void keys(unsigned char key, int x, int y) {
switch(key){
case 'r':
kfusion.setPose( toMatrix4( trans * rot * preTrans ));
break;
case 'c':
kfusion.Reset();
kfusion.setPose( toMatrix4( trans * rot * preTrans ));
break;
case 'd':
cout << kfusion.pose << endl;
break;
case 'q':
exit(0);
break;
}
glutPostRedisplay();
}
void keys(unsigned char key, int x, int y){
switch(key){
case 'c':
kfusion.Reset();
kfusion.setPose(toMatrix4(initPose));
reset = true;
break;
case 'q':
exit(0);
break;
}
}
void keys(unsigned char key, int x, int y){
switch(key){
case 'c':
kfusion.Reset();
kfusion.setPose(toMatrix4(initPose));
reset = true;
break;
case 'q':
exit(0);
break;
case 'i':
should_integrate = !should_integrate;
break;
case 't':
render_texture = !render_texture;
break;
}
}
int main(int argc, char ** argv) {
const float size = (argc > 1) ? atof(argv[1]) : 2.f;
KFusionConfig config;
// it is enough now to set the volume resolution once.
// everything else is derived from that.
// config.volumeSize = make_uint3(64);
config.volumeSize = make_uint3(128);
// config.volumeSize = make_uint3(256);
// these are physical dimensions in meters
config.volumeDimensions = make_float3(size);
config.nearPlane = 0.4f;
config.farPlane = 5.0f;
config.mu = 0.1;
config.combinedTrackAndReduce = false;
// change the following parameters for using 640 x 480 input images
config.inputSize = make_uint2(320,240);
config.camera = make_float4(297.12732, 296.24240, 169.89365, 121.25151);
// config.iterations is a vector<int>, the length determines
// the number of levels to be used in tracking
// push back more then 3 iteraton numbers to get more levels.
config.iterations[0] = 10;
config.iterations[1] = 5;
config.iterations[2] = 4;
config.dist_threshold = (argc > 2 ) ? atof(argv[2]) : config.dist_threshold;
config.normal_threshold = (argc > 3 ) ? atof(argv[3]) : config.normal_threshold;
initPose = SE3<float>(makeVector(size/2, size/2, 0, 0, 0, 0));
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE );
glutInitWindowSize(config.inputSize.x * 2, config.inputSize.y * 2);
glutCreateWindow("kfusion");
kfusion.Init(config);
if(printCUDAError())
exit(1);
kfusion.setPose(toMatrix4(initPose));
lightScene.alloc(config.inputSize), depth.alloc(config.inputSize), lightModel.alloc(config.inputSize);
depthImage.alloc(make_uint2(640, 480));
if(InitKinect(depthImage.data()))
exit(1);
atexit(exitFunc);
glutDisplayFunc(display);
glutKeyboardFunc(keys);
glutReshapeFunc(reshape);
glutIdleFunc(idle);
glutMainLoop();
return 0;
}
int main(int argc, char ** argv) {
const float default_size = 2.f;
KFusionConfig config;
// Search for --help argument
for (int i = 0; i < argc; ++i) {
if (std::string(argv[i]) == "--help") {
std::cout << "Usage: kinect [size] [dist_threshold] [normal_threshold]" << std::endl;
std::cout << std::endl;
std::cout << "Defaults:" << std::endl;
std::cout << " size: " << default_size << std::endl;
std::cout << " dist_threshold: " << config.dist_threshold << std::endl;
std::cout << " normal_threshold: " << config.normal_threshold << std::endl;
return 0;
}
}
const float size = (argc > 1) ? atof(argv[1]) : default_size;
// it is enough now to set the volume resolution once.
// everything else is derived from that.
