void InventorLoader::checkForRedundancy( osg::NodePtr OSGGroup )
{
return;
// TODO: Check the type of the node and return, if it's not a node
// that should be discarded (discardable: group, not discardable: geometry)
// If the group node has no children, then let's kick it !
if( OSGGroup->getNChildren() == 0 )
{
if(OSGGroup->getParent() != NullFC)
{
OSGGroup->getParent()->subChild(OSGGroup);
}
else
{
subRefCP(OSGGroup);
}
}
// If there's only one child, then add it to the parent of the group,
// copy the name and remove the group
else if ( OSGGroup->getNChildren() == 1 )
{
// Get parent and child
osg::NodePtr _Child = OSGGroup->getChild(0);
osg::NodePtr _Parent = OSGGroup->getParent();
// Copy the name
const char* _Name = getName(OSGGroup);
if( _Name )
setName( _Child, _Name );
// Add the child to the parent
_Parent->addChild( _Child );
// Remove the group node
_Parent->subChild( OSGGroup );
}
}
NodeBase NodeIterator::next(void)
{
while(!_stack.empty())
{
OSG::NodePtr act = _stack.back();
_stack.pop_back();
for(OSG::UInt32 i = 0; i < act->getNChildren(); ++i)
_stack.push_back(act->getChild(i));
if(act->getCore()->getType().isDerivedFrom(*_type))
{
return NodeBase(act);
}
}
PyErr_SetString(PyExc_StopIteration, "Out of Nodes");
boost::python::throw_error_already_set();
}
int main(int argc, char *argv[])
{/*
int j = 0;
// Allocate Sotrage
std::vector<std::vector<cv::Point3f> > object_points;
std::vector<std::vector<cv::Point2f> > image_points;
int numBoards = 20;
int numCornersHor = 9;
int numCornersVer = 6;
int numSquares = numCornersHor * numCornersVer;
cv::Size board_sz = cv::Size(numCornersVer, numCornersHor);
vector<cv::Point2f> corners;
int successes=0;
cv::Mat init_Image;
vector<cv::Point3f> obj;
for(int y(0); y < numCornersHor; ++y) {
double tmp (y * 60.0);
for(int x(0); x < numCornersVer; ++x){
obj.push_back(cv::Point3f(x * 60.0, tmp, 0));
cout << "::" << x * 60.0 << " - " << tmp << endl;
}
}
//cv::VideoCapture capture = cv::VideoCapture(0);
//while(successes < numBoards){
for(int i = 1 ; i< 518 ; i++){
// every 10 pictures
if(j != 1){
j++;
continue;
} else {
j=0;
}
stringstream stream;
stream << "pics/init/";
stream << i;
stream << ".bmp";
cout << "#### PICTURE NO. "<<i<<"####" << stream.str().c_str() <<endl;
init_Image = cvLoadImage(stream.str().c_str());
cv::Mat grayImage;
//capture >> init_Image;
cv::cvtColor(init_Image, grayImage, CV_BGR2GRAY);
bool found = cv::findChessboardCorners(grayImage, board_sz, corners, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE);
if(found)
{
cv::cornerSubPix(grayImage, corners, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
cv::drawChessboardCorners(grayImage, board_sz, corners, found);
image_points.push_back(corners);
object_points.push_back(obj);
cout << "Snap stored!" << endl;
successes++;
if(successes>=numBoards)
break;
}
cv::imshow("Calib1",init_Image);
cv::imshow("Calib2",grayImage);
int key = cv::waitKey(1);
}
cout << "image point size : " << image_points.size() << endl;
cout << "object point size : " << object_points.size() << endl;
cv::Mat distCoeffs;
vector<cv::Mat> rvecs;
vector<cv::Mat> tvecs;
cv::Mat intrinsic;
cv::calibrateCamera(object_points, image_points, init_Image.size(), intrinsic, distCoeffs, rvecs, tvecs);
