int main(int argc, char** argv)
try
{
//afxMemDF |= checkAlwaysMemDF;
const char *arg1 = "";
const char *arg2 = NULL;
const char *arg3 = NULL;
const char *arg4 = NULL;
int arg = 1;
do {
if (argv[arg] != NULL) arg1 = argv[arg]; else break;
++arg;
if (argv[arg] != NULL)
arg2 = argv[arg];
else break;
++arg;
if (argv[arg] != NULL)
arg3 = "./Files/Teddy/Frames/%04i.pgm";
else break;
++arg;
if (argv[arg] != NULL) arg4 = argv[arg]; else break;
} while (false);
if (arg == 1) {
printf("usage: %s [<calibfile> [<imagesource>] ]\n"
" <calibfile> : path to a file containing intrinsic calibration parameters\n"
" <imagesource> : either one argument to specify OpenNI device ID\n"
" or two arguments specifying rgb and depth file masks\n"
"\n"
"examples:\n"
" %s ./Files/Teddy/calib.txt ./Files/Teddy/Frames/ \n"
" %s ./Files/Teddy/calib.txt\n\n", argv[0], argv[0], argv[0]);
}
printf("initialising ...\n");
ImageSourceEngine *imageSource = NULL;
IMUSourceEngine *imuSource = NULL;
CreateDefaultImageSource(imageSource, imuSource, arg1, arg2, arg3, arg4);
if (imageSource==NULL)
{
std::cout << "failed to open any image stream" << std::endl;
return -1;
}
ITMLibSettings *internalSettings = new ITMLibSettings();
ITMMainEngine *mainEngine = new ITMMainEngine(internalSettings, &imageSource->calib, imageSource->getRGBImageSize(), imageSource->getDepthImageSize());
UIEngine::Instance()->Initialise(argc, argv, imageSource, imuSource, mainEngine, "./Files/Out", internalSettings->deviceType);
UIEngine::Instance()->Run();
UIEngine::Instance()->Shutdown();
delete mainEngine;
delete internalSettings;
delete imageSource;
if (imuSource != NULL) delete imuSource;
return 0;
}
catch(std::exception& e)
{
std::cerr << e.what() << '\n';
return EXIT_FAILURE;
}
int main(int argc, char** argv)
try
{
const char *calibFile = "";
const char *imagesource_part1 = NULL;
const char *imagesource_part2 = NULL;
const char *imagesource_part3 = NULL;
int arg = 1;
do {
if (argv[arg] != NULL) calibFile = argv[arg]; else break;
++arg;
if (argv[arg] != NULL) imagesource_part1 = argv[arg]; else break;
++arg;
if (argv[arg] != NULL) imagesource_part2 = argv[arg]; else break;
++arg;
if (argv[arg] != NULL) imagesource_part3 = argv[arg]; else break;
} while (false);
if (arg == 1) {
printf("usage: %s [<calibfile> [<imagesource>] ]\n"
" <calibfile> : path to a file containing intrinsic calibration parameters\n"
" <imagesource> : either one argument to specify OpenNI device ID\n"
" or two arguments specifying rgb and depth file masks\n"
"\n"
"examples:\n"
" %s ./Files/Teddy/calib.txt ./Files/Teddy/Frames/%%04i.ppm ./Files/Teddy/Frames/%%04i.pgm\n"
" %s ./Files/Teddy/calib.txt\n\n", argv[0], argv[0], argv[0]);
}
printf("initialising ...\n");
ITMLibSettings *internalSettings = new ITMLibSettings();
ImageSourceEngine *imageSource;
IMUSourceEngine *imuSource = NULL;
printf("using calibration file: %s\n", calibFile);
if (imagesource_part2 == NULL)
{
printf("using OpenNI device: %s\n", (imagesource_part1==NULL)?"<OpenNI default device>":imagesource_part1);
imageSource = new OpenNIEngine(calibFile, imagesource_part1);
if (imageSource->getDepthImageSize().x == 0) {
delete imageSource;
printf("trying MS Kinect device\n");
