int main(int argc, char *argv[])
{
Egg egg;
EggPlugin plugin(&egg);
if (argc > 2)
{
printf("Loading '%s' saving '%s'...\n", argv[1], argv[3]);
if (!import_model(argv[1]))
plugin.exportModel(argv[3], argv[2]);
}
else if (argc > 1)
{
printf("Loading '%s'...\n", argv[1]);
if (!import_model(argv[1]))
printf("Success!\n");
}
else
{
printf("%s import_model [format export_model]\n", argv[0]);
}
return 0;
}
DLLExport_ int importar_modelo(char *fichero,void **model_tag){
struct LTriangle2 tri_3ds;
int n,j,z;
cara *tri;
modelo *modelo_1;
/* struct LTriangle2
{
LVector4 vertices[3];
LVector3 vertexNormals[3];
LVector2 textureCoords[3];
LVector3 faceNormal;
uint materialId;
};
*/
n=import_model(fichero,&tri_3ds);
printf("Importando %d triangulos\n",n);
modelo_1 = (modelo *) malloc(sizeof(modelo));
if (modelo_1==NULL)
{
printf("Error alojando memoria\n");
return -1;
}
memset(modelo_1->base, 0, (sizeof(vertice) * 3));
modelo_1->x = 0.0;
modelo_1->y = 0.0;
modelo_1->z = 0.0;
modelo_1->n_caras=n;
modelo_1->triangulos = (cara *) malloc(sizeof(cara) * modelo_1->n_caras);
fflush(stdout);
j=0;
while (import_model(fichero,&tri_3ds)!=-1) {
for (z=0;z<3;z++) {
modelo_1->triangulos[j].vertices[z].x=tri_3ds.vertices[z].x/100.0f;
modelo_1->triangulos[j].vertices[z].y=tri_3ds.vertices[z].y/100.0f;
modelo_1->triangulos[j].vertices[z].z=tri_3ds.vertices[z].z/100.0f;
modelo_1->triangulos[j].vertices[z].u=tri_3ds.textureCoords[z].x;
modelo_1->triangulos[j].vertices[z].v=tri_3ds.textureCoords[z].y;
modelo_1->triangulos[j].vertices[z].Nx=tri_3ds.vertexNormals[z].x;
modelo_1->triangulos[j].vertices[z].Ny=tri_3ds.vertexNormals[z].y;
modelo_1->triangulos[j].vertices[z].Nz=tri_3ds.vertexNormals[z].z;
}
j++;
}
*model_tag=modelo_1;
return 1;
}
std::list<model>
importer::import(const std::list<input_descriptor>& descriptors) {
BOOST_LOG_SEV(lg, debug) << "Started executing importer. "
<< "Descriptors: " << descriptors;
std::list<tack::model> r;
for (const auto& d : descriptors)
r.push_back(import_model(d));
BOOST_LOG_SEV(lg, debug) << "Finished executing importer.";
return r;
}
void BaseFrame::keyPressEvent(QKeyEvent * event)
{
switch (event->key())
{
case Qt::Key_Return:
case Qt::Key_Enter:
case Qt::Key_Backspace:
qDebug() << "Enter";
if(!base_frame_graphics_view->get_bb()->rect().isEmpty())
{
tld_msgs::Target msg;
msg.bb.x = (int)base_frame_graphics_view->get_bb()->rect().x();
msg.bb.y = (int)base_frame_graphics_view->get_bb()->rect().y();
msg.bb.width = (int)base_frame_graphics_view->get_bb()->rect().width();
msg.bb.height = (int)base_frame_graphics_view->get_bb()->rect().height();
msg.bb.confidence = 1.0;
cv_ptr->toImageMsg(msg.img);
pub1.publish(msg);
}
break;
case Qt::Key_Q:
qDebug() << "Quitting";
close();
break;
case Qt::Key_B:
clear_background();
break;
case Qt::Key_C:
clear_and_stop_tracking();
break;
case Qt::Key_L:
toggle_learning();
break;
case Qt::Key_A:
alternating_mode();
break;
case Qt::Key_E:
export_model();
break;
case Qt::Key_I:
import_model();
break;
case Qt::Key_R:
reset();
break;
case Qt::Key_F5:
first_image = true;
default:
event->ignore();
break;
}
}
BaseFrame::BaseFrame()
{
setupUi(this);
QObject::connect(this,SIGNAL(sig_image_received(const QImage &)),base_frame_graphics_view,SLOT(image_received(const QImage &)));
QObject::connect(this,SIGNAL(sig_tracked_object_changed(const QRectF &)),base_frame_graphics_view,SLOT(tracked_objet_changed(const QRectF &)));
QObject::connect(this,SIGNAL(sig_fps_tracker_changed(int)),lcd_fps_tracker,SLOT(display(int)));
QObject::connect(this,SIGNAL(sig_confidence_changed(int)),confidence_bar,SLOT(setValue(int)));
QObject::connect(background_reset_button,SIGNAL(clicked()),this,SLOT(clear_background()));
QObject::connect(learning_button,SIGNAL(clicked()),this,SLOT(toggle_learning()));
QObject::connect(alternating_button,SIGNAL(clicked()),this,SLOT(alternating_mode()));
QObject::connect(stop_tracking_button,SIGNAL(clicked()),this,SLOT(clear_and_stop_tracking()));
QObject::connect(importing_button,SIGNAL(clicked()),this,SLOT(import_model()));
QObject::connect(exporting_button,SIGNAL(clicked()),this,SLOT(export_model()));
QObject::connect(reset_button,SIGNAL(clicked()),this,SLOT(reset()));
sub1 = n.subscribe("image", 1000, &BaseFrame::image_receivedCB, this);
sub2 = n.subscribe("tracked_object", 1000, &BaseFrame::tracked_objectCB, this);
sub3 = n.subscribe("fps_tracker", 1000, &BaseFrame::fps_trackerCB, this);
pub1 = n.advertise<tld_msgs::Target>("tld_gui_bb", 1000, true);
pub2 = n.advertise<std_msgs::Char>("tld_gui_cmds", 1000, true);
first_image = true;
}
