int
main (int argc, char* argv [])
{
ntk::arg_base::set_help_option("-h");
ntk::arg_parse(argc, argv);
ntk::ntk_debug_level = cmd::debug_level();
cv::setBreakOnError(true);
QApplication app (argc, argv);
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
RGBDCalibration calibration;
calibration.loadFromFile(cmd::calibration_file());
OpenniRGBDProcessor processor;
RGBDImage image1 (cmd::input_image1(), &calibration, &processor);
RGBDImage image2 (cmd::input_image2(), &calibration, &processor);;
MeshGenerator generator;
generator.setMeshType(MeshGenerator::TriangleMesh);
generator.setUseColor(true);
generator.generate(image1);
global::mesh1 = generator.mesh();
global::mesh1.computeNormalsFromFaces();
generator.generate(image2);
global::mesh2 = generator.mesh();
global::mesh2.computeNormalsFromFaces();
ntk_dbg(0) << "============ ALIGN WITH ICP ============";
alignWithICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH LEVENBERG ICP ============";
alignWithLevenbergICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD ============";
alignWithRGBD(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD THEN ICP ============";
alignWithRGBDThenICP(image1, image2);
ntk_dbg(0) << "============ ALIGN WITH RGBD-ICP ============";
alignWithRGBDICP(image1, image2);
global::mesh1.normals.clear();
global::mesh1.saveToPlyFile("debug_mesh1.ply");
global::mesh2.normals.clear();
global::mesh2.saveToPlyFile("debug_mesh2.ply");
return 0;
}
int main(int argc, char** argv)
{
// Parse command line arguments.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
ntk::ntk_debug_level = 1;
RGBDCalibration* calib = 0;
if (opt::calibration_file())
{
calib = new RGBDCalibration();
calib->loadFromFile(opt::calibration_file());
}
RGBDImage image1;
image1.loadFromDir(opt::image1(), calib);
RGBDImage image2;
image2.loadFromDir(opt::image2(), calib);
RGBDProcessor rgbd_processor;
rgbd_processor.setFilterFlag(RGBDProcessor::ComputeKinectDepthBaseline, true);
rgbd_processor.processImage(image1);
rgbd_processor.processImage(image2);
FeatureSetParams feature_params(opt::detector(), opt::extractor(), true);
FeatureSet features1;
{
TimeCount tc_extract("Extract keypoints");
features1.extractFromImage(image1, feature_params);
tc_extract.stop();
ntk_dbg_print(features1.locations().size(), 1);
cv::Mat3b display_image1;
features1.draw(image1.rgb(), display_image1);
imshow("feature points 1", display_image1);
imwrite("debug_features_1.png", display_image1);
}
FeatureSet features2;
{
TimeCount tc_extract("Extract keypoints");
features2.extractFromImage(image2, feature_params);
tc_extract.stop();
ntk_dbg_print(features2.locations().size(), 1);
cv::Mat3b display_image2;
features2.draw(image2.rgb(), display_image2);
imshow("feature points 1", display_image2);
imwrite("debug_features_1.png", display_image2);
}
std::vector<DMatch> matches;
features1.matchWith(features2, matches, opt::match_threshold());
ntk_dbg_print(matches.size(), 1);
cv::Mat3b display_image;
features1.drawMatches(image1.rgb(), image2.rgb(), features2, matches, display_image);
imshow("matches", display_image);
while ((waitKey(0) & 0xff) != 27)
;
}
