- example code:
#include <pcpred/prediction/bvh_predictor.h>
using namespace pcpred;
...
BvhPredictor predictor("../data/bvh/walking.bvh");
predictor.setTimestep(0.1);
...
while (true)
{
predictor.moveToNextFrame();
predictor.visualizeHuman();
double time = 0.0;
while (time <= 0.3)
{
predictor.visualizePrediction(time);
time += 0.05;
}
}More details in pcpred/src/test_bvh_prediction.cpp
- example code 1:
#include <pcpred/prediction/gvv_predictor.h>
using namespace pcpred;
...
GvvPredictor predictor(1); // sequence number
predictor.setTimestep(0.1);
...
while (true)
{
predictor.moveToNextFrame();
predictor.visualizePointcloud();
predictor.visualizeHuman();
double time = 0.0;
while (time <= 0.3)
{
predictor.visualizePrediction(time);
time += 0.05;
}
}- example code 2:
#include <pcpred/prediction/kinect_predictor.h>
using namespace pcpred;
...
KinectPredictor predictor(1); // sequence number
predictor.setTimestep(0.1);
...
while (true)
{
predictor.moveToNextFrame();
predictor.visualizePointcloud();
predictor.visualizeHuman();
double time = 0.0;
while (time <= 0.3)
{
predictor.visualizePrediction(time);
time += 0.05;
}
}More details in pcpred/src/test_gvvdata_prediction.cpp and pcpred/src/test_kinect_prediction.cpp
-
Install ROS
-
Downlaod Eigen3 and put the source folder into
pcpred/include/To run with point cloud data captured by MPI GVV group, download sequences from http://gvvperfcapeva.mpi-inf.mpg.de/public/InertialDepthTracker/index.php and unzip at
pcpred/data/Unzip C1C2.tar.gz and move C1/ and C2/ directories to pcpred/data/
-
Build with
pcpred/CMakeLists.txt -
Launch pcpred/launch/test.launch
e.g. $ roslaunch pcpred test.launch -
Run test programs
-
BVH motion input
run pcpred/bin/test_bvh_prediction with the first argument the bvh filename
e.g. $ ./test_bvh_prediction ../data/bvh/walking.bvh -
MPI GVV point cloud input
run pcpred/bin/test_gvvdata_prediction with the first argument the sequence number
e.g. $ ./test_gvvdata_prediction 1 -
Kinect point cloud input
run pcpred/bin/test_kinect_prediction with the first argument the sequence number e.g. $ ./test_kinect_prediction 1