int main( int argc, char **argv )
{
if(argc<4) {
usage(argc,argv);
return 1;
}
is = helper::createImageSource(argv[1]);
if(is.empty() || is->done()) {
loglne("[main] createImageSource failed or no valid imagesource!");
return -1;
}
is->pause(false);
is->reportInfo();
is->get(frame);
imgW = frame.cols; imgH = frame.rows;
videoFromWebcam = false;
if( is->classname() == "ImageSource_Camera" ) {
videoFromWebcam = true;
}
loglni("[main] loading K matrix from: "<<argv[2]);
double K[9];
std::ifstream kfile(argv[2]);
for(int i=0; i<9; ++i) kfile >> K[i];
tracker.loadK(K);
loglni("[main] K matrix loaded:");
loglni(helper::PrintMat<>(3,3,K));
loglni("[main] load template image from: "<<argv[3]);
tracker.loadTemplate(argv[3]);
//////////////// TagDetector /////////////////////////////////////////
int tagid = 0; //default tag16h5
if(argc>5) tagid = atoi(argv[5]);
tagFamily = TagFamilyFactory::create(tagid);
if(tagFamily.empty()) {
loglne("[main] create TagFamily fail!");
return -1;
}
detector = new TagDetector(tagFamily);
if(detector.empty()) {
loglne("[main] create TagDetector fail!");
return -1;
}
Mat temp = imread(argv[3]);
if( findAprilTag(temp, 0, HI, true) ) {
namedWindow("template");
imshow("template", temp);
iHI = HI.inv();
} else {
loglne("[main error] detector did not find any apriltag on template image!");
return -1;
}
//////////////// OSG ////////////////////////////////////////////////
osg::ref_ptr<osg::Group> root = new osg::Group;
string scenefilename = (argc>4?argv[4]:("cow.osg"));
osg::ref_ptr<osg::Node> cow = osgDB::readNodeFile(scenefilename);
arscene = new helper::ARSceneRoot;
helper::FixMat<3,double>::Type matK = helper::FixMat<3,double>::ConvertType(K);
CV2CG::cv2cg(matK,0.01,500,imgW,imgH,*arscene);
manipMat = new osg::MatrixTransform(osg::Matrix::identity());
manipMat->addChild(cow);
manipMat->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON);
arscene->addChild(manipMat);
osg::ref_ptr<osg::Image> backgroundImage = new osg::Image;
helper::cvmat2osgimage(frame,backgroundImage);
arvideo = new helper::ARVideoBackground(backgroundImage);
root->setUpdateCallback(new ARUpdateCallback);
root->addChild(arvideo);
root->addChild(arscene);
viewer.setSceneData(root);
viewer.addEventHandler(new osgViewer::StatsHandler);
viewer.addEventHandler(new osgViewer::WindowSizeHandler);
viewer.addEventHandler(new QuitHandler);
//start tracking thread
OpenThreads::Thread::Init();
TrackThread* thr = new TrackThread;
thr->start();
viewer.run();
delete thr;
loglni("[main] DONE...exit!");
return 0;
}
virtual bool handle(const osgGA::GUIEventAdapter &ea,
osgGA::GUIActionAdapter &aa) {
if(ea.getEventType()==osgGA::GUIEventAdapter::KEYDOWN) {
switch(ea.getKey()) {
case osgGA::GUIEventAdapter::KEY_Escape:
OpenCVneedQuit=true;
loglni("[QuitHandler] OSG notify OpenCV to quit...");
break;
case ' ':
needToInit=true;
break;
case 'd':
opencvDraw = !opencvDraw;
break;
case '.': //>
sx+=0.4;sy+=0.4;sz+=0.4;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case ',': //<
sx-=0.2;sy-=0.2;sz-=0.2;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case 'c':
needToCapframe = !needToCapframe;
if(needToCapframe) loglni("[Capture Frame] Begin.");
else loglni("[Capture Frame] End.");
break;
case 'h':
QuitHandler::usage(); break;
case '1':
switchARVideo(); break;
case '2':
switchARScene(); break;
case osgGA::GUIEventAdapter::KEY_KP_Up:
my+=10;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case osgGA::GUIEventAdapter::KEY_KP_Down:
my-=5;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case osgGA::GUIEventAdapter::KEY_KP_Left:
mx-=5;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case osgGA::GUIEventAdapter::KEY_KP_Right:
mx+=10;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case osgGA::GUIEventAdapter::KEY_Page_Up:
mz+=10;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case osgGA::GUIEventAdapter::KEY_Page_Down:
mz-=5;
manipMat->setMatrix(osg::Matrix::translate(mx,my,mz)*osg::Matrix::scale(sx,sy,sz));
break;
case 'p': {
static bool pa=false;
is->pause(pa); pa = !pa; break; }
case 'l': {
static bool lo=false;
is->loop(lo); lo = !lo; break; }
}//end of switch
}
return true;
}
