int main(int argc, char** argv) {
// (1) Open OpenNI2 Device
StructureGrabber grabber;
grabber.enableDepth();
grabber.disableInfrared();
grabber.disableColor();
if(argc > 1 ? grabber.open(argv[1]) : grabber.open()) {
std::cerr << "Faled to open OpenNI2 device" << std::endl;
return -1;
}
// (2) Open Viewer
pcl::visualization::PCLVisualizer viewer("Point Cloud");
initViewer(viewer);
viewer.addPointCloud(cloud);
// (3) Iterate
int key(0);
while(!viewer.wasStopped()) {
// (3-1) Acquire new frame
grabber.acquire();
// (3-2) Visualize
grabber.copyPointCloudTo(*cloud);
viewer.updatePointCloud(cloud);
viewer.spinOnce();
}
// (4) Close OpenNI2 device
grabber.close();
return 0;
}
int main(int argc, char* argv[]) {
double discountFactor;
unsigned int maxNbEvaluations;
char isTerminal = 0;
char keepingTree = 0;
int nbTimestep = -1;
unsigned int branchingFactor = 0;
#ifdef USE_SDL
char isDisplayed = 1;
char isFullscreen = 1;
char verbose = 0;
char resolution[255] = "640x480";
#else
char verbose = 1;
#endif
uniform_instance* instance = NULL;
state* crtState = NULL;
state* nextState = NULL;
double reward = 0.0;
action* optimalAction = NULL;
struct arg_dbl* g = arg_dbl1("g", "discountFactor", "<d>", "The discount factor for the problem");
struct arg_int* n = arg_int1("n", "nbEvaluations", "<n>", "The number of evaluations");
struct arg_int* s = arg_int0("s", "nbtimestep", "<n>", "The number of timestep");
struct arg_int* b = arg_int0("b", "branchingFactor", "<n>", "The branching factor of the problem");
struct arg_lit* k = arg_lit0("k", NULL, "Keep the subtree");
struct arg_str* i = arg_str0(NULL, "state", "<s>", "The initial state to use");
#ifdef USE_SDL
struct arg_lit* d = arg_lit0("d", NULL, "Display the viewer");
struct arg_lit* f = arg_lit0("f", NULL, "Fullscreen");
struct arg_lit* v = arg_lit0("v", NULL, "Verbose");
struct arg_str* r = arg_str0(NULL, "resolution", "<s>", "The resolution of the display window");
void* argtable[11];
int nbArgs = 10;
#else
void* argtable[7];
int nbArgs = 6;
#endif
struct arg_end* end = arg_end(nbArgs+1);
int nerrors = 0;
s->ival[0] = -1;
b->ival[0] = 0;
argtable[0] = g; argtable[1] = n; argtable[2] = s; argtable[3] = k; argtable[4] = b; argtable[5] = i;
#ifdef USE_SDL
argtable[6] = d;
argtable[7] = f;
argtable[8] = v;
argtable[9] = r;
#endif
argtable[nbArgs] = end;
if(arg_nullcheck(argtable) != 0) {
printf("error: insufficient memory\n");
arg_freetable(argtable, nbArgs+1);
return EXIT_FAILURE;
}
nerrors = arg_parse(argc, argv, argtable);
if(nerrors > 0) {
printf("%s:", argv[0]);
arg_print_syntax(stdout, argtable, "\n");
arg_print_errors(stdout, end, argv[0]);
arg_freetable(argtable, nbArgs+1);
return EXIT_FAILURE;
}
discountFactor = g->dval[0];
maxNbEvaluations = n->ival[0];
branchingFactor = b->ival[0];
initGenerativeModelParameters();
if(branchingFactor)
K = branchingFactor;
initGenerativeModel();
if(i->count)
crtState = makeState(i->sval[0]);
else
crtState = initState();
#if USE_SDL
isDisplayed = d->count;
isFullscreen = f->count;
verbose = v->count;
if(r->count)
strcpy(resolution, r->sval[0]);
#endif
nbTimestep = s->ival[0];
keepingTree = k->count;
arg_freetable(argtable, nbArgs+1);
instance = uniform_initInstance(crtState, discountFactor);
#ifdef USE_SDL
if(isDisplayed) {
if(initViewer(resolution, uniform_drawingProcedure, isFullscreen) == -1)
return EXIT_FAILURE;
viewer(crtState, NULL, 0.0, instance);
}
#endif
do {
if(keepingTree)
uniform_keepSubtree(instance);
else
uniform_resetInstance(instance, crtState);
optimalAction = uniform_planning(instance, maxNbEvaluations);
isTerminal = nextStateReward(crtState, optimalAction, &nextState, &reward);
freeState(crtState);
crtState = nextState;
if(verbose) {
printState(crtState);
printAction(optimalAction);
printf("reward: %f depth: %u\n", reward, uniform_getMaxDepth(instance));
}
#ifdef USE_SDL
} while(!isTerminal && (nbTimestep < 0 || --nbTimestep) && !viewer(crtState, optimalAction, reward, instance));
#else
} while(!isTerminal && (nbTimestep < 0 || --nbTimestep));
/**
* Main function: load and display collada file.
