void ntk::MultipleGrabber::onImageUpdated(EventBroadcaster *sender)
{
RGBDGrabber* grabber = dynamic_cast<RGBDGrabber*>(sender);
int grabber_index = 0;
while (m_grabbers[grabber_index] != grabber) ++grabber_index;
m_all_grabbers_updated_mutex.lock();
grabber->copyImageTo(m_temp_grabbed_images[grabber_index]);
m_updated_grabbers.insert(grabber);
if (m_updated_grabbers.size() == m_grabbers.size())
{
m_all_grabbers_updated_condition.wakeAll();
}
else if (m_disconnect_alternatively)
{
m_grabbers[grabber_index]->stop();
m_grabbers[grabber_index]->disconnectFromDevice();
for (int i = 0; i < m_grabbers.size(); ++i)
{
if (m_updated_grabbers.find(m_grabbers[i]) == m_updated_grabbers.end())
{
m_grabbers[i]->connectToDevice();
m_grabbers[i]->start();
break;
}
}
}
m_all_grabbers_updated_mutex.unlock();
}
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);
const char* fake_dir = opt::image();
bool is_directory = opt::directory() != 0;
if (opt::directory())
fake_dir = opt::directory();
ntk::RGBDProcessor* processor = 0;
RGBDGrabber* grabber = 0;
#ifdef NESTK_USE_OPENNI
OpenniDriver* ni_driver = 0;
#endif
bool use_openni = !opt::freenect();
#ifndef NESTK_USE_OPENNI
use_openni = false;
#endif
if (opt::image() || opt::directory())
{
std::string path = opt::image() ? opt::image() : opt::directory();
FileGrabber* file_grabber = new FileGrabber(path, opt::directory() != 0);
grabber = file_grabber;
}
#ifdef NESTK_USE_OPENNI
else if (use_openni)
{
// Config dir is supposed to be next to the binaries.
QDir prev = QDir::current();
QDir::setCurrent(QApplication::applicationDirPath());
if (!ni_driver) ni_driver = new OpenniDriver();
OpenniGrabber* k_grabber = new OpenniGrabber(*ni_driver);
k_grabber->setTrackUsers(false);
// k_grabber->setCustomBayerDecoding(true);
if (opt::high_resolution())
k_grabber->setHighRgbResolution(true);
k_grabber->initialize();
QDir::setCurrent(prev.absolutePath());
grabber = k_grabber;
}
#endif
#ifdef NESTK_USE_FREENECT
else
{
FreenectGrabber* k_grabber = new FreenectGrabber();
k_grabber->initialize();
k_grabber->setIRMode(false);
grabber = k_grabber;
}
#endif
ntk_ensure(grabber, "Could not create any grabber. Kinect support built?");
if (use_openni)
{
processor = new ntk::OpenniRGBDProcessor();
}
else
{
processor = new ntk::FreenectRGBDProcessor();
}
if (opt::sync())
grabber->setSynchronous(true);
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setSaveOnlyRaw(false);
ntk::RGBDCalibration* calib_data = 0;
if (opt::calibration_file())
{
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (use_openni)
{
calib_data = grabber->calibrationData();
}
else if (QDir::current().exists("kinect_calibration.yml"))
{
{
ntk_dbg(0) << "[WARNING] Using kinect_calibration.yml in current directory";
ntk_dbg(0) << "[WARNING] use --calibration to specify a different file.";
}
calib_data = new RGBDCalibration();
calib_data->loadFromFile("kinect_calibration.yml");
}
ntk_ensure(calib_data, "You must specify a calibration file (--calibration)");
grabber->setCalibrationData(*calib_data);
GuiController gui_controller (*grabber, *processor);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
if (opt::sync())
gui_controller.setPaused(true);
SurfelsRGBDModeler modeler;
modeler.setMinViewsPerSurfel(1);
processor->setFilterFlag(RGBDProcessorFlags::ComputeNormals, 1);
processor->setMaxNormalAngle(90);
processor->setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);
ModelAcquisitionController* acq_controller = 0;
acq_controller = new ModelAcquisitionController (gui_controller, modeler);
IncrementalPoseEstimatorFromImage* pose_estimator = 0;
// FeatureSetParams params ("FAST", "BRIEF64", true);
FeatureSetParams params ("SURF", "SURF64", true);
pose_estimator = new IncrementalPoseEstimatorFromRgbFeatures(params, opt::use_icp());
acq_controller->setPoseEstimator(pose_estimator);
gui_controller.setModelAcquisitionController(*acq_controller);
grabber->start();
app.exec();
delete acq_controller;
}
int main (int argc, char** argv)
