void init(){
glfwInit();
ctx = new libfreenect2::Freenect2;
listener = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color
| libfreenect2::Frame::Ir
| libfreenect2::Frame::Depth);
frames = new libfreenect2::FrameMap;
dev = ctx->openDefaultDevice();
if(!dev){
throw ICLException("no device connected or failure opening the default one!");
}
dev->setColorFrameListener(listener);
dev->setIrAndDepthFrameListener(listener);
dev->start();
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
gui << ( VBox()
<< Image().handle("hdepth").minSize(10,8)
<< Image().handle("hcolor").minSize(10,8)
<< Image().handle("hir").minSize(10,8)
)
<< ( HSplit()
<< Draw3D().handle("draw3D").minSize(40,30)
)
<< Show();
}
void init(){
grabber.init(pa("-i"));
bool c_arg = pa("-c");
gui << Draw().handle("draw").label("input image")
<< Image().handle("cropped").label("cropped")
<< ( VBox().maxSize(c_arg ? 0 : 12,99).minSize(c_arg ? 0 : 12,1)
<< Button("save as ..").handle("saveAs")
<< Button("overwrite input").handle("overwrite")
<< Combo("0,90,180,270").handle("rot").label("rotation")
<< CheckBox("rectangular",!pa("-r")).handle("rect")
<< Button("Batch crop...").handle("batch")
<< ( HBox().label("rectification size")
<< Spinner(1,4096,640).handle("s1")
<< Label(":")
<< Spinner(1,4096,480).handle("s2")
)
<< (HBox()
<< Fps().handle("fps")
<< CamCfg()
)
)
<< Show();
if(!c_arg){
gui["batch"].registerCallback(batch_crop);
}
const ImgBase *image = grabber.grab();
if(!c_arg){
mouse_1 = new Mouse1(image->getSize());
gui["draw"].install(mouse_1);
}
mouse_2 = new Mouse2(image->getSize());
gui["draw"].install(mouse_2);
DrawHandle draw = gui["draw"];
draw->setImageInfoIndicatorEnabled(false);
if(!c_arg){
gui["rect"].registerCallback(rectangular_changed);
rectangular_changed();
if(*pa("-i",0) != "file" || FileList(*pa("-i",1)).size() != 1){
gui["overwrite"].disable();
}else{
gui["overwrite"].registerCallback(overwrite);
}
gui["saveAs"].registerCallback(save_as);
}
}
void batch_crop(){
if(!batchGUI){
batchGUI = new HSplit;
(*batchGUI) << ( VBox()
<< String("").handle("ipat").label("input file pattern")
<< String("converted-####.png").handle("opat").label("output file pattern")
<< Button("do it!").handle("do it")
)
<< VScroll().handle("matches").label("matching files")
<< Create();
(*batchGUI)["ipat"].registerCallback(batch_pattern_changed<false>);
(*batchGUI)["do it"].registerCallback(batch_pattern_changed<true>);
}
(*batchGUI).show();
}
void init(){
int masksize = 10;
int thresh = 2;
float gamma = 0;
if(pa("-config")){
ConfigFile f(*pa("-config"));
masksize = f["config.masksize"];
thresh = f["config.threshold"];
gamma = f["config.gammaslope"];
}
gui << Draw().minSize(16,12).handle("orig").label("original image")
<< Image().minSize(16,12).handle("prev").label("preview image")
<< ( VBox().label("controls")
<< Slider(2,200,masksize).label("mask size").out("masksize").minSize(15,2).handle("a")
<< FSlider(-30,40,thresh).label("threshold").out("threshold").minSize(15,2).handle("b")
<< FSlider(0,15,gamma).label("gamma slope").out("gamma").minSize(15,2).handle("c")
<< Button("next image").handle("next")
<< Button("stopped","running").out("loop").handle("d")
<< Button("no clip","clip to roi").out("clipToROI").handle("e")
<< Button("save params").handle("save")
<< Combo("region mean,tiledNN,tiledLIN").handle("algorithm").label("algorithm")
<< ( HBox()
<< Label("..ms").handle("time").label("apply time").minSize(2,3)
