int main(int argc, const char** argv)
{
if (argc != 5)
Exit("Usage: test_stasm_lib MULTI MINWIDTH TRACE IMAGE");
const int multi = argv[1][0] - '0';
if (multi != 0 && multi != 1)
Exit("Usage: test_stasm_lib MULTI MINWIDTH TRACE IMAGE, "
"with MULTI 0 or 1, you have MULTI %s", argv[1]);
int minwidth = -1;
if (sscanf(argv[2], "%d", &minwidth) != 1 ||
minwidth < 1 || minwidth > 100)
{
Exit("Usage: test_stasm_lib MULTI MINWIDTH TRACE IMAGE with "
"MINWIDTH 1 to 100, you have MINWIDTH %s", argv[2]);
}
const int trace = argv[3][0] - '0';
if (trace < 0 || trace > 1)
Exit("Usage: test_stasm_lib MULTI MINWIDTH TRACE IMAGE, with TRACE 0 or 1");
if (!stasm_init("../data", trace))
Exit("stasm_init failed: %s", stasm_lasterr());
const char* path = argv[4]; // image name
stasm_printf("Reading %s\n", path);
const cv::Mat_<unsigned char> img(cv::imread(path, CV_LOAD_IMAGE_GRAYSCALE));
if (!img.data) // could not load image?
Exit("Cannot load %s", path);
cv::Mat_<unsigned char> outimg(img.clone());
if (!stasm_open_image((const char*)img.data, img.cols, img.rows,
path, multi != 0, minwidth))
Exit("stasm_open_image failed: %s", stasm_lasterr());
// Test stasm_search_auto.
// The min face size was set in the above stasm_open_image call.
float landmarks[2 * stasm_NLANDMARKS]; // x,y coords
int iface = 0;
while (1)
{
stasm_printf("--- Auto Face %d ---\n", iface);
int foundface;
float estyaw;
if (!stasm_search_auto_ext(&foundface, landmarks, &estyaw))
Exit("stasm_search_auto failed: %s", stasm_lasterr());
if (!foundface)
{
stasm_printf("No more faces\n");
break; // note break
}
char s[100]; sprintf(s, "\nFinal with auto init (estyaw %.0f)", estyaw);
PrintLandmarks(landmarks, s);
DrawLandmarks(outimg, landmarks);
iface++;
if (trace)
stasm_printf("\n");
}
imwrite("test_stasm_lib_auto.bmp", outimg);
if (stasm_NLANDMARKS != 77)
{
stasm_printf(
"Skipping pinned test because stasm_NLANDMARKS is %d not 77\n",
stasm_NLANDMARKS);
}
else if (multi == 0 && minwidth == 25 && iface)
{
// Test stasm_search_pinned. A human user is not at hand, so gyp by using
// points from the last face found above for our 5 start points
stasm_printf("--- Pinned Face %d ---\n", iface);
float pinned[2 * stasm_NLANDMARKS]; // x,y coords
memset(pinned, 0, sizeof(pinned));
pinned[L_LEyeOuter*2] = landmarks[L_LEyeOuter*2] + 2;
pinned[L_LEyeOuter*2+1] = landmarks[L_LEyeOuter*2+1];
pinned[L_REyeOuter*2] = landmarks[L_REyeOuter*2] - 2;
pinned[L_REyeOuter*2+1] = landmarks[L_REyeOuter*2+1];
pinned[L_CNoseTip*2] = landmarks[L_CNoseTip*2];
pinned[L_CNoseTip*2+1] = landmarks[L_CNoseTip*2+1];
pinned[L_LMouthCorner*2] = landmarks[L_LMouthCorner*2];
pinned[L_LMouthCorner*2+1] = landmarks[L_LMouthCorner*2+1];
pinned[L_RMouthCorner*2] = landmarks[L_RMouthCorner*2];
pinned[L_RMouthCorner*2+1] = landmarks[L_RMouthCorner*2+1];
memset(landmarks, 0, sizeof(landmarks));
if (!stasm_search_pinned(landmarks,
pinned, (const char*)img.data, img.cols, img.rows, path))
Exit("stasm_search_pinned failed: %s", stasm_lasterr());
PrintLandmarks(landmarks, "Final with pinned init");
outimg = img.clone();
DrawLandmarks(outimg, landmarks);
