int main(int argc, char** argv)
{
if(argc != 2 && argc != 3)
{
cout << "Format: " << argv[0] << " train_dirname [model_filename]" << endl;
cout << " train_dirname - a path to the directory with TOD-like training base." << endl;
cout << " model_filename - an optional parameter, it's a filename that will be used to save trained model." << endl;
return -1;
}
Mat cameraMatrix = defaultCameraMatrix();
// Load the data
const string dirname = argv[1];
#if 1
vector<string> frameIndices;
readFrameIndices(dirname, frameIndices);
if(frameIndices.empty())
{
cout << "Can not load the data from given directory of the base: " << dirname << endl;
return -1;
}
cout << "Frame indices count " << frameIndices.size() << endl;
Ptr<ArbitraryCaptureServer> captureServer = new ArbitraryCaptureServer();
captureServer->set("cameraMatrix", cameraMatrix);
captureServer->initialize(Size(640,480));
for(size_t i = 0; i < frameIndices.size(); i++)
{
Mat bgrImage, depth;
loadFrameData(dirname, frameIndices[i], bgrImage, depth);
captureServer->push(bgrImage, depth, i);
if(captureServer->get<bool>("isFinalized"))
{
cout << "The trajecotry construction is finalized ahead of time.";
return -1;
}
}
Ptr<TrajectoryFrames> trajectoryFrames = captureServer->finalize();
captureServer.release();
if(trajectoryFrames.empty())
return -1;
#if 0
trajectoryFrames->save("trajectoryFrames/");
return 0;
#endif
#else
Ptr<TrajectoryFrames> trajectoryFrames = new TrajectoryFrames();
trajectoryFrames->load(dirname);
#endif
ModelReconstructor reconstructor;
reconstructor.set("isShowStepResults", true);
reconstructor.set("maxBAPosesCount", 50);
Ptr<ObjectModel> model;
reconstructor.reconstruct(trajectoryFrames, cameraMatrix, model);
if(argc == 3)
{
model->write_ply(argv[2]);
}
model->show();
return 0;
}
int main(int argc, char** argv)
{
if(argc != 3 && argc != 4)
{
cout << "Format: " << argv[0] << " train_dirname construct_if_loop_closure_only [model_filename]" << endl;
cout << " train_dirname - a path to the directory with TOD-like training base." << endl;
cout << " construct_if_loop_closure_only - 0 or 1. If 1 the model reconstruction will be run if the loop closure was detected. If 0,"
" it will be run in any case (and result can be not very accurate in this case)." << endl;
cout << " model_filename - an optional parameter, it's a filename that will be used to save trained model." << endl;
return -1;
}
// Load the data
const string dirname = argv[1];
bool constructIfLoopClosureOnly = true;
if(string(argv[2]) == "0")
constructIfLoopClosureOnly = false;
else if(string(argv[2]) != "1")
{
cout << "Incorrect second parameter passed to the application." << endl;
return -1;
}
vector<Mat> bgrImages, depthes;
loadTODLikeBase(dirname, bgrImages, depthes);
if(bgrImages.empty())
{
cout << "Can not load the data from given directory of the base: " << dirname << endl;
return -1;
}
Mat cameraMatrix = defaultCameraMatrix();
OnlineCaptureServer onlineCaptureServer;
onlineCaptureServer.set("cameraMatrix", cameraMatrix);
CV_Assert(!bgrImages[0].empty());
onlineCaptureServer.initialize(bgrImages[0].size());//, TrajectoryFrames::VALIDFRAME);
for(size_t i = 0; i < bgrImages.size(); i++)
onlineCaptureServer.push(bgrImages[i], depthes[i], i);
Ptr<TrajectoryFrames> trajectoryFrames = onlineCaptureServer.finalize();
if(constructIfLoopClosureOnly && !onlineCaptureServer.get<bool>("isLoopClosed"))
return -1;
#if 1
releaseUnusedFrames(trajectoryFrames, bgrImages, depthes);
#endif
ModelReconstructor reconstructor;
reconstructor.set("isShowStepResults", false);
Ptr<ObjectModel> model;
reconstructor.reconstruct(trajectoryFrames, cameraMatrix, model);
if(argc == 4)
model->write_ply(argv[3]);
model->show();
return 0;
}