<< Fps(10).handle("fps").minSize(4,3).label("fps")
)
)
<< Show();
grabber.init(pa("-i"));
if(grabber.getType() != "file"){
grabber.useDesired<Size>(pa("-s"));
if(!pa("-color")){
grabber.useDesired(formatGray);
}else{
grabber.useDesired(formatRGB);
}
grabber.useDesired(depth8u);
}
gui.registerCallback(step,"a,b,c,d,e,next,algorithm");
gui["orig"].install(new MouseHandler(mouse));
step();
}
void init() {
grabber.init(pa("-i"));
if (pa("-s")) {
utils::Size size = pa("-s");
grabber.setDesiredSizeInternal(size);
}
// create the GUI
gui << ( VBox()
<< ( HBox()
<< Draw().label("Original").handle("view1").minSize(16, 12)
<< Draw().label("Median").handle("view2").minSize(16, 12)
<< Draw().label("Bilateral Filtered").handle("view3").minSize(16, 12)
)
<< ( HBox()
<< Draw().label("Original").handle("viewedge1").minSize(16, 12)
<< Draw().label("Median").handle("viewedge2").minSize(16, 12)
<< Draw().label("Bilateral Filtered").handle("viewedge3").minSize(16, 12)
)
<< CheckBox("Use LAB",true).handle("use_lab")
<< CheckBox("Use gray image",false).handle("to_gray")
<< Slider(1,24,4).label("Bilateral Kernel Radius").handle("bi_radius")
<< Slider(1,24,4).label("Median Kernel Radius").handle("median_radius")
<< FSlider(0.1,200,5).label("sigma_r (bilateral) ").handle("sigma_r")
<< FSlider(0.1,200,5).label("sigma_s (bilateral) ").handle("sigma_s")
<< Slider(0,255,200).label("Canny low th").handle("canny_low_th")
<< Slider(0,255,255).label("Canny high th").handle("canny_high_th")
<< Slider(10,100,100).label("ROI of Img (Percent)").handle("roi_size")
<< Fps().handle("fps")
);
gui << Show();
bi_filter = new BilateralFilterOp();
}
void init(){
// scene.getLight(0).setOn(false);
scene.getLight(0).setDiffuse(GeomColor(255,255,255,50));
SceneLight &l = scene.getLight(1);
static Camera cam(Vec(0,0,600,1),
Vec(0,0,-1,1),
Vec(0,-1,0,1));
cam.setResolution(Size(1024,1024));
scene.setGravity(Vec(0,0,-1000));
l.setShadowCam(new Camera(cam));
l.setShadowEnabled(true);
l.setAnchorToWorld();
l.setPosition(Vec(0,0,600,1));
l.setOn(true);
l.setSpecularEnabled(true);
l.setDiffuseEnabled(true);
l.setSpecular(GeomColor(0,100,255,255));
l.setDiffuse(GeomColor(255,100,0,30));
scene.setPropertyValue("shadows.use improved shading",true);
scene.setPropertyValue("shadows.resolution",2048);
scene.setPropertyValue("shadows.bias",10);
//static const int W=20,H=13,DIM=W*H;
static const int W=pa("-paper-dim",0), H=pa("-paper-dim",1);
static Img8u frontFace = load<icl8u>(*pa("-ff"));
static Img8u backFace = load<icl8u>(*pa("-bf"));
const Size s(210,297);
const Vec corners[4] = {
Vec(-s.width/2, -s.height/2, 150,1),
Vec(s.width/2, -s.height/2, 150,1),
Vec(s.width/2, s.height/2, 150,1),
Vec(-s.width/2, s.height/2, 150,1),
};
paper = new ManipulatablePaper(&scene,&scene,W,H,corners,true,&frontFace,&backFace);
//scene.removeObject(paper);
//paper->addShadow(-74.5);
if(pa("-o")){
std::vector<Camera> cams;
for(int i=0;i<3;++i){
cams.push_back(Camera(*pa("-c",i)));
}
capturer = new SceneMultiCamCapturer(scene, cams);
// Scene::enableSharedOffscreenRendering();
scene.setDrawCamerasEnabled(false);
}
gui << Draw3D(Size::VGA).minSize(32,24).handle("draw")
<< (VBox().maxSize(12,100).minSize(12,1)
<< ( HBox()
<< Fps(10).handle("fps")
<< Button("add clutter").handle("add")
)
<< ( HBox()
<< Button("stopped","running",true).out("run")
<< Button("paper ...").handle("props")
)
<< ( HBox()
<< CheckBox("show cubes").out("showCubes")