cout << "##INTRINSIC##" <<endl;
cout << intrinsic.ptr<double>(0)[0] << " " <<intrinsic.ptr<double>(0)[1]<<" " <<intrinsic.ptr<double>(0)[2]<< endl;
cout << intrinsic.ptr<double>(1)[0] << " " <<intrinsic.ptr<double>(1)[1]<< " " <<intrinsic.ptr<double>(1)[2] << endl;
cout << intrinsic.ptr<double>(2)[0] << " " <<intrinsic.ptr<double>(2)[1]<< " " <<intrinsic.ptr<double>(2)[2] << endl;
cout << "##DISTORTION##" <<endl;
cout << distCoeffs.ptr<double>(0)[0] << " " << distCoeffs.ptr<double>(0)[1] << " " << distCoeffs.ptr<double>(0)[2] << " "
<< distCoeffs.ptr<double>(0)[3] << " " << distCoeffs.ptr<double>(0)[4] << " " << distCoeffs.ptr<double>(0)[5] << " " <<endl;
for(int i = 1 ; i< 300 ; i++){
stringstream stream,s2;
stream << "pics/";
stream << i;
stream << ".bmp";
cout << "#### PICTURE NO. "<<i<<"####" << stream.str().c_str() <<endl;
cv:: Mat image = cvLoadImage(stream.str().c_str());
cv::Mat newI;
cv::undistort(image,newI,intrinsic,distCoeffs);
s2 << "pics/undist/";
s2 << i;
s2 << ".bmp";
cv::imwrite(s2.str().c_str(),newI);
}
exit(0);*/
// AR _BEGIN_
/*
const char *cparam_name = "pics/camera_para.dat";
ARParam cparam;
ARParam wparam;
// opencv-test
char *patt_name = "davit.patt";
std::cout << QDir::currentPath().toStdString() << endl;
cv::Mat m,n;
cv::namedWindow("looky looky");
ARUint8 *dataPtr;
int patt_id;
if( (patt_id=arLoadPatt(patt_name)) < 0 ) {
cout << "Pattern load error" <<endl;
} else {
cout << "Pattern loaded... "<<endl;
}
// set the initial camera parameters
if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
cout << "Camera parameter load error !!"<<endl;
exit(0);
} else {
cout << "Loaded Camera Parameter !! "<<endl;
}
//wparam.xsize = 1280;
//wparam.ysize = 1024;
//wparam.mat[0][0] = 1598.0;
//wparam.mat[1][1] = 1596.15;
//wparam.mat[0][2] = 555.006;
//wparam.mat[1][2] = 525.028;
//wparam.dist_factor[0] = -0.477959;
//wparam.dist_factor[1] = 1.83017;
//wparam.dist_factor[2] = -0.0036001;
//wparam.dist_factor[3] = -0.0001997;
//cout <<"RESET..."<<endl;
arParamChangeSize( &wparam, 1280, 1024, &cparam );
arInitCparam( &cparam );
cout << "*** Camera Parameter ***"<<endl;
arParamDisp( &cparam );
//open file
fstream file;
file.open("1280x1024Data.dat",ios::out);
cv::Mat RGB;
int v = 0;
for(int u=1;u<=200;++u){
file<<"#FRAME_"<<u<<endl;
//cout << "in loop..."<<endl;
stringstream stream;
stream << "pics/undist/";
stream << u;
stream << ".bmp";
RGB = cv::imread(stream.str().c_str());
cv::flip(RGB,RGB,0);
cv::Mat matAR(RGB.rows,RGB.cols,CV_8UC4);
cv::cvtColor(RGB,matAR,CV_BGR2BGRA);
cv::Mat newAR(RGB.rows,RGB.cols,CV_8UC4);
cv::Mat in[] = {matAR};
cv::Mat out[] = {newAR};
int from[] = {3,0,0,3,1,2,2,1};
cv::mixChannels(in,1,out,1,from,4);
dataPtr = (ARUint8*)newAR.data;
ARMarkerInfo *marker_info;
int marker_num;
if( dataPtr == NULL ) {
arUtilSleep(2);
cout << "No Image data found...";
return 2;
}
cout << "try detecting... " << u <<endl;
if( arDetectMarker(dataPtr, 45, &marker_info, &marker_num) < 0 ) {
cout << "No Markers found... :(";
//cleanup();
//exit(0);
return 4;
}
int j,k;
k = -1;
for( j = 0; j < marker_num; j++ ) {
if( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
//cout << "k: " << k << endl;
double patt_width = 225.0;
