// test pushing to github by xcode
int main(int argc, const char * argv[])
{
ft_data ftdata;
if (argc<3) {
cout<<argv[0]<<" user_profile_dir camera_profile.yaml";
return 0;
}
// string fname =string(argv[1]);
// ftdata = load_ft_jzp(fname);
// face_tracker tracker = load_ft<face_tracker>(string(ftdata.baseDir+"trackermodel.yaml").c_str());
// tracker.detector.baseDir = ftdata.baseDir;
//
// Mat cameraMatrix, distCoeffs;
// readCameraProfile(fs::path(argv[2]), cameraMatrix, distCoeffs);
fs::path baseDirPath(argv[1]);
ASM_Gaze_Tracker poseTracker(baseDirPath / "trackermodel.yaml", fs::path(argv[2]));
// vector<Point3f> faceFeatures ; //findBestFrontalFaceShape(smodel);
vector<Point3f> faceCrdRefVecs;
faceCrdRefVecs.push_back(Point3f(0,0,0));
faceCrdRefVecs.push_back(Point3f(50,0,0));
faceCrdRefVecs.push_back(Point3f(0,50,0));
faceCrdRefVecs.push_back(Point3f(0,0,50));
// vector<Point2f> frontPerspective2D = findBestFrontalFaceShape2D(ftdata);
VideoCapture cam;
cam.open(0);
if(!cam.isOpened()){
return 0;
}
Mat rvec, tvec;
Mat im;
captureImage(cam,im);
while(true){
bool success = captureImage(cam, im, true);
if (success == false) {
break;
}
bool succeeded = poseTracker.featureTracking(im);
if (succeeded)
poseTracker.estimateFacePose();
// Mat hM = findHomography(featuresTruPts ,frontPerspective2D, 0);
// Mat frontim;
// Mat gray;
// warpPerspective(im.clone(), frontim, hM, im.size());
// imshow("front", frontim);
vector<Point2f> reprjCrdRefPts;
poseTracker.projectPoints(faceCrdRefVecs, reprjCrdRefPts);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[1], Scalar(255,0,0),2);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[2], Scalar(0,255,0),2);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[3], Scalar(0,0,255),2);
drawStringAtTopLeftCorner(im, "distance to camera:" + boost::lexical_cast<string>(poseTracker.distanceToCamera()));
imshow("head pose",im);
int c = waitKey(1);
if(c == 'q')break;
else if(c == 'd') poseTracker.reDetectFace();
}
}
int main() {
/* the basic rig config */
RigConfig rc;
rc.loadFromFile("rigconfig_core_pullup.xml");
/* camera parameter data */
CameraParameters::Ptr cameraParameters(new CameraParameters(rc));
cameraParameters->print();
/* pose tracking for the camera*/
PoseTrackerKinfu::Ptr poseTracker(new PoseTrackerKinfu(rc));
poseTracker->start();
/* range finder with kinfu cloud provider */
CloudProvider<pcl::PointXYZ>::Ptr rangeimageProvider = poseTracker->getKinfu();
RangeFinder<pcl::PointXYZ>::Ptr rangeFinder(new RangeFinder<pcl::PointXYZ>(rc));
rangeFinder->setCloudSource(rangeimageProvider);
/* viewfinder to extract pois from the scene */
ViewFinderRangeImage<pcl::PointXYZ> viewFinder(0.5);
viewFinder.setRangeFinder(rangeFinder);
viewFinder.setCameraParameters(cameraParameters);
/* the focus motor */
FocusMotor::Ptr focusMotor(new FocusMotorTwoPolys(rc));
/* create a focus controller */
FocusControllerSinglePoint::Ptr fCtrlSingle(new FocusControllerSinglePoint(
cameraParameters, poseTracker));
fCtrlSingle->setIdentifier("SingeTracker0");
fCtrlSingle->setPriority(5);
fCtrlSingle->start();
/* focus control */
CentralFocusControl fControl;
fControl.setFocusMotor(focusMotor);
fControl.addFocusController(fCtrlSingle);
fControl.start();
/* simulate a main loop */
for (int i=0; i<50; i++) {
poseTracker->getPose();
fControl.focusDistance();
fControl.getFocusedPoint();
fControl.activlyControlled();
sleep(0.55);
}
/* save cloud from kinfu */
pcl::PCDWriter writer;
CloudProvider<pcl::PointXYZ>::CloudPtr outCloud(
new CloudProvider<pcl::PointXYZ>::Cloud(
*rangeimageProvider->getLastCloud()));
writer.writeASCII("kinfu_cloud_pullup.pcd", *outCloud );
viewFinder.compute();
pcl::RangeImagePlanar::Ptr rangeImage = viewFinder.getRangeImage();
RangeImageWriter riWriter(rangeImage);
riWriter.save("rangeimage_pullup.png");
viewFinder.getMiddlePoint();
}
int main(int argc, const char * argv[])
{
ft_data ftdata;
if (argc<3) {
cout<<argv[0]<<" user_profile_dir camera_profile.yaml";
return 0;
}
fs::path baseDirPath(argv[1]);
ASM_Gaze_Tracker poseTracker(baseDirPath / "trackermodel.yaml", fs::path(argv[2]));
vector<Point3f> faceCrdRefVecs;
faceCrdRefVecs.push_back(Point3f(0,0,0));
faceCrdRefVecs.push_back(Point3f(50,0,0));
faceCrdRefVecs.push_back(Point3f(0,50,0));
faceCrdRefVecs.push_back(Point3f(0,0,50));
VideoCapture cam;
cam.open(0);
if(!cam.isOpened()){
return 0;
}
Mat rvec, tvec;
Mat im;
captureImage(cam,im);
while(true){
bool success = captureImage(cam, im, true);
if (success == false) {
break;
}
bool succeeded = poseTracker.featureTracking(im);
if (succeeded)
poseTracker.estimateFacePose();
Mat frontim,flipback;
flip(im,flipback,1);
vector<Point2f> reprjCrdRefPts;
vector<Point2f> reprjFeaturePts;
poseTracker.projectPoints(poseTracker.facialPointsIn3D, reprjFeaturePts);
poseTracker.projectPoints(faceCrdRefVecs, reprjCrdRefPts);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[1], Scalar(255,0,0),2);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[2], Scalar(0,255,0),2);
line(im, reprjCrdRefPts[0], reprjCrdRefPts[3], Scalar(0,0,255),2);
drawPoints(im, reprjFeaturePts);
drawStringAtTopLeftCorner(im, "distance to camera:" + boost::lexical_cast<string>(poseTracker.distanceToCamera()));
imshow("head pose",im);
vector<Point2f> transformedPoints = poseTracker.tracker.points;
fliplr(transformedPoints, im.size());
Mat part;
Mat hM = findHomography(poseTracker.facialPointsIn2D ,transformedPoints, 0);
warpPerspective(flipback(boundingRect(transformedPoints)), frontim, hM, im.size());
imshow("front", im);
int c = waitKey(1)%256;
if(c == 'q')break;
}
}