{
arg_base::set_help_option("-h");
arg_parse(argc, argv);
ntk_debug_level = 1;
cv::setBreakOnError(true);
QApplication::setGraphicsSystem("raster");
QApplication app (argc, argv);
const char* fake_dir = opt::image();
bool is_directory = opt::directory() != 0;
if (opt::directory())
fake_dir = opt::directory();
ntk::RGBDProcessor* processor = 0;
RGBDGrabber* grabber = 0;
bool use_openni = !opt::freenect();
#ifndef USE_OPENNI
use_openni = false;
#endif
if (opt::image() || opt::directory())
{
std::string path = opt::image() ? opt::image() : opt::directory();
FileGrabber* file_grabber = new FileGrabber(path, opt::directory() != 0);
grabber = file_grabber;
}
else if (use_openni)
{
NiteRGBDGrabber* k_grabber = new NiteRGBDGrabber();
if (opt::high_resolution())
k_grabber->setHighRgbResolution(true);
k_grabber->initialize();
grabber = k_grabber;
}
else
{
KinectGrabber* k_grabber = new KinectGrabber();
k_grabber->initialize();
k_grabber->setIRMode(false);
grabber = k_grabber;
}
if (use_openni)
{
processor = new ntk::NiteProcessor();
}
else
{
processor = new ntk::KinectProcessor();
}
if (opt::sync())
grabber->setSynchronous(true);
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setSaveOnlyRaw(false);
ntk::RGBDCalibration* calib_data = 0;
if (use_openni)
{
calib_data = grabber->calibrationData();
}
else if (opt::calibration_file())
{
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (QDir::current().exists("kinect_calibration.yml"))
{
{
ntk_dbg(0) << "[WARNING] Using kinect_calibration.yml in current directory";
ntk_dbg(0) << "[WARNING] use --calibration to specify a different file.";
}
calib_data = new RGBDCalibration();
calib_data->loadFromFile("kinect_calibration.yml");
}
ntk_ensure(calib_data, "You must specify a calibration file (--calibration)");
grabber->setCalibrationData(*calib_data);
GuiController gui_controller (*grabber, *processor);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
if (opt::sync())
gui_controller.setPaused(true);
SurfelsRGBDModeler modeler;
modeler.setMinViewsPerSurfel(1);
processor->setFilterFlag(RGBDProcessor::ComputeNormals, 1);
processor->setMaxNormalAngle(90);
ModelAcquisitionController* acq_controller = 0;
acq_controller = new ModelAcquisitionController (gui_controller, modeler);
RelativePoseEstimator* pose_estimator = 0;
FeatureSetParams params ("FAST", "BRIEF64", true);
pose_estimator = new RelativePoseEstimatorFromImage(params);
acq_controller->setPoseEstimator(pose_estimator);
gui_controller.setModelAcquisitionController(*acq_controller);
grabber->start();
app.exec();
delete acq_controller;
}
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::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;
}
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);
// Opening cameras. Its important to remember that CvCapture has to be done
// before PMD otherwise will crash
// 1.- Logitech (openCV)
// 2.- PMD (pmdlibrary)
const char* fake_dir = opt::image();
bool is_directory = opt::directory() != 0;
if (opt::directory())
fake_dir = opt::directory();
ntk::RGBDProcessor* rgbd_processor = 0;
RGBDGrabber* grabber = 0;
#ifdef NESTK_USE_OPENNI
OpenniDriver* ni_driver = 0;
#endif
bool use_openni = false;
if (opt::use_kinect())
{
#ifdef NESTK_USE_OPENNI
if (opt::use_freenect())
{
rgbd_processor = new FreenectRGBDProcessor();
}
else
{
rgbd_processor = new OpenniRGBDProcessor();
use_openni = true;
}
#else
rgbd_processor = new FreenectRGBDProcessor();
#endif
}
else
{
rgbd_processor = new RGBDProcessor();
}
rgbd_processor->setMaxNormalAngle(40);
rgbd_processor->setFilterFlag(RGBDProcessor::ComputeMapping, true);
rgbd_processor->setFilterFlag(RGBDProcessor::FilterThresholdDepth, true);
rgbd_processor->setMinDepth(0.3);
rgbd_processor->setMaxDepth(1.5);
if (opt::image() || opt::directory())
{
std::string path = opt::image() ? opt::image() : opt::directory();
FileGrabber* file_grabber = new FileGrabber(path, is_directory);
grabber = file_grabber;
// Image are saved with flipping applied.
