int main (int argc, char** argv)
{
arg_base::set_help_option("-h");
arg_parse(argc, argv);
ntk_debug_level = opt::debug_level();
cv::setBreakOnError(true);
QApplication::setGraphicsSystem("raster");
QApplication app (argc, argv);
// Opening cameras. Its important to remember that CvCapture has to be done
// before PMD otherwise will crash
// 1.- Logitech (openCV)
// 2.- PMD (pmdlibrary)
const char* fake_dir = opt::image();
bool is_directory = opt::directory() != 0;
if (opt::directory())
fake_dir = opt::directory();
ntk::RGBDProcessor* rgbd_processor = 0;
RGBDGrabber* grabber = 0;
#ifdef NESTK_USE_OPENNI
OpenniDriver* ni_driver = 0;
#endif
bool use_openni = false;
if (opt::use_kinect())
{
#ifdef NESTK_USE_OPENNI
if (opt::use_freenect())
{
rgbd_processor = new FreenectRGBDProcessor();
}
else
{
rgbd_processor = new OpenniRGBDProcessor();
use_openni = true;
}
#else
rgbd_processor = new FreenectRGBDProcessor();
#endif
}
else
{
rgbd_processor = new RGBDProcessor();
}
rgbd_processor->setMaxNormalAngle(40);
rgbd_processor->setFilterFlag(RGBDProcessor::ComputeMapping, true);
rgbd_processor->setFilterFlag(RGBDProcessor::FilterThresholdDepth, true);
rgbd_processor->setMinDepth(0.3);
rgbd_processor->setMaxDepth(1.5);
if (opt::image() || opt::directory())
{
std::string path = opt::image() ? opt::image() : opt::directory();
FileGrabber* file_grabber = new FileGrabber(path, is_directory);
grabber = file_grabber;
// Image are saved with flipping applied.
rgbd_processor->setFilterFlag(RGBDProcessor::FlipColorImage, false);
}
else if (opt::use_kinect())
{
if (opt::use_freenect())
{
#ifdef NESTK_USE_FREENECT
FreenectGrabber* k_grabber = new FreenectGrabber();
k_grabber->initialize();
k_grabber->setIRMode(false);
grabber = k_grabber;
#else
fatal_error("Freenect support not built.");
#endif
}
else
{
#ifdef NESTK_USE_OPENNI
// Config dir is supposed to be next to the binaries.
QDir prev = QDir::current();
QDir::setCurrent(QApplication::applicationDirPath());
if (!ni_driver) ni_driver = new OpenniDriver();
OpenniGrabber* k_grabber = new OpenniGrabber(*ni_driver);
k_grabber->setTrackUsers(false);
if (opt::high_resolution())
k_grabber->setHighRgbResolution(true);
k_grabber->initialize();
QDir::setCurrent(prev.absolutePath());
grabber = k_grabber;
#else
fatal_error("OpenNI support not built, try --freenect.");
#endif
}
}
else
{
ntk_assert(0, "PMDSDK support not enabled.");
}
MeshGenerator* mesh_generator = 0;
ntk::RGBDCalibration* calib_data = 0;
if (opt::calibration_file())
{
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (use_openni)
{
calib_data = grabber->calibrationData();
}
if (calib_data)
{
mesh_generator = new MeshGenerator();
grabber->setCalibrationData(*calib_data);
}
if (opt::sync())
grabber->setSynchronous(true);
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setFrameIndex(opt::first_index());
frame_recorder.setSaveOnlyRaw(true);
frame_recorder.setUseBinaryRaw(true);
GuiController gui_controller (*grabber, *rgbd_processor);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
if (opt::sync())
gui_controller.setPaused(true);
TableObjectRGBDModeler modeler;
modeler.setDepthFilling(true);
modeler.setRemoveSmallStructures(true);
ModelAcquisitionController* acq_controller = 0;
acq_controller = new ModelAcquisitionController (gui_controller, modeler);
acq_controller->setPaused(true);
RelativePoseEstimator* pose_estimator = new DummyRelativePoseEstimator();
acq_controller->setPoseEstimator(pose_estimator);
gui_controller.setModelAcquisitionController(*acq_controller);
if (mesh_generator)
gui_controller.setMeshGenerator(*mesh_generator);
grabber->start();
app.exec();
delete mesh_generator;
delete acq_controller;
}
int main (int argc, char** argv)
{