<< CheckBox("show texture",false).out("showTexture")
<< CheckBox("show links",false).out("showLinks")
)
<< FSlider(0,1,0.5).out("vertexMoveFactor").label("manual force")
<< FSlider(1,100,10).out("attractorStreangth").label("attractor force")
<< FSlider(0.0001,0.9999,0.9).handle("globalStiffness").label("global paper stiffness")
<< ( HBox()
<< Button("reset paper").handle("resetPaper")
<< Combo("1,5,10,25,!200,300,500").handle("maxFPS").label("max FPS")
)
<< FSlider(0.1,20,2).handle("cm").label("collision margin")
<< ( HBox()
<< Button("memorize").handle("mem")
<< CheckBox("soften with mouse",true).handle("soften")
<< Button("test").handle("pct")
)
)
<< Show();
propGUI << Prop("paper").minSize(16,1).maxSize(16,100) << Create();
gui["pct"].registerCallback(paper_coords_test);
gui["props"].registerCallback(utils::function((GUI&)propGUI,&GUI::switchVisibility));
gui["resetPaper"].registerCallback(reset_paper);
gui["globalStiffness"].registerCallback(change_global_stiffness);
scene.PhysicsWorld::addObject(&ground);
scene.Scene::addObject(&groundVis);
DrawHandle3D draw = gui["draw"];
draw->install(paper->createMouseHandler(0));
draw->install(&foldLine);
draw->link(scene.getGLCallback(0));
foldLine.cb = utils::function(fold_line_cb);
}
void PhysicsSim::drawBox(aabbox3df box, Color color)
{
boxes.push_back(VBox(box, color));
}
void init(){
bool cOut = pa("-c"), dOut = pa("-d");
if(cOut){
colorOut.init(pa("-c"));
}
if(dOut){
depthOut.init(pa("-d"));
}
if(cOut || dOut){
prevGUI << (cOut ? Image().handle("color") : Dummy())
<< (dOut ? Image().handle("depth") : Dummy())
<< Create();
}
gui << Draw3D().handle("draw")
<< ( VBox().minSize(10,2)
<< FSlider(-10,10,0).out("x").label("translate x")
<< FSlider(-10,10,0).out("y").label("translate y")
<< FSlider(1.5,10,0).out("z").label("translate z")
<< FSlider(-4,4,0).out("rx").label("rotate x")
<< FSlider(-4,4,0).out("ry").label("rotate y")
<< FSlider(-4,4,0).out("rz").label("rotate z")
<< ((cOut||dOut) ? (const GUIComponent&)Button("show","hide").label("preview").handle("preview")
: (const GUIComponent&)Dummy() )
<< Button("reset view").handle("resetView")
)
<< Show();
if(cOut || dOut){
gui["preview"].registerCallback(utils::function(&prevGUI,&GUI::switchVisibility));
if(dOut){
ImageHandle d = prevGUI["depth"];
d->setRangeMode(ICLWidget::rmAuto);
}
}
Camera defaultCam(Vec(4.73553,-3.74203,8.06666,1),
Vec(-0.498035,0.458701,-0.735904,1),
Vec(0.787984,-0.116955,-0.604486,1));
scene.addCamera( !pa("-cam").as<bool>() ? defaultCam : Camera(*pa("-cam")));
initDepthCam = scene.getCamera(0);
if(pa("-ccam")){
scene.addCamera(*pa("-ccam"));
Mat D=scene.getCamera(0).getCSTransformationMatrix();
Mat C=scene.getCamera(1).getCSTransformationMatrix();
relTM = new Mat( C * D.inv() );
}
SceneObject* ground = SceneObject::cuboid(0,0,0,200,200,3);
ground->setColor(Primitive::quad,GeomColor(100,100,100,255));
scene.addObject(ground);
if(pa("-object")){
scene.addObject( (obj = new SceneObject(*pa("-object"))) );
}else{
scene.addObject( (obj = SceneObject::cube(0,0,3, 3) ) );
}
obj->setColor(Primitive::quad, GeomColor(0,100,255,255));
obj->setColor(Primitive::triangle, GeomColor(0,100,255,255));
obj->setColor(Primitive::polygon, GeomColor(0,100,255,255));
obj->setVisible(Primitive::line | Primitive::vertex, false);
gui["draw"].link(scene.getGLCallback(0));
gui["draw"].install(scene.getMouseHandler(0));
scene.setDrawCamerasEnabled(false);
scene.addCamera(scene.getCamera(0));
}