rgbd_processor->setFilterFlag(RGBDProcessor::FlipColorImage, false);
}
else if (opt::use_kinect())
{
if (opt::use_freenect())
{
#ifdef NESTK_USE_FREENECT
FreenectGrabber* k_grabber = new FreenectGrabber();
k_grabber->initialize();
k_grabber->setIRMode(false);
grabber = k_grabber;
#else
fatal_error("Freenect support not built.");
#endif
}
else
{
#ifdef NESTK_USE_OPENNI
// Config dir is supposed to be next to the binaries.
QDir prev = QDir::current();
QDir::setCurrent(QApplication::applicationDirPath());
if (!ni_driver) ni_driver = new OpenniDriver();
OpenniGrabber* k_grabber = new OpenniGrabber(*ni_driver);
k_grabber->setTrackUsers(false);
if (opt::high_resolution())
k_grabber->setHighRgbResolution(true);
k_grabber->initialize();
QDir::setCurrent(prev.absolutePath());
grabber = k_grabber;
#else
fatal_error("OpenNI support not built, try --freenect.");
#endif
}
}
else
{
ntk_assert(0, "PMDSDK support not enabled.");
}
MeshGenerator* mesh_generator = 0;
ntk::RGBDCalibration* calib_data = 0;
if (opt::calibration_file())
{
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (use_openni)
{
calib_data = grabber->calibrationData();
}
if (calib_data)
{
mesh_generator = new MeshGenerator();
grabber->setCalibrationData(*calib_data);
}
if (opt::sync())
grabber->setSynchronous(true);
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);
RelativePoseEstimator* pose_estimator = new DummyRelativePoseEstimator();
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;
}
int main(int argc, char *argv[])
{
// Create kinect node
ros::init(argc, argv, "kinectListenner");
RGBDGrabber grabber;
ros::NodeHandle n("~");
// ros::Subscriber sub = n.subscribe("/camera/depth_registered/points", 2, &DataCompressionNode::pointCloudCallback, &dataCompressor);
ros::Subscriber sub2 = n.subscribe("/camera/rgb/image_color", 10, &RGBDGrabber::colorImageCallback, &grabber);
ros::Subscriber sub3 = n.subscribe("/camera/depth_registered/image_rect_raw", 10, &RGBDGrabber::depthImageCallback, &grabber);
ros::Rate loop_rate(10);
bool saveMismatched= true;
n.getParam("saveMismatched", saveMismatched);
std::cout<<"------------------------- RGBD_GRABBER started -----------------------------"<<std::endl;
grabber.setSaveMismatchedImages(saveMismatched);
if (saveMismatched)
{
std::cout<<"--------------- RGBDGrabber will save mismatched images. You will get all the frames. ---------------- "<<std::endl;
} else {
std::cout<<"--------------- RGBDGrabber will NOT save mismatched images. You might miss some frames. ---------------- "<<std::endl;
}
bool loop = true;
while (ros::ok() && loop)
{
int ch = keyPressed();
// std::cout<<ch<<std::endl;
switch (ch)
{
case 113: // key q
{
std::cout<<"------------------------- Exitting program -----------------------------"<<std::endl;
loop = false;
break;
}
case 115: // key s
{
grabber.setSaveOneFrame(true);
std::cout<<"------------------------- Saving a frame -----------------------------"<<std::endl;
break;
}
case 97: // key a
{
grabber.setSaveFrameSeq(true);
std::cout<<"------------------------- Saving frame sequence-----------------------------"<<std::endl;
break;
}
case 122: // key z
{
grabber.setSaveFrameSeq(false);
std::cout<<"------------------------- Stopping saving -----------------------------"<<std::endl;
break;
}
case 110: // key n
{