// config.volumeSize = make_uint3(64);
// config.volumeSize = make_uint3(128);
// config.volumeSize = make_uint3(256);
config.volumeSize = make_uint3(512);
// these are physical dimensions in meters
config.volumeDimensions = make_float3(size);
config.nearPlane = 0.4f;
config.farPlane = 5.0f;
config.mu = 0.1;
config.combinedTrackAndReduce = false;
// change the following parameters for using 640 x 480 input images
config.inputSize = make_uint2(320,240);
// config.inputSize = make_uint2(640,480);
config.camera = make_float4(531.15/2, 531.15/2, 640/4, 480/4);
// config.camera = make_float4(614.221/2, 614.221/2, 640/4, 480/4);
// config.iterations is a vector<int>, the length determines
// the number of levels to be used in tracking
// push back more then 3 iteraton numbers to get more levels.
config.iterations[0] = 10;
config.iterations[1] = 5;
config.iterations[2] = 4;
config.dist_threshold = (argc > 2 ) ? atof(argv[2]) : config.dist_threshold;
config.normal_threshold = (argc > 3 ) ? atof(argv[3]) : config.normal_threshold;
initPose = SE3<float>(makeVector(size/2, size/2, 0, 0, 0, 0));
// rgbdDevice = RGBD::create(RGBD::kRGBDDeviceKinect);
// rgbdDevice = RGBD::create(RGBD::kRGBDRealSense);
rgbdDevice = RGBD::create(RGBD::kRGBDDeviceOpenNI2);
if (rgbdDevice == 0L) {
std::cerr << "no capture device" << std::endl;
return -1;
}
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE );
glutInitWindowSize(config.inputSize.x * 2 + 640, max(config.inputSize.y * 2, 480));
glutCreateWindow("kfusion");
kfusion.Init(config);
// input buffers
depthImage[0].alloc(make_uint2(640, 480));
depthImage[1].alloc(make_uint2(640, 480));
rgbImage.alloc(make_uint2(640, 480));
// render buffers
lightScene.alloc(config.inputSize), trackModel.alloc(config.inputSize), lightModel.alloc(config.inputSize);
pos.alloc(make_uint2(640, 480)), normals.alloc(make_uint2(640, 480)), dep.alloc(make_uint2(640, 480)), texModel.alloc(make_uint2(640, 480));
if(printCUDAError()) {
cudaDeviceReset();
return 1;
}
std::cout << "Using depthImage size: " << depthImage[0].size.x*depthImage[0].size.y * sizeof(uint16_t) << " bytes " << std::endl;
std::cout << "Using rgbImage size: " << rgbImage.size.x*rgbImage.size.y * sizeof(uchar3) << " bytes " << std::endl;
memset(depthImage[0].data(), 0, depthImage[0].size.x*depthImage[0].size.y * sizeof(uint16_t));
memset(depthImage[1].data(), 0, depthImage[1].size.x*depthImage[1].size.y * sizeof(uint16_t));
memset(rgbImage.data(), 0, rgbImage.size.x*rgbImage.size.y * sizeof(uchar3));
uint16_t * buffers[2] = {depthImage[0].data(), depthImage[1].data()};
rgbdDevice->setBuffers(buffers, (unsigned char *)rgbImage.data());
if (rgbdDevice->open()){
cudaDeviceReset();
return 1;
}
kfusion.setPose(toMatrix4(initPose));
// model rendering parameters
preTrans = SE3<float>::exp(makeVector(0.0, 0, -size, 0, 0, 0));
trans = SE3<float>::exp(makeVector(0.5, 0.5, 0.5, 0, 0, 0) * size);
atexit(exitFunc);
glutDisplayFunc(display);
glutKeyboardFunc(keys);
glutSpecialFunc(specials);
glutReshapeFunc(reshape);
glutIdleFunc(idle);
glutMainLoop();
// CloseKinect();
return 0;
}
int main(int argc, char ** argv) {
benchmark = argc > 1 && string(argv[1]) == "-b";
KFusionConfig config;
config.volumeSize = make_uint3(128);
config.combinedTrackAndReduce = false;
config.iterations[0] = 10;
config.iterations[1] = 5;
config.iterations[2] = 5;
config.inputSize = make_uint2(320, 240);
config.camera = make_float4(100, 100, 160, 120);
config.nearPlane = 0.001;
config.maxweight = 100;
config.mu = 0.1;
config.dist_threshold = 0.2f;
config.normal_threshold = 0.8f;
kfusion.Init(config);
if(printCUDAError()){
cudaDeviceReset();
exit(1);
}
reference.init(config.volumeSize, config.volumeDimensions);
initVolumeWrap(reference, 1.0f);
setBoxWrap(reference, make_float3(0.1f,0.1f,0.8f), make_float3(0.9f, 0.9f, 0.9f), -1.0f);
setBoxWrap(reference, make_float3(0.1f,0.8f,0.1f), make_float3(0.9f, 0.9f, 0.9f), -1.0f);
setBoxWrap(reference, make_float3(0.8f,0.1f,0.1f), make_float3(0.9f, 0.9f, 0.9f), -1.0f);
setSphereWrap(reference, make_float3(0.5f), 0.2f, -1.0f);
kfusion.setPose( toMatrix4( trans * rot * preTrans ));
vertex.alloc(config.inputSize);
normal.alloc(config.inputSize);
depth.alloc(config.inputSize);
rgb.alloc(config.inputSize);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE );
glutInitWindowSize(config.inputSize.x * 3, config.inputSize.y * 3);
glutCreateWindow("kfusion test");
glutDisplayFunc(display);
glutKeyboardFunc(keys);
glutSpecialFunc(specials);
glutReshapeFunc(reshape);
glutIdleFunc(idle);
glutMainLoop();
cudaDeviceReset();
return 0;
}
int main(int argc, char ** argv) {
const float size = (argc > 1) ? atof(argv[1]) : 2.f;
KFusionConfig config;
// it is enough now to set the volume resolution once.