imageSource = new Kinect2Engine(calibFile);
}
}
else
{
if (imagesource_part3 == NULL)
{
printf("using rgb images: %s\nusing depth images: %s\n", imagesource_part1, imagesource_part2);
ImageMaskPathGenerator pathGenerator(imagesource_part1, imagesource_part2);
imageSource = new ImageFileReader<ImageMaskPathGenerator>(calibFile, pathGenerator);
}
else
{
printf("using rgb images: %s\nusing depth images: %s\nusing imu data: %s\n", imagesource_part1, imagesource_part2, imagesource_part3);
imageSource = new RawFileReader(calibFile, imagesource_part1, imagesource_part2, Vector2i(320, 240), 0.5f);
imuSource = new IMUSourceEngine(imagesource_part3);
}
}
ITMMainEngine *mainEngine = new ITMBasicEngine<ITMVoxel,ITMVoxelIndex>(
internalSettings, imageSource->getCalib(), imageSource->getRGBImageSize(), imageSource->getDepthImageSize()
);
CLIEngine::Instance()->Initialise(imageSource, imuSource, mainEngine, internalSettings->deviceType);
CLIEngine::Instance()->Run();
CLIEngine::Instance()->Shutdown();
delete mainEngine;
delete internalSettings;
delete imageSource;
return 0;
}
catch(std::exception& e)
{
std::cerr << e.what() << '\n';
return EXIT_FAILURE;
}
int main(int argc, char** argv)
try
{
const char *calibFile = "./Files/Teddy/calib.txt";
const char *imagesource_part1 = NULL;
const char *imagesource_part2 = NULL;
int arg = 1;
/*do {
if (argv[arg] != NULL) calibFile = argv[arg]; else break;
++arg;
if (argv[arg] != NULL) imagesource_part1 = argv[arg]; else break;
++arg;
if (argv[arg] != NULL) imagesource_part2 = argv[arg]; else break;
} while (false);
*/
if (arg == 1) {
printf("usage: %s [<calibfile> [<imagesource>] ]\n"
" <calibfile> : path to a file containing intrinsic calibration parameters\n"
" <imagesource> : either one argument to specify OpenNI device ID\n"
" or two arguments specifying rgb and depth file masks\n"
"\n"
"examples:\n"
" %s ./Files/Teddy/calib.txt ./Files/Teddy/Frames/%%04i.ppm ./Files/Teddy/Frames/%%04i.pgm\n"
" %s ./Files/Teddy/calib.txt\n\n", argv[0], argv[0], argv[0]);
}
printf("initialising ...\n");
ITMLibSettings *internalSettings = new ITMLibSettings();
ImageSourceEngine *imageSource;
printf("using calibration file: %s\n", calibFile);
if (imagesource_part2 == NULL) {
printf("using OpenNI device: %s\n", (imagesource_part1==NULL)?"<OpenNI default device>":imagesource_part1);
imageSource = new OpenNIEngine(calibFile, imagesource_part1);
if (imageSource->getDepthImageSize().x == 0) {
delete imageSource;
printf("trying MS Kinect device\n");
imageSource = new Kinect2Engine(calibFile);
}
} else {
printf("using rgb images: %s\nusing depth images: %s\n", imagesource_part1, imagesource_part2);
imageSource = new ImageFileReader(calibFile, imagesource_part1, imagesource_part2);
}
ITMMainEngine *mainEngine = new ITMMainEngine(internalSettings, &imageSource->calib, imageSource->getRGBImageSize(), imageSource->getDepthImageSize());
UIEngine::Instance()->Initialise(argc, argv, internalSettings, imageSource, mainEngine, "./Files/Out");//hao modified it
UIEngine::Instance()->Run();
UIEngine::Instance()->Shutdown();
delete mainEngine;
delete internalSettings;
delete imageSource;
return 0;
}
catch(std::exception& e)
{
std::cerr << e.what() << '\n';
return EXIT_FAILURE;
}