grabber.createNewFolder();
std::string folderName = grabber.getFolderName();
std::cout<<"------------------------- Created new folder "<<folderName<<"-----------------------------"<<std::endl;
break;
}
case 105: // key i
{
grabber.increaseFrameSkip();
std::cout<<"------------------------- Frameskip increased to "<<grabber.getFrameSkip()<<"-----------------------------"<<std::endl;
break;
}
case 117: // key u
{
grabber.decreaseFrameSkip();
std::cout<<"------------------------- Frameskip decreased to "<<grabber.getFrameSkip()<<"-----------------------------"<<std::endl;
break;
}
case 0:
break;
default:
break;
}
ros::spinOnce();
loop_rate.sleep();
}
}
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);
const char* fake_dir = opt::image();
bool is_directory = opt::directory() != 0;
if (opt::directory())
fake_dir = opt::directory();
ntk::RGBDProcessor* processor = 0;
#ifdef NESTK_USE_OPENNI
OpenniDriver* ni_driver = 0;
#endif
RGBDGrabber* grabber = 0;
bool use_openni = !opt::freenect();
#ifndef NESTK_USE_OPENNI
use_openni = false;
#endif
if (opt::image() || opt::directory())
{
std::string path = opt::image() ? opt::image() : opt::directory();
FileGrabber* file_grabber = new FileGrabber(path, opt::directory() != 0);
grabber = file_grabber;
}
#ifdef NESTK_USE_OPENNI
else if (use_openni)
{
// Config dir is supposed to be next to the binaries.
QDir prev = QDir::current();
QDir::setCurrent(QApplication::applicationDirPath());
if (!ni_driver) ni_driver = new OpenniDriver();
OpenniGrabber* k_grabber = new OpenniGrabber(*ni_driver);
k_grabber->setTrackUsers(false);
if (opt::high_resolution())
k_grabber->setHighRgbResolution(true);
k_grabber->initialize();
QDir::setCurrent(prev.absolutePath());
grabber = k_grabber;
}
#endif
#ifdef NESTK_USE_FREENECT
else
{
FreenectGrabber* k_grabber = new FreenectGrabber();
k_grabber->initialize();
k_grabber->setIRMode(false);
grabber = k_grabber;
}
#endif
ntk_ensure(grabber, "Could not create any grabber. Kinect support built?");
if (use_openni)
{
processor = new ntk::OpenniRGBDProcessor();
}
else
{
processor = new ntk::FreenectRGBDProcessor();
}
processor->setFilterFlag(RGBDProcessor::FilterEdges, true);
if (opt::sync())
grabber->setSynchronous(true);
RGBDFrameRecorder frame_recorder (opt::dir_prefix());
frame_recorder.setSaveOnlyRaw(false);
ntk::RGBDCalibration* calib_data = 0;
if (opt::calibration_file())
{
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (use_openni)
{
calib_data = grabber->calibrationData();
}
else if (QDir::current().exists("kinect_calibration.yml"))
{
{
ntk_dbg(0) << "[WARNING] Using kinect_calibration.yml in current directory";
ntk_dbg(0) << "[WARNING] use --calibration to specify a different file.";
}
calib_data = new RGBDCalibration();
calib_data->loadFromFile("kinect_calibration.yml");
}
ntk_ensure(calib_data, "You must specify a calibration file (--calibration)");
grabber->setCalibrationData(*calib_data);
PeopleTrackerParameters tracker_parameters;
tracker_parameters.loadFromYamlFile(opt::tracker_config());
PeopleTracker tracker (tracker_parameters);
GuiController gui_controller (*grabber, *processor, tracker);
grabber->addEventListener(&gui_controller);
gui_controller.setFrameRecorder(frame_recorder);
if (opt::sync())
gui_controller.setPaused(true);
grabber->start();
app.exec();
}
