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::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::high_resolution())
params.high_resolution = true;
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* processor = grabbers[0].processor;
bool ok = grabber->connectToDevice();
if (!ok)
{
ntk_dbg(0) << "WARNING: connectToDevice failed.";
return 1;
}
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setFrameIndex(opt::first_index());
frame_recorder.setSaveOnlyRaw(true);
frame_recorder.setUseBinaryRaw(true);
frame_recorder.setSavePCLPointCloud(opt::savePCD());
ObjectDetector detector;
MeshGenerator* mesh_generator = 0;
ntk::RGBDCalibrationPtr calib_data = grabber->calibrationData();
if (calib_data)
{
mesh_generator = new MeshGenerator();
}
GuiController gui_controller (*grabber, *processor);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
gui_controller.setObjectDetector(detector);
if (opt::sync())
gui_controller.setPaused(true);
if (mesh_generator)
{
mesh_generator->setUseColor(true);
gui_controller.setMeshGenerator(*mesh_generator);
}
grabber->start();
app.exec();
delete mesh_generator;
}
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 app (argc, argv);
// Config dir is supposed to be next to the binaries.
QDir prev_dir = QDir::current();
QDir::setCurrent(QApplication::applicationDirPath());
MultipleGrabber* multi_grabber = new MultipleGrabber();
MultiKinectScanner scanner;
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_dir())
params.calibration_dir = opt::calibration_dir();
if (opt::high_resolution())
params.high_resolution = true;
if (opt::no_registration())
params.hardware_registration = false;
if (opt::sync())
params.synchronous = true;
std::vector<RGBDGrabberFactory::GrabberData> grabbers;
grabbers = grabber_factory.createGrabbers(params);
ntk_dbg_print(grabbers.size(), 1);
for (int i = 0; i < grabbers.size(); ++i)
{
RGBDGrabber* grabber = grabbers[i].grabber;
bool ok = grabber->connectToDevice();
if (!ok)
{
ntk_dbg(0) << "WARNING: connectToDevice failed.";
continue;
}
multi_grabber->addGrabber(grabber);
scanner.addGrabber(grabber);
}
QDir::setCurrent(prev_dir.absolutePath());
GuiMultiKinectController* controller = new GuiMultiKinectController(&scanner);
if (opt::bbox())
{
ntk::Rect3f bbox = readBoundingBoxFromYamlFile(opt::bbox());
controller->setBoundingBox(bbox, true);
}
scanner.plugController(controller);
controller->scanner().calibratorBlock().setCalibrationPattern(0.034, 10, 7);
if (opt::sync())
controller->scanner().setPaused(true);
scanner.start();
return app.exec();
}
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;
}