// everything else is derived from that.
// config.volumeSize = make_uint3(64);
// config.volumeSize = make_uint3(128);
config.volumeSize = make_uint3(256);
// these are physical dimensions in meters
config.volumeDimensions = make_float3(size);
config.nearPlane = 0.4f;
config.farPlane = 5.0f;
config.mu = 0.1;
config.combinedTrackAndReduce = false;
// change the following parameters for using 640 x 480 input images
config.inputSize = make_uint2(320,240);
config.camera = make_float4(531.15/2, 531.15/2, 640/4, 480/4);
// config.iterations is a vector<int>, the length determines
// the number of levels to be used in tracking
// push back more then 3 iteraton numbers to get more levels.
config.iterations[0] = 10;
config.iterations[1] = 5;
config.iterations[2] = 4;
config.dist_threshold = (argc > 2 ) ? atof(argv[2]) : config.dist_threshold;
config.normal_threshold = (argc > 3 ) ? atof(argv[3]) : config.normal_threshold;
initPose = SE3<float>(makeVector(size/2, size/2, 0, 0, 0, 0));
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE );
glutInitWindowSize(config.inputSize.x * 2 + 640, max(config.inputSize.y * 2, 480));
glutCreateWindow("kfusion");
kfusion.Init(config);
// input buffers
depthImage[0].alloc(make_uint2(640, 480));
depthImage[1].alloc(make_uint2(640, 480));
rgbImage.alloc(make_uint2(640, 480));
// render buffers
lightScene.alloc(config.inputSize), trackModel.alloc(config.inputSize), lightModel.alloc(config.inputSize);
pos.alloc(make_uint2(640, 480)), normals.alloc(make_uint2(640, 480)), dep.alloc(make_uint2(640, 480)), texModel.alloc(make_uint2(640, 480));
if(printCUDAError()) {
cudaDeviceReset();
return 1;
}
memset(depthImage[0].data(), 0, depthImage[0].size.x*depthImage[0].size.y * sizeof(uint16_t));
memset(depthImage[1].data(), 0, depthImage[1].size.x*depthImage[1].size.y * sizeof(uint16_t));
memset(rgbImage.data(), 0, rgbImage.size.x*rgbImage.size.y * sizeof(uchar3));
uint16_t * buffers[2] = {depthImage[0].data(), depthImage[1].data()};
if(InitKinect(buffers, (unsigned char *)rgbImage.data())){
cudaDeviceReset();
return 1;
}
kfusion.setPose(toMatrix4(initPose));
// model rendering parameters
preTrans = SE3<float>::exp(makeVector(0.0, 0, -size, 0, 0, 0));
trans = SE3<float>::exp(makeVector(0.5, 0.5, 0.5, 0, 0, 0) * size);
atexit(exitFunc);
glutDisplayFunc(display);
glutKeyboardFunc(keys);
glutSpecialFunc(specials);
glutReshapeFunc(reshape);
glutIdleFunc(idle);
glutMainLoop();
CloseKinect();
return 0;
}