*/
int main(int argc, char** argv)
{
//----------------- Define program arguments -------------------//
osg::ArgumentParser* OSGArguments = defineProgramArguments(&argc, argv);
//----------------- Display help and quit -------------------//
if (OSGArguments->read("-h") ||
OSGArguments->read("--help") ||
OSGArguments->argc()<=1 )
{
OSGArguments->getApplicationUsage()->write(std::cout, osg::ApplicationUsage::COMMAND_LINE_OPTION);
return 0;
}
//----------------- Get arguments -------------------//
ArgContainer* userArgs = getUserArguments(OSGArguments);
//----------------- Load data in dae file -------------------//
osg::Group* rootGroup = new osg::Group();
osg::Node* fileNode = osgDB::readNodeFile(userArgs->daeFile);
if(!fileNode)
{
std::cout << OSGArguments->getApplicationName() <<": No data loaded" << std::endl;
return 1;
}
rootGroup->addChild(fileNode);
parse(fileNode, "", userArgs->verbose);
//----------------- Modifiy fileNode to set the UP vector along Z -------------------//
defineUpAxisInScene(fileNode, userArgs);
//----------------- Create Viewer and interface -------------------//
osgViewer::ViewerExt viewer;
viewer.setRunMaxFrameRate(userArgs->fps);
viewer.addEventHandler(new KeyEventHandler());
if (userArgs->communicationWithSocket)
{
SOCKET sock = OpenPort(userArgs->host.c_str(), userArgs->port);
fileNode->setUpdateCallback(new SocketCallback(fileNode, sock));
}
else
{
//----------------- Check animation data -------------------//
AnimationManagerFinder finder;
fileNode->accept(finder);
if (finder._animManager.valid())
{
userArgs->hasAnAnimation = true;
fileNode->setUpdateCallback(finder._animManager.get());
AnimtkViewerGUI* gui = new AnimtkViewerGUI(&viewer, userArgs->width, userArgs->height, finder._animManager.get(), userArgs->extension_type); //interface
osg::Camera* camera = gui->createParentOrthoCamera();
rootGroup->addChild(camera);
viewer.addEventHandler(new osgWidget::MouseHandler(gui));
viewer.addEventHandler(new osgWidget::ResizeHandler(gui, camera));
}
else
{
osg::notify(osg::WARN) << "no animation found in the subgraph"<<std::endl;
}
}
viewer.setSceneData(rootGroup);
//------------------- Init and Start Viewer -----------------------//
initViewer(&viewer, userArgs);
//------------------- What to do... -----------------------//
if (userArgs->takeSnapShot)
{
return takeOneSnapShotAndQuit(&viewer, userArgs);
}
if (userArgs->recordAnimation && userArgs->hasAnAnimation)
{
return recordAnimationAndQuit(&viewer, userArgs);
}
return viewer.run();
}
