void run(){
listener->waitForNewFrame(*frames);
libfreenect2::Frame *rgb = (*frames)[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = (*frames)[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = (*frames)[libfreenect2::Frame::Depth];
static Img8u colorImage(Size(rgb->width,rgb->height),3);
if(depth){
Img32f depthImage(Size(depth->width,depth->height),formatMatrix,
std::vector<float*>(1, (float*)depth->data));
gui["hdepth"] = &depthImage;
}else{
throw ICLException("error detected in libfreenect2.so: please ensure to deactivate"
" visualization in ....h by setting debug_on to false");
}
Img32f irImage(Size(ir->width,ir->height),formatMatrix,
std::vector<float*>(1,(float*)ir->data));
interleavedToPlanar(rgb->data, &colorImage);
colorImage.swapChannels(0,2);
//gui["hdepth"] = &depthImage;
gui["hcolor"] = &colorImage;
gui["hir"] = &irImage;
listener->release(*frames);
}
const Img8u &thresh(const Img8u &input, icl8u t){
static Img8u result;
result.setChannels(1);
result.setSize(input.getSize());
int t3 = 3*t;
for(int x=0;x<input.getWidth();++x){
for(int y=0;y<input.getHeight();++y){
result(x,y,0) = 255*((input(x,y,0)+input(x,y,1)+input(x,y,2))>t3);
}
}
return result;
}
TemplateTracker::Result TemplateTracker::track(const Img8u &image,
const Result *initialResult,
std::vector<Result> *allResults){
Result last = initialResult ? *initialResult : data->lastResult;
if(last.pos == Point32f(-1,-1)){
last.pos = Point(image.getWidth()/2,image.getHeight()/2);
}
const double angle = last.angle;
const int X = last.pos.x;
const int Y = last.pos.y;
const int lutSize = (int)data->lut.size();
const int angleIndex = angle / (2*M_PI) * (lutSize-1);
const int ROI = getPropertyValue("tracking.position range");
const float rotationRange = getPropertyValue("tracking.rotation range");
const int step1 = getPropertyValue("tracking.coarse steps");
//const int step2 = getPropertyValue("tracking.fine steps");
//const float angleStepSize = 360./lutSize;
const Rect roi(X - ROI/2, Y-ROI/2, ROI, ROI);
SmartPtr<const Img8u> roiImageTmp = image.shallowCopy(roi);
SmartPtr<Img8u> roiImage = roiImageTmp->deepCopyROI();
const int stepRadius = lutSize * rotationRange/720;
Result bestResult = last;
for(int i = -stepRadius; i <= stepRadius; i+= step1){
int curIndex = angleIndex + i;
while(curIndex >= lutSize) curIndex -= lutSize;
while(curIndex < 0) curIndex += lutSize;
data->prox->apply(roiImage.get(),data->lut.at(curIndex).get(),&data->buf);
Point maxPos;
float maxValue = data->buf->getMax(0,&maxPos);
Result curr(maxPos+last.pos,
(float(curIndex)/lutSize) * 2 * M_PI,
maxValue,
data->lut.at(curIndex).get());
if(curr.proximityValue > bestResult.proximityValue){
bestResult = curr;
}
if(allResults) allResults->push_back(curr);
}
data->lastResult = bestResult;
return bestResult;
}
int main(int n, char **a){
pa_explain("-o","output filename (should be some format, that supports alpha channel such as png)\n"
"or, if no output is given, the image is just show");
pa_init(n,a,"-icon-name|-i(iconname=empty) -output|-o(2) -image-file-to-c++-array|-ita(input-file-name)");
if(pa("-ita")){
Img8u image = load<icl8u>(pa("-ita"));
const int w=image.getWidth(), h = image.getHeight(), c = image.getChannels();
