tuple CDisplayWindow3D_getPushedKey(CDisplayWindow3D& self)
{
list ret_val;
mrptKeyModifier out_pushModifier = mrptKeyModifier::MRPTKMOD_NONE;
int key = self.getPushedKey(&out_pushModifier);
ret_val.append(key);
ret_val.append(out_pushModifier);
return tuple(ret_val);
}
// CDisplayWindow3D
tuple CDisplayWindow3D_waitForKey(CDisplayWindow3D& self, bool ignoreControlKeys=true)
{
list ret_val;
mrptKeyModifier out_pushModifier = mrptKeyModifier::MRPTKMOD_NONE;
int key = self.waitForKey(ignoreControlKeys, &out_pushModifier);
ret_val.append(key);
ret_val.append(out_pushModifier);
return tuple(ret_val);
}
// ------------------------------------------------------
// TestOpenGLVideo
// ------------------------------------------------------
void TestOpenGLVideo()
{
// Show to the user a list of possible camera drivers and creates and open the selected camera.
cout << "Please, select the input video file or camera...\n";
mrpt::hwdrivers::CCameraSensorPtr cam = mrpt::hwdrivers::prepareVideoSourceFromUserSelection();
if (!cam) return;
cout << "Video stream open OK\n";
// Create 3D window:
CDisplayWindow3D win ("#1: Demo of image mode viewport",320,240);
CDisplayWindow3D win2("#2: Demo of image mode viewport",500,400);
// Win #1:
// Get the smart pointer to the main viewport object in this window:
COpenGLViewportPtr gl_view_main;
{
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
gl_view_main = theScene->getViewport("main");
ASSERT_(gl_view_main)
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
}
// Win #2:
// Get the smart pointer to the main viewport object in this window:
COpenGLViewportPtr gl_view_aux;
{
COpenGLScenePtr &theScene = win2.get3DSceneAndLock();
theScene->insert( mrpt::opengl::CGridPlaneXY::Create() );
// Create small auxiliary viewport
gl_view_aux = theScene->createViewport("aux");
gl_view_aux->setViewportPosition(10,10, 300,200);
gl_view_aux->setTransparent(true);
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win2.unlockAccess3DScene();
}
win.setPos(10,10);
win2.setPos(400,100);
cout << "Close any window to end.\n";
while (win.isOpen() && win2.isOpen())
{
win.addTextMessage (5,5, format("%.02fFPS", win.getRenderingFPS()));
win2.addTextMessage(5,5, format("%.02fFPS", win2.getRenderingFPS()));
mrpt::system::sleep(1);
// Grab new video frame:
CObservationPtr obs = cam->getNextFrame();
if (obs)
{
if (IS_CLASS(obs,CObservationImage))
{
CObservationImagePtr o = CObservationImagePtr(obs);
win.get3DSceneAndLock();
gl_view_main->setImageView(o->image);
win.unlockAccess3DScene();
win.repaint();
win2.get3DSceneAndLock();
gl_view_aux->setImageView_fast(o->image);
win2.unlockAccess3DScene();
win2.repaint();
}
}
}
}
// ------------------------------------------------------
// TestVideoBuildPyr
// ------------------------------------------------------
void TestVideoBuildPyr()
{
size_t N_OCTAVES = 4;
bool do_smooth = false;
bool do_grayscale = false;
bool do_features = false;
// Ask for a different number of octaves:
cout << "Number of octaves to use [4]: ";
{
std::string s;
std::getline(cin,s);
int i= atoi(s.c_str());
if (i>0) N_OCTAVES = i;
}
// Show to the user a list of possible camera drivers and creates and open the selected camera.
