int main(int argc, char **argv)
{
double * rodriguez = (double*) malloc(sizeof(double) * 3 );
double * translation = (double*) malloc(sizeof(double) * 3 );
double * camera = (double*) malloc(sizeof(double) * 9 );
//Internal calibration
camera[0]=535.784106; camera[1]=0.0; camera[2]=312.428312;
camera[3]=0.0; camera[4]=534.223354; camera[5]=243.889369;
camera[6]=0.0; camera[7]=0.0; camera[8]=1.0;
#define USE_CAMERA_CALIBRATION 0
#define USE_TEST 0
#if USE_TEST == 0
translation[0]=0.0; translation[1]=0.0; translation[2]=0.0;
rodriguez[0]=0.0; rodriguez[1]=0.0; rodriguez[2]=0.0;
#elif USE_TEST == 1
//box0603 Calib
translation[0]=0.215793; translation[1]=-0.137982; translation[2]=0.767494;
rodriguez[0]=0.029210; rodriguez[1]=-2.776582; rodriguez[2]=1.451629;
#elif USE_TEST == 2
//boxNew Calib
translation[0]=-0.062989; translation[1]=0.159865; translation[2]=0.703045;
rodriguez[0]=1.911447; rodriguez[1]=0.000701; rodriguez[2]=-0.028548;
#elif USE_TEST == 3
//Test Calib
translation[0]=0.056651; translation[1]=-0.000811; translation[2]=0.601942;
rodriguez[0]=0.829308; rodriguez[1]=2.251753; rodriguez[2]=-1.406462;
#elif USE_TEST == 4
//Test Calib
translation[0]=-0.041674; translation[1]=-0.076036; translation[2]=2.355294;
rodriguez[0]=-0.733111; rodriguez[1]=0.155142; rodriguez[2]=0.172950;
#elif USE_TEST == 5
// ARTest
translation[0]=-0.413148; translation[1]=0.208111; translation[2]=1.987205;
rodriguez[0]=2.052258; rodriguez[1]=0.642598; rodriguez[2]=-0.246993;
#endif // USE_TEST
#if USE_TEST == 0
setOpenGLNearFarPlanes(1,5000);
#if USE_CAMERA_CALIBRATION
setOpenGLIntrinsicCalibration( (double*) camera);
#endif
#else
setOpenGLNearFarPlanes(0.1,100);
setOpenGLIntrinsicCalibration( (double*) camera);
setOpenGLExtrinsicCalibration( (double*) rodriguez, (double*) translation );
#endif
int i=0;
for (i=0; i<argc; i++)
{
if (strcmp(argv[i],"-size")==0) {
if (i+2<argc)
{
width=atof(argv[i+1]);
height=atof(argv[i+2]);
}
} else
if (
(strcmp(argv[i],"-photo")==0) ||
(strcmp(argv[i],"-photoshoot")==0)
)
{
if (i+4<argc)
{
photoShootOBJ=atoi(argv[i+1]);
angleX=atof(argv[i+2]);
angleY=atof(argv[i+3]);
angleZ=atof(argv[i+4]);
}
} else
if (strcmp(argv[i],"-from")==0) {
if (i+1<argc)
{ readFromArg = i+1 ; }
}
}
if (readFromArg!=0) { startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,argv[readFromArg]); } else
{ startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,0); /*0 defaults to scene.conf*/ }
if (photoShootOBJ)
{
float angXVariance=60,angYVariance=60,angZVariance=30;
//fprintf(stderr,"Making a photoshoot of object %u",photoShootOBJ);
void * oglPhotoShoot = createOGLRendererPhotoshootSandbox( photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance );
snapOGLRendererPhotoshootSandbox(oglPhotoShoot , photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance);
writeOpenGLColor("color.pnm",0,0,width,height);
writeOpenGLDepth("depth.pnm",0,0,width,height);
destroyOGLRendererPhotoshootSandbox( oglPhotoShoot );
return 0;
}
snapOGLRendererSandbox(); // Snap a frame
writeOpenGLColor("color.pnm",0,0,width,height);
writeOpenGLDepth("depth.pnm",0,0,width,height);
while (1)
{
snapOGLRendererSandbox();
}
free(rodriguez);
free(translation);
free(camera);
stopOGLRendererSandbox();
return 0;
}
int main(int argc, char **argv)
{
double * rodriguez = (double*) malloc(sizeof(double) * 3 );
double * translation = (double*) malloc(sizeof(double) * 3 );
double * camera = (double*) malloc(sizeof(double) * 9 );
double scaleToDepthUnit = 1.0;
//Internal calibration
camera[0]=535.784106;
