bool MeshPyramidReader::trackFrame(int nFrame, unsigned char* pColorImageRGB,
TrackerOutputInfo** pOutputInfo)
{
if(!setCurrentFrame(nFrame))
return false;
// set up the color used later
memcpy(pCurrentColorImageRGB, pColorImageRGB, 3*m_nWidth*m_nHeight);
cv::Mat tempColorImageRGB(m_nHeight, m_nWidth, CV_8UC3, pCurrentColorImageRGB);
tempColorImageRGB.convertTo(colorImage, cv::DataType<Vec3d>::type, 1./255);
cv::split(colorImage, colorImageSplit);
setMeshPyramid();
// cout << "frame " << nFrame << ":" << endl;
// //print mesh center
// for(int i = 0; i < currentMeshPyramid.numLevels; ++i)
// {
// cout << "level " << i << ":" << endl;
// cout << "center: " << currentMeshPyramid.levels[i].center[0] << " "
// << currentMeshPyramid.levels[i].center[1] << " "
// << currentMeshPyramid.levels[i].center[2] << " "
// << endl;
// }
// cout << "number of pyramid levels " << outputInfoPyramid.size() << endl;
// *pOutputInfo = &outputInfoPyramid[0];
if(!trackerInitialized)
{
*pOutputInfo = &outputInfoPyramid[0];
trackerInitialized = true;
}
return true;
}
MeshBufferReader::MeshBufferReader(MeshLoadingSettings& settings, int width,
int height, double K[3][3], int startFrame, int numTrackingFrames): trackerInitialized(false)
{
m_nWidth = width;
m_nHeight = height;
startFrameNo = startFrame;
currentFrameNo = startFrame;
pCurrentColorImageRGB = new unsigned char[3*width*height];
// in this case camPose will always be zero
for(int i = 0; i < 6; ++i)
camPose[i] = 0;
useVisibilityMask = settings.visibilityMask;
setIntrinsicMatrix(K);
nRenderingLevel = 0;
m_nNumMeshLevels = settings.meshLevelList.size();
// a bit ugly
nFrameStep = imageSourceSettings.frameStep;
// loading meshes into buffer
// outputInfoPyramidBuffer.resize(numTrackingFrames);
// outputPropPyramidBuffer.resize(numTrackingFrames);
int bufferSize = (numTrackingFrames - startFrameNo)/nFrameStep + 1;
outputInfoPyramidBuffer.resize(bufferSize);
outputPropPyramidBuffer.resize(bufferSize);
m_nGoodFrames = 0;
TICK("loadingMeshBuffer");
for(int i = startFrameNo; i <= numTrackingFrames; i = i + nFrameStep)
{
// TICK("loadingOneFrame");
if(!existenceTest(settings.meshPath, settings.meshLevelFormat,
i, settings.meshLevelList))
break;
++m_nGoodFrames;
currentMeshPyramid = std::move(PangaeaMeshPyramid(settings.meshPath,
settings.meshLevelFormat, i, settings.meshLevelList));
// TOCK("loadingOneFrame");
if(settings.loadProp)
{
propMeshPyramid = std::move(PangaeaMeshPyramid(settings.meshPath,
settings.propLevelFormat, i, settings.meshLevelList));
}
if(!settings.fastLoading)
propMeshPyramid = currentMeshPyramid;
// TICK("setOneFrame");
setMeshPyramid();
int bufferPos = (i-startFrameNo)/nFrameStep;
outputInfoPyramidBuffer[ bufferPos ] = std::move(outputInfoPyramid);
outputPropPyramidBuffer[ bufferPos ] = std::move(outputPropPyramid);
// TOCK("setOneFrame");
cout << "loading frame " << i << endl;
}
TOCK("loadingMeshBuffer");
}