arg_base::set_help_option("-h");
arg_parse(argc, argv);
ntk_debug_level = opt::debug_level();
cv::setBreakOnError(true);
QApplication::setGraphicsSystem("raster");
QApplication app (argc, argv);
RGBDGrabberFactory& grabber_factory = RGBDGrabberFactory::instance();
RGBDGrabberFactory::Params params;
if (opt::directory())
params.directory = opt::directory();
if (opt::openni())
params.default_type = RGBDGrabberFactory::OPENNI;
if (opt::freenect())
params.default_type = RGBDGrabberFactory::FREENECT;
if (opt::kin4win())
params.default_type = RGBDGrabberFactory::KIN4WIN;
if (opt::softkinetic())
params.default_type = RGBDGrabberFactory::SOFTKINETIC;
if (opt::pmd())
params.default_type = RGBDGrabberFactory::PMD;
if (opt::calibration_file())
params.calibration_file = opt::calibration_file();
if (opt::sync())
params.synchronous = true;
std::vector<RGBDGrabberFactory::GrabberData> grabbers;
grabbers = grabber_factory.createGrabbers(params);
if (grabbers.size() < 1)
{
QMessageBox::critical(0, "Fatal error",
"Cannot connect to any RGBD device.\n\nPlease check that it is correctly plugged to the computer.");
return 1;
}
RGBDGrabber* grabber = grabbers[0].grabber;
RGBDProcessor* rgbd_processor = grabbers[0].processor;
bool ok = grabber->connectToDevice();
if (!ok)
{
ntk_dbg(0) << "WARNING: connectToDevice failed.";
return 1;
}
rgbd_processor->setMaxNormalAngle(40);
rgbd_processor->setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);
rgbd_processor->setFilterFlag(RGBDProcessorFlags::FilterThresholdDepth, true);
rgbd_processor->setMinDepth(0.05f);
rgbd_processor->setMaxDepth(1.5f);
MeshGenerator* mesh_generator = 0;
ntk::RGBDCalibrationPtr calib_data = grabber->calibrationData();
if (calib_data)
{
mesh_generator = new MeshGenerator();
}
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setFrameIndex(opt::first_index());
frame_recorder.setSaveOnlyRaw(true);
frame_recorder.setUseBinaryRaw(true);
GuiController gui_controller (*grabber, *rgbd_processor);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
if (opt::sync())
gui_controller.setPaused(true);
TableObjectRGBDModeler modeler;
modeler.setDepthFilling(true);
modeler.setRemoveSmallStructures(true);
ModelAcquisitionController* acq_controller = 0;
acq_controller = new ModelAcquisitionController (gui_controller, modeler);
acq_controller->setPaused(true);
IncrementalPoseEstimatorFromImage* pose_estimator = new DummyIncrementalPoseEstimator();
acq_controller->setPoseEstimator(pose_estimator);
gui_controller.setModelAcquisitionController(*acq_controller);
if (mesh_generator)
gui_controller.setMeshGenerator(*mesh_generator);
grabber->start();
app.exec();
delete mesh_generator;
delete acq_controller;
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// High resolution 1280x1024 RGB Image.
if (opt::high_resolution())
grabber.setHighRgbResolution(true);
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(image);
post_processor.processImage(image);
ntk_ensure(image.calibration(), "Uncalibrated rgbd image, cannot project to 3D!");
// Initialize the object modeler.
PointCloud<PointXYZ> cloud;
rgbdImageToPointCloud(cloud, image);
TableObjectDetector<PointXYZ> detector;
detector.setObjectVoxelSize(0.003); // 3 mm voxels.
bool ok = detector.detect(cloud);
ntk_throw_exception_if(!ok, "No cluster detected on a table plane!");
for (int cluster_id = 0; cluster_id < detector.objectClusters().size(); ++cluster_id)
{
TableObjectRGBDModeler modeler;
modeler.feedFromTableObjectDetector(detector, cluster_id);
Pose3D pose = *image.calibration()->depth_pose;
modeler.addNewView(image, pose);
modeler.computeMesh();
modeler.currentMesh().saveToPlyFile(cv::format("object%d.ply", cluster_id).c_str());
}
grabber.stop();
grabber.disconnectFromDevice();
}
