void
init(void)
{
glClearColor(0.0, 0.0, 0.0, 0.0);
glShadeModel(GL_FLAT);
glEnable(GL_DEPTH_TEST);
// in objects.cpp
initCubeArray();
initPyramid();
mode=ORTHOGRAPHIC;
init_viewcam(mode);
fprintf(stderr, "Viewing mode\n");
return;
}
//#define WEB_CAM
int main ( int argc, char** argv )
{
initLight();
//opencv cpp style
#ifdef WEB_CAM
cv::VideoCapture cap ( 1 ); // 0: open the default camera
// 1: open the integrated webcam
#else
cv::VideoCapture cap("Cropped1.avi"); //("VDark.avi");//("VTreeTrunk.avi"); //("VRotatePersp.avi");//("VMouth.avi");// ("VCars.avi"); //("VZoomIn.avi");//("VSelf.avi");//("VFootball.mkv");//( "VRectLight.avi" );
//("VCars.avi"); //("VRotateOrtho.avi"); //("VHand.avi");
//("VPerson.avi");//("VHall.avi");// // ("VZoomOut.avi");//
#endif
if ( !cap.isOpened() ) return -1;
btl::image::semidense::CSemiDenseTrackerOrb cSDTOrb;
btl::image::semidense::CSemiDenseTracker cSDTFast;
cv::gpu::GpuMat cvgmColorFrame,cvgmGrayFrame,cvgmColorFrameSmall;
cv::Mat cvmColorFrame, cvmGrayFrame, cvmTotalFrame;
cap >> cvmColorFrame; cvgmColorFrame.upload(cvmColorFrame);
//resize
const float fScale = .5f;
cv::gpu::resize(cvgmColorFrame,cvgmColorFrameSmall,cv::Size(0,0),fScale ,fScale );
//to gray
cv::gpu::cvtColor(cvgmColorFrameSmall,cvgmGrayFrame,cv::COLOR_RGB2GRAY);
initPyramid(cvgmGrayFrame.rows, cvgmGrayFrame.cols );
buildPyramid(cvgmGrayFrame);
cvmTotalFrame.create(cvgmColorFrameSmall.rows*2,cvgmColorFrameSmall.cols*2,CV_8UC3);
cv::Mat cvmROI0(cvmTotalFrame, cv::Rect( 0, 0, cvgmColorFrameSmall.cols, cvgmColorFrameSmall.rows));
cv::Mat cvmROI1(cvmTotalFrame, cv::Rect( 0, cvgmColorFrameSmall.rows, cvgmColorFrameSmall.cols, cvgmColorFrameSmall.rows));
cv::Mat cvmROI2(cvmTotalFrame, cv::Rect(cvgmColorFrameSmall.cols, cvgmColorFrameSmall.rows, cvgmColorFrameSmall.cols, cvgmColorFrameSmall.rows));
cv::Mat cvmROI3(cvmTotalFrame, cv::Rect(cvgmColorFrameSmall.cols, 0, cvgmColorFrameSmall.cols, cvgmColorFrameSmall.rows));
//copy to total frame
cvgmColorFrameSmall.download(cvmROI0); cvgmColorFrameSmall.download(cvmROI1); cvgmColorFrameSmall.download(cvmROI2); cvgmColorFrameSmall.download(cvmROI3);
bool bIsInitSuccessful;
bIsInitSuccessful = cSDTFast.init( _acvgmShrPtrPyrBWs );
bIsInitSuccessful = cSDTOrb.init( _acvgmShrPtrPyrBWs );
while(!bIsInitSuccessful){
cap >> cvmColorFrame; cvgmColorFrame.upload(cvmColorFrame);
//resize
cv::gpu::resize(cvgmColorFrame,cvgmColorFrameSmall,cv::Size(0,0),fScale ,fScale );
//to gray
cv::gpu::cvtColor(cvgmColorFrameSmall,cvgmGrayFrame,cv::COLOR_RGB2GRAY);
//copy into total frame
cvgmColorFrameSmall.download(cvmROI0); cvgmColorFrameSmall.download(cvmROI1); cvgmColorFrameSmall.download(cvmROI2); cvgmColorFrameSmall.download(cvmROI3);
bIsInitSuccessful = cSDTOrb.init( _acvgmShrPtrPyrBWs );
bIsInitSuccessful = cSDTFast.init( _acvgmShrPtrPyrBWs );
}
cv::namedWindow ( "Tracker", 1 );
bool bStart = false;
unsigned int uIdx = 0;
for ( ;;uIdx++ ){
double t = (double)cv::getTickCount();
int nKey = cv::waitKey( 0 ) ;
if ( nKey == 'a' ){
bStart = true;
}
else if ( nKey == 'q'){
break;
}
imshow ( "Tracker", cvmTotalFrame );
if(!bStart) continue;
//load a new frame
cap >> cvmColorFrame;
if (cvmColorFrame.empty()) {
cap.set(CV_CAP_PROP_POS_AVI_RATIO,0);//replay at the end of the video
cap >> cvmColorFrame; cvgmColorFrame.upload(cvmColorFrame);
//resize
cv::gpu::resize(cvgmColorFrame,cvgmColorFrameSmall,cv::Size(0,0),fScale ,fScale );
//to gray
cv::gpu::cvtColor(cvgmColorFrameSmall,cvgmGrayFrame,cv::COLOR_RGB2GRAY);
buildPyramid(cvgmGrayFrame);
//copy into total frame
cvgmColorFrameSmall.download(cvmROI0); cvgmColorFrameSmall.download(cvmROI1); cvgmColorFrameSmall.download(cvmROI2); cvgmColorFrameSmall.download(cvmROI3);
cSDTOrb.init( _acvgmShrPtrPyrBWs );
cSDTFast.init( _acvgmShrPtrPyrBWs );
//get second frame
cap >> cvmColorFrame; cvgmColorFrame.upload(cvmColorFrame);
//resize
cv::gpu::resize(cvgmColorFrame,cvgmColorFrameSmall,cv::Size(0,0),fScale ,fScale );
//to gray
cv::gpu::cvtColor(cvgmColorFrameSmall,cvgmGrayFrame,cv::COLOR_RGB2GRAY);
//copy into total frame
cvgmColorFrameSmall.download(cvmROI0); cvgmColorFrameSmall.download(cvmROI1); cvgmColorFrameSmall.download(cvmROI2); cvgmColorFrameSmall.download(cvmROI3);
}else{
