int main (int argc, char* argv[])
{
int device = 0;
cuda::setDevice (device);
cuda::printShortCudaDeviceInfo (device);
if(cuda::checkIfPreFermiGPU(device))
return std::cout << std::endl << "Kinfu is not supported for pre-Fermi GPU architectures, and not built for them by default. Exiting..." << std::endl, 1;
OpenNISource capture;
if(argc == 2)
capture.open(string(argv[1]));
else
{
capture.open(0);
}
//capture.open (0);
//capture.open("/home/tristan/kintinuous.tigelbri/build/Captured.oni");
//capture.open("/home/tristan/home.oni");
KinFuApp app (capture);
// executing
try { app.execute (); }
catch (const std::bad_alloc& /*e*/) { std::cout << "Bad alloc" << std::endl; }
catch (const std::exception& /*e*/) { std::cout << "Exception" << std::endl; }
return 0;
}
int main (int argc, char* argv[])
{
kfusion::Options* options;
try
{
// Parse command line arguments
options = new kfusion::Options(argc, argv);
// Exit if options had to generate a usage message
// (this means required parameters are missing)
if ( options->printUsage() )
{
return 0;
}
::std::cout << *options << ::std::endl;
}
catch(exception& e)
{
cout << e.what() << endl;
return 0;
}
OpenNISource capture;
string device = options->getInputDevice();
if(device.find_first_not_of("0123456789") == std::string::npos)
{
cuda::setDevice (atoi(device.c_str()));
cuda::printShortCudaDeviceInfo (atoi(device.c_str()));
if(cuda::checkIfPreFermiGPU(atoi(device.c_str())))
return std::cout << std::endl << "Kinfu is not supported for pre-Fermi GPU architectures, and not built for them by default. Exiting..." << std::endl, 1;
capture.open(atoi(device.c_str()));
}
else
{
capture.open(device);
capture.triggerPause();
}
KinFuApp app (capture, options);
// executing
try {
app.execute ();
}
catch (const std::bad_alloc& /*e*/) {
std::cout << "Bad alloc" << std::endl;
}
catch (const std::exception& /*e*/) {
std::cout << "Exception" << std::endl;
}
return 0;
}
static void
keyboard_callback (const visualization::KeyboardEvent &e, void *cookie)
{
KinFuApp* app = reinterpret_cast<KinFuApp*> (cookie);
int key = e.getKeyCode ();
if (e.keyUp ())
switch (key)
{
case 27: app->exit_ = true; break;
case (int)'t': case (int)'T': app->scan_ = true; break;
case (int)'a': case (int)'A': app->scan_mesh_ = true; break;
case (int)'h': case (int)'H': app->printHelp (); break;
case (int)'m': case (int)'M': app->scene_cloud_view_.toggleExtractionMode (); break;
case (int)'n': case (int)'N': app->scene_cloud_view_.toggleNormals (); break;
case (int)'c': case (int)'C': app->scene_cloud_view_.clearClouds (true); break;
case (int)'i': case (int)'I': app->toggleIndependentCamera (); break;
case (int)'b': case (int)'B': app->scene_cloud_view_.toggleCube(app->kinfu_.volume().getSize()); break;
case (int)'7': case (int)'8': app->writeMesh (key - (int)'0'); break;
case (int)'1': case (int)'2': case (int)'3': app->writeCloud (key - (int)'0'); break;
case '*': app->image_view_.toggleImagePaint (); break;
case (int)'x': case (int)'X':
app->scan_volume_ = !app->scan_volume_;
cout << endl << "Volume scan: " << (app->scan_volume_ ? "enabled" : "disabled") << endl << endl;
break;
case (int)'v': case (int)'V':
cout << "Saving TSDF volume to tsdf_volume.dat ... " << flush;
app->tsdf_volume_.save ("tsdf_volume.dat", true);
cout << "done [" << app->tsdf_volume_.size () << " voxels]" << endl;
cout << "Saving TSDF volume cloud to tsdf_cloud.pcd ... " << flush;
pcl::io::savePCDFile<pcl::PointXYZI> ("tsdf_cloud.pcd", *app->tsdf_cloud_ptr_, true);
cout << "done [" << app->tsdf_cloud_ptr_->size () << " points]" << endl;
break;
default:
break;
}
}
int
main (int argc, char* argv[])
{
if (pc::find_switch (argc, argv, "--help") || pc::find_switch (argc, argv, "-h"))
return print_cli_help ();
int device = 0;
pc::parse_argument (argc, argv, "-gpu", device);
pcl::gpu::setDevice (device);
pcl::gpu::printShortCudaDeviceInfo (device);
// if (checkIfPreFermiGPU(device))