std::cout << "static icl8u data_XYZ["<<w<<"]["<<h<<"]["<<c<<"]={" << std::endl;
for(int y=0;y<h;++y){
std::cout << "{";
for(int x=0;x<w;++x){
std::cout << "{";
for(int i=0;i<c;++i){
std::cout << (int)image(x,y,i) << (i<c-1?",":"}");
}
std::cout << (x<w-1?",":"}");
}
std::cout << (y<h-1?",":"};") << std::endl;
}
std::cout << "//#include <ICLCore/Img.h>" << std::endl;
std::cout << "//#include <ICLCC/CCFunctions.h>" << std::endl;
std::cout << "const Img8u& load_data_XYZ(){" << std::endl;
std::cout << " static SmartPtr<Img8u> image;" << std::endl;
std::cout << " if(!image){" << std::endl;
std::cout << " image = new Img8u(Size(" << w << "," << h << ")," << c << ");" << std::endl;
std::cout << " interleavedToPlanar((const icl8u*)data_XYZ, image.get());" << std::endl;
std::cout << " }" << std::endl;
std::cout << " return *image;" << std::endl;
std::cout << "}" << std::endl;
}else{
const Img8u &image = IconFactory::create_image(pa("-i"));
if(pa("-o")){
GenericImageOutput out(pa("-o"));
out.send(&image);
}else{
show(image);
}
}
}
void TemplateTracker::setTemplateImage(const Img8u &templateImage,
float rotationStepSizeDegree){
Img8u test = templateImage;
test.scale(test.getSize()*4);
RotateOp rot;
ICLASSERT_RETURN(rotationStepSizeDegree > 0.001);
const int w = templateImage.getWidth();
const int h = templateImage.getHeight();
data->lut.clear();
for(float a=0;a<=360;a+=rotationStepSizeDegree){
rot.setAngle(a);
const Img8u *r = rot.apply(&templateImage)->as8u();
const int rw = r->getWidth();
const int rh = r->getHeight();
Rect center((rw-w)/2, (rh-h)/2, w,h);
SmartPtr<const Img8u> roiimage = r->shallowCopy(center);
Img8u *tmp = new Img8u(test.getSize()/4,1);
// data->lut.push_back(roiimage->deepCopyROI());
roiimage->scaledCopyROI(tmp,interpolateLIN);
data->lut.push_back(tmp);
}
}
void run(){
bool c_arg = pa("-c");
static FPSLimiter fpsLimit(30);
fpsLimit.wait();
const ImgBase *image = grabber.grab();
DrawHandle draw = gui["draw"];
ImageHandle cropped = gui["cropped"];
draw = image;
static RotateOp rot;
if(c_arg){
rot.setAngle(0);
}else{
rot.setAngle(parse<int>(gui["rot"]));
}
const ImgBase *cro = 0;
if(c_arg || gui["rect"].as<bool>()){
static Img8u roi;
std::vector<utils::Rect> rs = mouse_2->getRects();
ICLASSERT_THROW(rs.size() == 1, ICLException("expected exactly one rectangle"));
lastRect = rs[0];
mouse_2->visualize(**draw);
SmartPtr<const ImgBase> tmp = image->shallowCopy(rs[0] & image->getImageRect());
roi.setChannels(tmp->getChannels());
roi.setFormat(tmp->getFormat());
roi.setSize(tmp->getROISize());
tmp->convertROI(&roi);
cro = rot.apply(&roi);
draw->color(0,255,0,255);
draw->text(str(rs[0]), rs[0].x, rs[0].y);
}else{
draw->draw(mouse_1->vis());
Size32f s(gui["s1"],gui["s2"]);
Point32f ps[4] = { mouse_1->ps[0], mouse_1->ps[1], mouse_1->ps[2], mouse_1->ps[3] };
switch(image->getDepth()){
#define ICL_INSTANTIATE_DEPTH(D) \
case depth##D:{ \
static ImageRectification<icl##D> ir; \
try{ \
cro = rot.apply(&ir.apply(ps,*image->as##D(),s)); \
}catch(...){} \
break; \
}
ICL_INSTANTIATE_ALL_DEPTHS;
#undef ICL_INSTANTIATE_DEPTH
}
}
if(cro){
cropped = cro;
currMutex.lock();
cro->convert(&curr);
currMutex.unlock();
}
gui["draw"].render();
gui["fps"].render();
}