imwrite("test_stasm_lib_pinned.bmp", outimg);
// test stasm_convert_shape
float newlandmarks[2 * stasm_NLANDMARKS]; // x,y coords
memcpy(newlandmarks, landmarks, 2 * stasm_NLANDMARKS * sizeof(float));
stasm_convert_shape(newlandmarks, 68);
PrintLandmarks(newlandmarks, "stasm77 to xm2vts");
#if 0
outimg = img.clone();
DrawLandmarks(outimg, newlandmarks, 68);
imwrite("test_stasm_lib_68.bmp", outimg);
#endif
memcpy(newlandmarks, landmarks, 2 * stasm_NLANDMARKS * sizeof(float));
stasm_convert_shape(newlandmarks, 76);
PrintLandmarks(newlandmarks, "stasm77 to stasm76");
#if 0
outimg = img.clone();
DrawLandmarks(outimg, newlandmarks, 76);
imwrite("test_stasm_lib_76.bmp", outimg);
#endif
#if 0
memcpy(newlandmarks, landmarks, 2 * stasm_NLANDMARKS * sizeof(float));
stasm_convert_shape(newlandmarks, 22);
PrintLandmarks(newlandmarks, "stasm77 to stasm22");
outimg = img.clone();
DrawLandmarks(outimg, newlandmarks, 22);
imwrite("test_stasm_lib_22.bmp", outimg);
memcpy(newlandmarks, landmarks, 2 * stasm_NLANDMARKS * sizeof(float));
stasm_convert_shape(newlandmarks, 20);
PrintLandmarks(newlandmarks, "stasm77 to stasm20");
outimg = img.clone();
DrawLandmarks(outimg, newlandmarks, 20);
imwrite("test_stasm_lib_20.bmp", outimg);
#endif
}
return 0; // success
}
void Run() {
std::vector<pangolin::GlTexture> gl_tex;
// pangolin::Timer timer;
bool capture_success = false;
std::shared_ptr<pb::ImageArray> images = pb::ImageArray::Create();
camera_device.Capture(*images);
while (!pangolin::ShouldQuit()) {
capture_success = false;
const bool go = is_stepping;
if (!is_running) {
is_stepping = false;
}
// usleep(20000);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
if (go) {
capture_success = camera_device.Capture(*images);
}
if (capture_success) {
gl_tex.resize(images->Size());
for (uint32_t cam_id = 0; cam_id < images->Size(); ++cam_id) {
if (!gl_tex[cam_id].tid) {
camera_img = images->at(cam_id);
GLint internal_format =
(camera_img->Format() == GL_LUMINANCE ? GL_LUMINANCE : GL_RGBA);
// Only initialise now we know format.
gl_tex[cam_id].Reinitialise(
camera_img->Width(), camera_img->Height(), internal_format, false,
0, camera_img->Format(), camera_img->Type(), 0);
}
}
camera_img = images->at(0);
image_width = camera_img->Width();
image_height = camera_img->Height();
gui_vars.handler->image_height = image_height;
gui_vars.handler->image_width = image_width;
std::vector<cv::Mat> cvmat_images;
for (int ii = 0; ii < images->Size(); ++ii) {
cvmat_images.push_back(images->at(ii)->Mat());
}
ProcessImage(cvmat_images);
}
if (camera_img && camera_img->data()) {
for (uint32_t cam_id = 0;
cam_id < rig.cameras_.size() && cam_id < images->Size(); ++cam_id) {
camera_img = images->at(cam_id);
gui_vars.camera_view[cam_id]->ActivateAndScissor();
gl_tex[cam_id].Upload(camera_img->data(), camera_img->Format(),
camera_img->Type());
gl_tex[cam_id].RenderToViewportFlipY();
DrawImageData(cam_id);
}
gui_vars.grid_view->ActivateAndScissor(gui_vars.gl_render3d);
if (draw_landmarks) {
DrawLandmarks(min_lm_measurements_for_drawing, poses, rig,
gui_vars.handler, selected_track_id);
}
}
pangolin::FinishFrame();
}
}
