void GetTrackingParameter( Tracking::Tracker::Parameter& params, const char* ini_file, std::string config_root = ".")
{
CDataFile iniCDF;
if(!iniCDF.Load(ini_file)){
char errmsg[128];
sprintf(errmsg, "[utilities::GetTrackingParameter] Can not open tracking_ini file '%s'", ini_file);
throw std::runtime_error(errmsg);
}
// Tracking
// Constraints
params.variation.r.x = iniCDF.GetFloat("r.x", "Constraints") * Tracking::pi/180.0f;
params.variation.r.y = iniCDF.GetFloat("r.y", "Constraints") * Tracking::pi/180.0f;
params.variation.r.z = iniCDF.GetFloat("r.z", "Constraints") * Tracking::pi/180.0f;
params.variation.t.x = iniCDF.GetFloat("t.x", "Constraints");
params.variation.t.y = iniCDF.GetFloat("t.y", "Constraints");
params.variation.t.z = iniCDF.GetFloat("t.z", "Constraints");
params.variation.z = iniCDF.GetFloat("z", "Constraints");
// Performance
params.num_recursions = iniCDF.GetInt("recursions", "Performance");
params.num_particles = iniCDF.GetInt("particles", "Performance");
params.hypotheses_trials = iniCDF.GetInt("hypotheses", "Performance");
params.convergence = iniCDF.GetInt("convergence", "Performance");
// Resource Path
params.modelPath = pal_blort::addRoot(iniCDF.GetString("ModelPath", "ResourcePath"), config_root);
params.texturePath = pal_blort::addRoot(iniCDF.GetString("TexturePath", "ResourcePath"), config_root);
params.shaderPath = pal_blort::addRoot(iniCDF.GetString("ShaderPath", "ResourcePath"), config_root);
// Other
params.edge_tolerance = iniCDF.GetFloat("EdgeMatchingTolerance", "Other") * Tracking::pi/180.0f;
params.minTexGrabAngle = iniCDF.GetFloat("MinTextureGrabAngle", "Other") * Tracking::pi/180.0f;
params.num_spreadings = iniCDF.GetInt("NumberOfSpreadings", "Other");
params.max_kernel_size = iniCDF.GetInt("MaxKernelSize", "Other");
params.model_sobel_th = iniCDF.GetFloat("ModelSobelThreshold", "Other");
params.image_sobel_th = iniCDF.GetFloat("ImageSobelThreshold", "Other");
params.pred_no_convergence = iniCDF.GetFloat("PredictorNoConvergence", "Other");
params.c_th_base = iniCDF.GetFloat("BaseThreshold", "Qualitative");
params.c_th_min = iniCDF.GetFloat("MinThreshold", "Qualitative");
params.c_th_fair = iniCDF.GetFloat("FairThreshold", "Qualitative");
params.c_th_lost = iniCDF.GetFloat("LostThreshold", "Qualitative");
params.c_mv_not = iniCDF.GetFloat("NoMovementThreshold", "Movement");
params.c_mv_slow = iniCDF.GetFloat("SlowMovementThreshold", "Movement");
}
void GetPlySiftFilenames(const char* ini_file, std::string &ply_file, std::string &sift_file, std::string &model_name)
{
CDataFile iniCDF;
if(!iniCDF.Load(ini_file)){
char errmsg[128];
sprintf(errmsg, "[utilities::GetTrackingParameter] Can not open tracking_ini file '%s'", ini_file);
throw std::runtime_error(errmsg);
}
ply_file = iniCDF.GetString("ModelPath", "ResourcePath");
ply_file.append(iniCDF.GetString("Model", "Files"));
sift_file = iniCDF.GetString("SiftPath", "ResourcePath");
sift_file.append(iniCDF.GetString("SiftModel", "Files"));
model_name = iniCDF.GetString("Model", "Files");
model_name = model_name.substr(0, model_name.find("."));