double patt_center[2] = {0.0,0.0};
double patt_trans[3][4];
double quat[4];
double pos[3];
if(marker_num > 0 && k == 0){
//cout << "Marker found : " << marker_num << " " << v++ << " - k: " << k <<endl;
arGetTransMat(&marker_info[k],patt_center,patt_width,patt_trans);
if(arUtilMat2QuatPos(patt_trans,quat,pos) == 0){
cout << "quat worked" <<endl;
cout << "quat: " << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl;
cout << "pos: " << pos[0] << " " << pos[1] << " " << pos[2] << endl;
cout <<endl;
}
file << patt_trans[0][0] << " " << patt_trans[0][1] << " " << patt_trans[0][2] << " " << patt_trans[0][3] << " "<<endl;
file << patt_trans[1][0] << " " << patt_trans[1][1] << " " << patt_trans[1][2] << " " << patt_trans[1][3] << " "<<endl;
file << patt_trans[2][0] << " " << patt_trans[2][1] << " " << patt_trans[2][2] << " " << patt_trans[2][3] << " "<<endl;
//file << patt_center[0] << " " << patt_center[1] <<endl;
//cout << "patt width: " << patt_width <<endl;
file << marker_info[k].pos[0] << " " << marker_info[k].pos[1] <<endl;
cout << "p1: " << marker_info[k].vertex[0][0] << " " << marker_info[k].vertex[0][1]<< endl;
cout << "p2: " << marker_info[k].vertex[1][0] << " " << marker_info[k].vertex[1][1]<< endl;
cout << "p3: " << marker_info[k].vertex[2][0] << " " << marker_info[k].vertex[2][1]<< endl;
cout << "p4: " << marker_info[k].vertex[3][0] << " " << marker_info[k].vertex[3][1]<< endl;
cv::line(newAR,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(newAR,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[0][0],marker_info[k].vertex[0][1]),cv::Point(marker_info[k].vertex[2][0],marker_info[k].vertex[2][1]),CV_RGB(255,0,0));
cv::line(RGB,cv::Point(marker_info[k].vertex[1][0],marker_info[k].vertex[1][1]),cv::Point(marker_info[k].vertex[3][0],marker_info[k].vertex[3][1]),CV_RGB(255,0,0));
cv::waitKey(1);
}
stringstream stream2;
stream2 << "pics/new/";
stream2 << u;
stream2 << ".bmp";
//cv::imwrite(stream2.str().c_str(),RGB);
file<< "##"<<endl;
cv::imshow("looky looky",RGB);
cv::waitKey(1);
}
file.close();
*/
// AR _ENDE_ !!
//}
// QCoreApplication a(argc, argv);
OSG::osgInit(argc,argv);
cout << "argc " << argc <<endl;
for(int ar(0);ar<argc;++ar)
cout << argv[ar] << " ";
cout << endl;
int winid = setupGLUT(&argc,argv);
//GLUTWindowPtr gwin = GLUTWindow::create();
//gwin->setGlutId(winid);
//gwin->init();
OSG::NodePtr scene = SceneFileHandler::the().read("data/test__1.obj");
//OSG::NodePtr scene = SceneFileHandler::the().read("data/test3_4.obj");
//GroupPtr scene = GroupPtr::dcast(scene);
cout << "type: " << scene.getCore()->getTypeName()<< endl;
cout << "children in scene: " << scene->getNChildren()<<endl;
GeometryPtr geo = GeometryPtr::dcast(scene->getCore());
GeoPTypesPtr type = GeoPTypesUI8::create();
type->addValue(GL_LINE);
LineIterator lit;
int lines(0);
TEST = geo;
for(lit = geo->beginLines();lit != geo->endLines();++lit){
lines++;
}
cout << "lines: " << lines <<endl;
SimpleMaterialPtr mat = SimpleMaterial::create();
geo->setMaterial(mat);
// Create and setup our little friend - the SSM
mgr = new SimpleSceneManager;
//mgr->setWindow(gwin);
//mgr->setRoot(scene);
//mgr->showAll();
//glutCreateWindow("test");
glutMainLoop();
return 0;
}