camera[1]=0.0;
camera[2]=312.428312;
camera[3]=0.0;
camera[4]=534.223354;
camera[5]=243.889369;
camera[6]=0.0;
camera[7]=0.0;
camera[8]=1.0;
translation[0]=0.0;
translation[1]=0.0;
translation[2]=0.0;
rodriguez[0]=0.0;
rodriguez[1]=0.0;
rodriguez[2]=0.0;
setOpenGLNearFarPlanes(1,15000);
int i=0;
for (i=0; i<argc; i++)
{
if (strcmp(argv[i],"-test")==0)
{
internalTest();
exit(0);
}
else if (strcmp(argv[i],"-intrinsics")==0)
{
if (i+8<argc)
{
int z=0;
for (z=0; z<9; z++)
{
camera[z]=atof(argv[z+i+1]);
}
setOpenGLIntrinsicCalibration( (double*) camera);
}
}
else if (strcmp(argv[i],"-extrinsics")==0)
{
if (i+7<argc)
{
translation[0]=atof(argv[i+1]);
translation[1]=atof(argv[i+2]);
translation[2]=atof(argv[i+3]);
rodriguez[0]=atof(argv[i+4]);
rodriguez[1]=atof(argv[i+5]);
rodriguez[2]=atof(argv[i+6]);
scaleToDepthUnit = atof(argv[i+7]);
setOpenGLExtrinsicCalibration( (double*) rodriguez, (double*) translation , scaleToDepthUnit);
}
}
else if ( (strcmp(argv[i],"-resolution")==0) ||
(strcmp(argv[i],"-size")==0) )
{
if (i+2<argc)
{
width=atof(argv[i+1]);
height=atof(argv[i+2]);
}
}
else if (
(strcmp(argv[i],"-photo")==0) ||
(strcmp(argv[i],"-photoshoot")==0)
)
{
if (i+4<argc)
{
photoShootOBJ=atoi(argv[i+1]);
angleX=atof(argv[i+2]);
angleY=atof(argv[i+3]);
angleZ=atof(argv[i+4]);
columns=atoi(argv[i+5]);
rows=atoi(argv[i+6]);
}
}
else if (strcmp(argv[i],"-from")==0)
{
if (i+1<argc)
{
readFromArg = i+1 ;
}
}
else if (strcmp(argv[i],"-to")==0)
{
if (i+1<argc)
{
writeToArg = i+1 ;
doFileOutput=1;
fprintf(stderr,"Will write data to %s\n",argv[writeToArg]);
}
}
else if (strcmp(argv[i],"-shader")==0)
{
enableShaders(argv[i+1],argv[i+2]);
}
else if (strcmp(argv[i],"-keyboard")==0)
{
forceKeyboardControl=1;
}
else if (strcmp(argv[i],"-maxFrames")==0)
{
maxFrames=atoi(argv[i+1]);
}
}
int started = 0;
if (readFromArg!=0)
{
started=startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,argv[readFromArg]);
}
else
{
started=startOGLRendererSandbox(width,height,1 /*View OpenGL Window*/,0); /*0 defaults to scene.conf*/
}
if (!started)
{
fprintf(stderr,"Could not start OpenGL Renderer Sandbox , please see log to find the exact reason of failure \n");
return 0;
}
if (photoShootOBJ)
{
float angXVariance=60,angYVariance=60,angZVariance=30;
//fprintf(stderr,"Making a photoshoot of object %u",photoShootOBJ);
void * oglPhotoShoot = createOGLRendererPhotoshootSandbox( photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance );
snapOGLRendererPhotoshootSandbox(oglPhotoShoot , photoShootOBJ,columns,rows,distance,angleX,angleY,angleZ,angXVariance,angYVariance,angZVariance);
writeOpenGLColor("color.pnm",0,0,width,height);
writeOpenGLDepth("depth.pnm",0,0,width,height);
destroyOGLRendererPhotoshootSandbox( oglPhotoShoot );
return 0;
}
if ( forceKeyboardControl )
{
setKeyboardControl(1);
}
char filename[FILENAME_MAX]= {0};
if (doFileOutput)
{
myMkdir("frames",argv[writeToArg]);
}
unsigned int snappedFrames=0;
while (1)
{
snapOGLRendererSandbox();
if (doFileOutput)
{
snprintf(filename,FILENAME_MAX,"frames/%s/colorFrame_0_%05u.pnm",argv[writeToArg],snappedFrames);
writeOpenGLColor(filename,0,0,width,height);
snprintf(filename,FILENAME_MAX,"frames/%s/depthFrame_0_%05u.pnm",argv[writeToArg],snappedFrames);
writeOpenGLDepth(filename,0,0,width,height);
++snappedFrames;
}
if (maxFrames!=0)
{
if (maxFrames==snappedFrames)
{
fprintf(stderr,"Reached target of %u frames , stopping\n",maxFrames);
break;
}
}
}
free(rodriguez);
free(translation);
free(camera);
stopOGLRendererSandbox();
return 0;
}