}
void getCamPose(const char* pose_cal_file, TomGine::tgPose& camPose){
CDataFile cdfParams;
if(!cdfParams.Load(pose_cal_file)){
char errmsg[128];
sprintf(errmsg, "[utilities::getCamPose] Can not open pose_cal file '%s'", pose_cal_file);
throw std::runtime_error(errmsg);
}
vec3 t, r;
mat3 R;
std::string pose = cdfParams.GetString("pose");
sscanf( pose.c_str(), "[%f %f %f] [%f %f %f]",
&(t.x), &(t.y), &(t.z), &(r.x), &(r.y), &(r.z) );
R.fromRotVector(r);
camPose.SetPose(R,t);
}
void setCameraPose(TomGine::tgCamera::Parameter& camPar, const char* pose_cal_file)
{
CDataFile poseCDF;
if(!poseCDF.Load(pose_cal_file)){
char errmsg[128];
sprintf(errmsg, "[utilities::GetTrackingParameter] Can not open pose_cal file '%s'", pose_cal_file);
throw std::runtime_error(errmsg);
}
// Pose
vec3 p, r;
std::string pose = poseCDF.GetString("pose");
sscanf( pose.c_str(), "[%f %f %f] [%f %f %f]", &(p.x), &(p.y), &(p.z), &(r.x), &(r.y), &(r.z) );
//printf("%s\n", pose.c_str());
//printf("%f %f %f, %f %f %f\n", p.x, p.y, p.z, r.x, r.y, r.z);
camPar.pos.x = p.x;
camPar.pos.y = p.y;
camPar.pos.z = p.z;
camPar.rot.fromRotVector(r);
}
bool ReadIniParameters(string szFile, InitialParameter &IniParam)
{
///////////////////////////////////////////////////////////////////////////////
// Section: Define variables
CDataFile CfgFile;
vector<int> chset;
vector<float> windlen;
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
// Section: Testing input parameters and initialize parameters
if (CfgFile.Load(szFile.c_str()))
{
if (CheckCfgParameterKeyExist(CfgFile,"dir","Initialization"))
IniParam.dir = CfgFile.GetString("dir","Initialization");
else
IniParam.dir = "C:";
if (CheckCfgParameterKeyExist(CfgFile,"decimation_frequency_Hz","Initialization"))
IniParam.Decimation_Frequency = CfgFile.GetInt("decimation_frequency_Hz","Initialization");
else
IniParam.Decimation_Frequency = 20;
if (CheckCfgParameterKeyExist(CfgFile,"spatial_filter","Initialization"))
IniParam.SF = CfgFile.GetInt("spatial_filter","Initialization");
else
IniParam.SF = 1;
if (CheckCfgParameterKeyExist(CfgFile,"penter","Initialization"))
IniParam.penter = CfgFile.GetFloat("penter","Initialization");
else
IniParam.penter = 0.1000f;
if (CheckCfgParameterKeyExist(CfgFile,"premove","Initialization"))
IniParam.premove = CfgFile.GetFloat("premove","Initialization");
else
IniParam.premove = 0.1500f;
if (CheckCfgParameterKeyExist(CfgFile,"maxiter","Initialization"))
IniParam.maxiter = CfgFile.GetInt("maxiter","Initialization");
else
IniParam.maxiter = 60;
if (CheckCfgParameterKeyExist(CfgFile,"channel_set","Initialization"))
{
string channelset = CfgFile.GetValue("channel_set","Initialization");
read_vector(channelset, IniParam.channel_set);
}
else
IniParam.channel_set.push_back(1);
if (CheckCfgParameterKeyExist(CfgFile,"Resp_window_ms","Initialization"))
{
string Resp_window = CfgFile.GetValue("Resp_window_ms","Initialization");
read_vector(Resp_window, IniParam.windlen);
}
else
{
IniParam.windlen.push_back(0);
IniParam.windlen.push_back(800);
}
return true;
}
else
// file does not exist
return false;
}
