shared<Renderer>(imH, imW, major_version, minor_version);

ptr->SetCamera(z_near, z_far, fx, fy, cx, fy);

ptr->SetCamera(g_curr_init);

MatXf V;

MatXi F;

LoadMesh(cfg.get("mesh", "misc/hermanmiller_aeron.obj").asString(), V, F);

ptr->SetMesh(V, F);

// stats of mesh

std::cout << "center=" << V.colwise().mean() << std::endl;

std::cout << "max=" << V.colwise().maxCoeff() << std::endl;

std::cout << "min=" << V.colwise().minCoeff() << std::endl;

SE3f model_pose(SO3f(), GetVectorFromJson<float, 3>(cfg, "translation"));

cv::Mat depth_map(imH, imW, CV_32FC1);

ptr->RenderDepth(model_pose.matrix(), depth_map);

cv::Mat mask(imH, imW, CV_8UC1);

bool has_mask = cfg.get("mask", false).asBool();

if (has_mask) {

ptr->RenderMask(model_pose.matrix(), mask);

}

if (cfg.get("show", false).asBool()) {

cv::imshow("depth map", depth_map);

if (has_mask) {

cv::imshow("depth map", mask);

}

cv::waitKey();

}

if (cfg.get("save", false).asBool()) {

std::string output_path = cfg.get("output_path", ".").asString();

try {

SaveMat<float>(output_path+"/depthmap.bin", depth_map);

} catch (const std::exception &) {

std::cout << "failed to write out depth map to " << output_path << std::endl;

}

if (has_mask) {

try {

SaveMat<uint8_t>(output_path+"/mask.bin", mask);

} catch (const std::exception &) {

std::cout << "failed to write out mask to " << output_path << std::endl;

}

}

}