// return cout << endl << "Kinfu is supported only for Fermi and Kepler arhitectures. It is not even compiled for pre-Fermi by default. Exiting..." << endl, 1;
boost::shared_ptr<pcl::Grabber> capture;
bool triggered_capture = false;
std::string eval_folder, match_file, openni_device, oni_file, pcd_dir;
try
{
if (pc::parse_argument (argc, argv, "-dev", openni_device) > 0)
{
capture.reset (new pcl::OpenNIGrabber (openni_device));
}
else if (pc::parse_argument (argc, argv, "-oni", oni_file) > 0)
{
triggered_capture = true;
bool repeat = false; // Only run ONI file once
capture.reset (new pcl::ONIGrabber (oni_file, repeat, ! triggered_capture));
}
else if (pc::parse_argument (argc, argv, "-pcd", pcd_dir) > 0)
{
float fps_pcd = 15.0f;
pc::parse_argument (argc, argv, "-pcd_fps", fps_pcd);
vector<string> pcd_files = getPcdFilesInDir(pcd_dir);
// Sort the read files by name
sort (pcd_files.begin (), pcd_files.end ());
capture.reset (new pcl::PCDGrabber<pcl::PointXYZ> (pcd_files, fps_pcd, false));
}
else if (pc::parse_argument (argc, argv, "-eval", eval_folder) > 0)
{
//init data source latter
pc::parse_argument (argc, argv, "-match_file", match_file);
}
else
{
capture.reset( new pcl::OpenNIGrabber() );
//triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224932.oni", true, ! triggered_capture) );
//triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/reg20111229-180846.oni, true, ! triggered_capture) );
//triggered_capture = true; capture.reset( new pcl::ONIGrabber("/media/Main/onis/20111013-224932.oni", true, ! triggered_capture) );
//triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224551.oni", true, ! triggered_capture) );
//triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224719.oni", true, ! triggered_capture) );
}
}
catch (const pcl::PCLException& /*e*/) { return cout << "Can't open depth source" << endl, -1; }
float volume_size = 3.f;
pc::parse_argument (argc, argv, "-volume_size", volume_size);
int icp = 1, visualization = 1;
std::vector<float> depth_intrinsics;
pc::parse_argument (argc, argv, "--icp", icp);
pc::parse_argument (argc, argv, "--viz", visualization);
KinFuApp app (*capture, volume_size, icp, visualization);
if (pc::parse_argument (argc, argv, "-eval", eval_folder) > 0)
app.toggleEvaluationMode(eval_folder, match_file);
if (pc::find_switch (argc, argv, "--current-cloud") || pc::find_switch (argc, argv, "-cc"))
app.initCurrentFrameView ();
if (pc::find_switch (argc, argv, "--save-views") || pc::find_switch (argc, argv, "-sv"))
app.image_view_.accumulate_views_ = true; //will cause bad alloc after some time
if (pc::find_switch (argc, argv, "--registration") || pc::find_switch (argc, argv, "-r"))
app.initRegistration();
if (pc::find_switch (argc, argv, "--integrate-colors") || pc::find_switch (argc, argv, "-ic"))
app.toggleColorIntegration();
if (pc::find_switch (argc, argv, "--scale-truncation") || pc::find_switch (argc, argv, "-st"))
app.enableTruncationScaling();
if (pc::parse_x_arguments (argc, argv, "--depth-intrinsics", depth_intrinsics) > 0)
{
if ((depth_intrinsics.size() == 4) || (depth_intrinsics.size() == 2))
{
app.setDepthIntrinsics(depth_intrinsics);
}
else
{
pc::print_error("Depth intrinsics must be given on the form fx,fy[,cx,cy].\n");
return -1;
}
}
// executing
try { app.startMainLoop (triggered_capture); }
catch (const pcl::PCLException& /*e*/) { cout << "PCLException" << endl; }
catch (const std::bad_alloc& /*e*/) { cout << "Bad alloc" << endl; }
catch (const std::exception& /*e*/) { cout << "Exception" << endl; }
#ifdef HAVE_OPENCV
for (size_t t = 0; t < app.image_view_.views_.size (); ++t)
{
if (t == 0)
{
cout << "Saving depth map of first view." << endl;
cv::imwrite ("./depthmap_1stview.png", app.image_view_.views_[0]);
cout << "Saving sequence of (" << app.image_view_.views_.size () << ") views." << endl;
}
char buf[4096];
sprintf (buf, "./%06d.png", (int)t);
cv::imwrite (buf, app.image_view_.views_[t]);
printf ("writing: %s\n", buf);
}
#endif
return 0;
}