bool MeshPyramidReader::trackFrame(int nFrame, unsigned char* pColorImageRGB,
TrackerOutputInfo** pOutputInfo)
{
if(!setCurrentFrame(nFrame))
return false;
// set up the color used later
memcpy(pCurrentColorImageRGB, pColorImageRGB, 3*m_nWidth*m_nHeight);
cv::Mat tempColorImageRGB(m_nHeight, m_nWidth, CV_8UC3, pCurrentColorImageRGB);
tempColorImageRGB.convertTo(colorImage, cv::DataType<Vec3d>::type, 1./255);
cv::split(colorImage, colorImageSplit);
setMeshPyramid();
// cout << "frame " << nFrame << ":" << endl;
// //print mesh center
// for(int i = 0; i < currentMeshPyramid.numLevels; ++i)
// {
// cout << "level " << i << ":" << endl;
// cout << "center: " << currentMeshPyramid.levels[i].center[0] << " "
// << currentMeshPyramid.levels[i].center[1] << " "
// << currentMeshPyramid.levels[i].center[2] << " "
// << endl;
// }
// cout << "number of pyramid levels " << outputInfoPyramid.size() << endl;
// *pOutputInfo = &outputInfoPyramid[0];
if(!trackerInitialized)
{
*pOutputInfo = &outputInfoPyramid[0];
trackerInitialized = true;
}
return true;
}
// load mesh from uImage, vImage, dImage and maskImage
// only for the first frame
void MainEngine::LoadInitialMeshUVD()
{
//
cout << "load mesh from uvd images" << endl;
DepthImageType uImage(m_nHeight,m_nWidth);
DepthImageType vImage(m_nHeight,m_nWidth);
DepthImageType dImage(m_nHeight,m_nWidth);
InternalIntensityImageType maskImage;
m_pImageSourceEngine->readUVDImage(uImage,vImage,dImage,maskImage);
// // we need to compute normals
// specify the depth scale for the level we want to do optimization on
if(!trackerSettings.useDepthPyramid)
{
PangaeaMeshIO::createMeshFromDepth(templateMesh, m_pColorImageRGB,
uImage, vImage, dImage, maskImage, m_nHeight, m_nWidth,
trackerSettings.depth2MeshScale);
templateMeshPyramid = std::move(PangaeaMeshPyramid(templateMesh));
}else
{
int numMeshLevels = trackerSettings.imagePyramidSamplingFactors.size();
templateMeshPyramid.numLevels = numMeshLevels;
templateMeshPyramid.levels.resize(numMeshLevels);
templateMeshPyramid.meshPyramidVertexNum.resize(numMeshLevels);
// in this case, the shape and image are subsampled using the same factor
for(int i = 0; i < numMeshLevels; ++i)
{
// PangaeaMeshIO::createMeshFromDepth(templateMesh, m_pColorImageRGB,
// uImage, vImage, dImage, maskImage, m_nHeight, m_nWidth,
// 1.0/trackerSettings.imagePyramidSamplingFactors[i]);
// templateMeshPyramid.levels[i] = std::move(templateMesh);
// templateMesh.clear();
InternalColorImageType colorImage;
cv::Mat tempColorImageRGB(m_nHeight, m_nWidth, CV_8UC3, m_pColorImageRGB);
tempColorImageRGB.convertTo(colorImage, cv::DataType<Vec3d>::type, 1./255);
int blurSize = trackerSettings.blurFilterSizes[i];
if(blurSize > 0)
cv::GaussianBlur(colorImage, colorImage, cv::Size(blurSize, blurSize), 3);
PangaeaMeshIO::createMeshFromDepth(templateMesh, colorImage,
uImage, vImage, dImage, maskImage, m_nHeight, m_nWidth,
1.0/trackerSettings.imagePyramidSamplingFactors[i]);
templateMeshPyramid.meshPyramidVertexNum[i] = templateMesh.numVertices;
templateMeshPyramid.levels[i] = std::move(templateMesh);
templateMesh.clear();
}
}
}
bool MeshBufferReader::trackFrame(int nFrame, unsigned char* pColorImageRGB,
TrackerOutputInfo** pOutputInfo)
{
memcpy(pCurrentColorImageRGB, pColorImageRGB, 3*m_nWidth*m_nHeight);
cv::Mat tempColorImageRGB(m_nHeight, m_nWidth, CV_8UC3, pCurrentColorImageRGB);
tempColorImageRGB.convertTo(colorImage, cv::DataType<Vec3d>::type, 1./255);
cv::split(colorImage, colorImageSplit);
if(!setCurrentFrame(nFrame))
return false;
int bufferPos = (currentFrameNo - startFrameNo) / nFrameStep;
*pOutputInfo = &outputInfoPyramidBuffer[ bufferPos ][ nRenderingLevel ];
return true;
}
bool MeshSequenceReader::trackFrame(int nFrame, unsigned char* pColorImageRGB,
TrackerOutputInfo** pOutputInfo)
{
*pOutputInfo = &outputInfo;
//
if(!setCurrentFrame(nFrame))
return false;
// set up the color used later
memcpy(pCurrentColorImageRGB, pColorImageRGB, 3*m_nWidth*m_nHeight);
cv::Mat tempColorImageRGB(m_nHeight, m_nWidth, CV_8UC3, pCurrentColorImageRGB);
tempColorImageRGB.convertTo(colorImage, cv::DataType<Vec3d>::type, 1./255);
cv::split(colorImage, colorImageSplit);
if(!trackerInitialized)
trackerInitSetup(outputInfo);
else
trackerUpdate(outputInfo);
return true;
}
