void JobRemoteTest::initTestCase()
{
s_referenceTimeStamp = QDateTime::currentDateTime().addSecs( -30 ); // 30 seconds ago
// Start with a clean base dir
cleanupTestCase();
if ( !myExists( remoteTmpDir() ) ) {
bool ok = myMkdir( remoteTmpDir() );
if ( !ok )
kFatal() << "Couldn't create " << remoteTmpDir();
}
if ( !myExists( localTmpDir() ) ) {
bool ok = myMkdir( localTmpDir() );
if ( !ok )
kFatal() << "Couldn't create " << localTmpDir();
}
}
int main(int argc, char **argv)
{
double * rodriguez = (double*) malloc(sizeof(double) * 3 );
double * translation = (double*) malloc(sizeof(double) * 3 );
double * camera = (double*) malloc(sizeof(double) * 9 );
double scaleToDepthUnit = 1.0;
//Internal calibration
camera[0]=535.784106;
camera[1]=0.0;
camera[2]=312.428312;
camera[3]=0.0;
camera[4]=534.223354;
camera[5]=243.889369;
camera[6]=0.0;
camera[7]=0.0;
camera[8]=1.0;
translation[0]=0.0;
translation[1]=0.0;
translation[2]=0.0;
rodriguez[0]=0.0;
rodriguez[1]=0.0;
rodriguez[2]=0.0;
setOpenGLNearFarPlanes(1,15000);
int i=0;
for (i=0; i<argc; i++)
{
if (strcmp(argv[i],"-test")==0)
{
internalTest();
exit(0);
}
else if (strcmp(argv[i],"-intrinsics")==0)
{
if (i+8<argc)
{
int z=0;
for (z=0; z<9; z++)
{
camera[z]=atof(argv[z+i+1]);
}
setOpenGLIntrinsicCalibration( (double*) camera);
}
}
else if (strcmp(argv[i],"-extrinsics")==0)
{
if (i+7<argc)
{
translation[0]=atof(argv[i+1]);
translation[1]=atof(argv[i+2]);
translation[2]=atof(argv[i+3]);
rodriguez[0]=atof(argv[i+4]);
rodriguez[1]=atof(argv[i+5]);
rodriguez[2]=atof(argv[i+6]);
scaleToDepthUnit = atof(argv[i+7]);
setOpenGLExtrinsicCalibration( (double*) rodriguez, (double*) translation , scaleToDepthUnit);
}
}
else if ( (strcmp(argv[i],"-resolution")==0) ||
(strcmp(argv[i],"-size")==0) )
{
if (i+2<argc)
{
width=atof(argv[i+1]);
height=atof(argv[i+2]);
}
}
else if (
(strcmp(argv[i],"-photo")==0) ||
(strcmp(argv[i],"-photoshoot")==0)
)
{
if (i+4<argc)
{
photoShootOBJ=atoi(argv[i+1]);
angleX=atof(argv[i+2]);
angleY=atof(argv[i+3]);
angleZ=atof(argv[i+4]);
columns=atoi(argv[i+5]);
rows=atoi(argv[i+6]);
}
}
else if (strcmp(argv[i],"-from")==0)
{
if (i+1<argc)
{
readFromArg = i+1 ;
}
}
else if (strcmp(argv[i],"-to")==0)
{
if (i+1<argc)
{
writeToArg = i+1 ;
doFileOutput=1;
fprintf(stderr,"Will write data to %s\n",argv[writeToArg]);
}
}
else if (strcmp(argv[i],"-shader")==0)
{
enableShaders(argv[i+1],argv[i+2]);
}
else if (strcmp(argv[i],"-keyboard")==0)
{
forceKeyboardControl=1;
}
else if (strcmp(argv[i],"-maxFrames")==0)
{
maxFrames=atoi(argv[i+1]);
}
}
int started = 0;
if (readFromArg!=0)
{
started=startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,argv[readFromArg]);
}
else
{
started=startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,0); /*0 defaults to scene.conf*/
}
if (!started)
{
fprintf(stderr,"Could not start OpenGL Renderer Sandbox , please see log to find the exact reason of failure \n");
return 0;
}
if (photoShootOBJ)
{
float angXVariance=60,angYVariance=60,angZVariance=30;
//fprintf(stderr,"Making a photoshoot of object %u",photoShootOBJ);
void * oglPhotoShoot = createOGLRendererPhotoshootSandbox( photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance );
snapOGLRendererPhotoshootSandbox(oglPhotoShoot , photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance);
writeOpenGLColor("color.pnm",0,0,width,height);
writeOpenGLDepth("depth.pnm",0,0,width,height);
destroyOGLRendererPhotoshootSandbox( oglPhotoShoot );
return 0;
}
if ( forceKeyboardControl )
{
setKeyboardControl(1);
}
char filename[FILENAME_MAX]= {0};
if (doFileOutput)
{
myMkdir("frames",argv[writeToArg]);
}
unsigned int snappedFrames=0;
while (1)
{
snapOGLRendererSandbox();
if (doFileOutput)
{
snprintf(filename,FILENAME_MAX,"frames/%s/colorFrame_0_%05u.pnm",argv[writeToArg],snappedFrames);
writeOpenGLColor(filename,0,0,width,height);
snprintf(filename,FILENAME_MAX,"frames/%s/depthFrame_0_%05u.pnm",argv[writeToArg],snappedFrames);
writeOpenGLDepth(filename,0,0,width,height);
++snappedFrames;
}
if (maxFrames!=0)
{
if (maxFrames==snappedFrames)
{
fprintf(stderr,"Reached target of %u frames , stopping\n",maxFrames);
break;
}
}
}
free(rodriguez);
free(translation);
free(camera);
stopOGLRendererSandbox();
return 0;
}