cout << "Please, select the input video file or camera...\n";
mrpt::hwdrivers::CCameraSensorPtr cam = mrpt::hwdrivers::prepareVideoSourceFromUserSelection();
if (!cam) return;
cout << "Video stream open OK\n";
// Create 3D window:
CDisplayWindow3D win ("Demo of pyramid building from live video",800,600);
// Get the smart pointer to the main viewport object in this window,
// and create other viewports for the smaller images:
std::vector<COpenGLViewportPtr> gl_views(N_OCTAVES);
{
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
gl_views[0] = theScene->getViewport("main");
ASSERT_(gl_views[0])
// Create the other viewports:
for (size_t i=1;i<N_OCTAVES;i++)
gl_views[i] = theScene->createViewport(format("view_%i",(int)i));
// Assign sizes:
// It can be shown mathematically than if we want all viewports to be one next to each other
// horizontally so they fit to the viewport width (="1") and each is the half the previous one,
// the first one must have a width of 2^(n-1)/(2^n - 1)
const double W0 = (double(1<<(N_OCTAVES-1)))/((1<<N_OCTAVES)-1);
double X = 0;
double W = W0;
for (size_t i=0;i<N_OCTAVES;i++)
{
COpenGLViewport *vw = gl_views[i].pointer();
vw->setViewportPosition(X,.0, W,1.);
//cout << "Created viewport " << i << " at X=" << X << " with Width=" << W << endl;
X+=W;
W*=0.5;
}
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
}
win.setPos(10,10);
win.addTextMessage(0.51,5, // X,Y<=1 means coordinates are factors over the entire viewport area.
"Keys: 's'=Smoothing, 'g': Grayscale 'f': Features",
TColorf(.8,.8,0),
"sans",10, // font name & size
mrpt::opengl::FILL,
10 // An arbitrary ID to always overwrite the same, previous 2D text message
);
// The image pyramid: Initially empty
CImagePyramid imgpyr;
cout << "Close the window to end.\n";
while (win.isOpen())
{
win.addTextMessage (5,5, format("%.02fFPS", win.getRenderingFPS()));
mrpt::system::sleep(1);
// Grab new video frame:
CObservationPtr obs = cam->getNextFrame();
if (obs)
{
if (IS_CLASS(obs,CObservationImage))
{
// Get the observation object:
CObservationImagePtr o = CObservationImagePtr(obs);
// Update pyramid:
imgpyr.buildPyramidFast(
o->image, // This image is destroyed since we are calling the *Fast() version
N_OCTAVES,
do_smooth,
do_grayscale
);
// Also detect features?
if (do_features)
{
static const int threshold = 20;
for (unsigned int level=0;level<N_OCTAVES;++level)
{
CImage gray_img(imgpyr.images[level], FAST_REF_OR_CONVERT_TO_GRAY);
TSimpleFeatureList feats;
CFeatureExtraction::detectFeatures_SSE2_FASTER12( gray_img, feats, threshold );
imgpyr.images[level].drawFeaturesSimple(feats, TColor::blue);
}
}
win.get3DSceneAndLock();
for (size_t i=0;i<N_OCTAVES;i++)
{
COpenGLViewport *vw = gl_views[i].pointer();
vw->setImageView(imgpyr.images[i]);
}
win.addTextMessage(0.51,25, // X,Y<=1 means coordinates are factors over the entire viewport area.
format("Smooth=%i Grayscale=%i Features=%i",int(do_smooth ? 1:0), int(do_grayscale ? 1:0), int(do_features ? 1:0)),
TColorf(.8,.8,0),
"sans",10, // font name & size
mrpt::opengl::FILL,
11 // An arbitrary ID to always overwrite the same, previous 2D text message
);
win.unlockAccess3DScene();
win.repaint();
}
if (win.keyHit())
{
mrptKeyModifier kmods;
int key = win.getPushedKey(&kmods);
if (key==MRPTK_ESCAPE) break;
if (key=='s' || key=='S')
do_smooth = !do_smooth;
if (key=='g' || key=='G')
do_grayscale = !do_grayscale;
if (key=='f' || key=='F')
do_features = !do_features;
}
}
}
}
