// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestRANSACPlanes();
cout << endl << "Now running detection of lines..." << endl << endl;
TestRANSACLines();
win.clear();
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main(int argc, char **argv)
{
try
{
printf(" track-video-features - Part of MRPT\n");
printf(" MRPT C++ Library: %s - BUILD DATE %s\n", mrpt::system::MRPT_getVersion().c_str(), mrpt::system::MRPT_getCompilationDate().c_str());
printf("-------------------------------------------------------------------\n");
// The video source:
CCameraSensorPtr cam;
// process cmd line arguments?
if (argc<1 || argc>3)
{
cerr << "Incorrect number of arguments.\n";
showUsage(argv[0]);
return -1;
}
const bool last_arg_is_save_video = !strcmp("--save-video",argv[argc-1]);
if (last_arg_is_save_video)
argc--; // Discard last argument
if (argc==2)
{
if (!strcmp(argv[1],"--help"))
{
showUsage(argv[0]);
return 0;
}
if (!mrpt::system::fileExists(argv[1]))
{
cerr << "File does not exist: " << argv[1] << endl;
return -1;
}
const string fil = string(argv[1]);
const string ext = mrpt::system::lowerCase(mrpt::system::extractFileExtension(fil,true));
if (ext=="rawlog")
{
// It's a rawlog:
cout << "Interpreting '" << fil << "' as a rawlog file...\n";
cam = CCameraSensorPtr(new CCameraSensor);
CConfigFileMemory cfg;
cfg.write("CONFIG","grabber_type","rawlog");
cfg.write("CONFIG","rawlog_file", fil );
// For delayed-load images:
CImage::IMAGES_PATH_BASE = CRawlog::detectImagesDirectory(fil);
cam->loadConfig(cfg,"CONFIG");
cam->initialize(); // This will raise an exception if neccesary
}
else
{
// Assume it's a video:
cout << "Interpreting '" << fil << "' as a video file...\n";
cam = CCameraSensorPtr(new CCameraSensor);
CConfigFileMemory cfg;
cfg.write("CONFIG","grabber_type","ffmpeg");
cfg.write("CONFIG","ffmpeg_url", fil );
cam->loadConfig(cfg,"CONFIG");
cam->initialize(); // This will raise an exception if neccesary
}
}
if (!cam)
{
cout << "You didn't specify any video source in the command line.\n"
"(You can run with --help to see usage).\n"
"Showing a GUI window to select the video source...\n";
// If no camera opened so far, ask the user for one:
cam = mrpt::hwdrivers::prepareVideoSourceFromUserSelection();
if (!cam)
{
cerr << "No images source was correctly initialized! Exiting.\n";
return -1;
}
}
// do it:
const int ret = DoTrackingDemo(cam, last_arg_is_save_video);
win.clear();
mrpt::system::sleep(150); // give time to close GUI threads
return ret;
}
catch (std::exception &e)
{
std::cerr << e.what() << std::endl << "Program finished for an exception!!" << std::endl;
mrpt::system::pause();
return -1;
}
catch (...)
{
std::cerr << "Untyped exception!!" << std::endl;
mrpt::system::pause();
return -1;
}
}
