diff -urN PTAM-r114-linux/Build/Linux/Makefile PTAM/Build/Linux/Makefile --- PTAM-r114-linux/Build/Linux/Makefile 2009-07-15 00:05:11.000000000 +0900 +++ PTAM/Build/Linux/Makefile 2010-10-13 00:38:56.000000000 +0900 @@ -4,11 +4,13 @@ # Edit the lines below to point to any needed include and link paths # Or to change the compiler's optimization flags CC = g++ -COMPILEFLAGS = -I MY_CUSTOM_INCLUDE_PATH -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3 -LINKFLAGS = -L MY_CUSTOM_LINK_PATH -lGVars3 -lcvd +# COMPILEFLAGS = -I MY_CUSTOM_INCLUDE_PATH -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3 +# LINKFLAGS = -L MY_CUSTOM_LINK_PATH -lGVars3 -lcvd +COMPILEFLAGS = -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3 +LINKFLAGS = -L/usr/local/lib -lGVars3 -lcvd -lcv -lcxcore -lhighgui # Edit this line to change video source -VIDEOSOURCE = VideoSource_Linux_DV.o +VIDEOSOURCE = VideoSource_Linux_OpenCV.o OBJECTS= main.o\ GLWindow2.o\ diff -urN PTAM-r114-linux/Build/Linux/Makefile.r114 PTAM/Build/Linux/Makefile.r114 --- PTAM-r114-linux/Build/Linux/Makefile.r114 1970-01-01 09:00:00.000000000 +0900 +++ PTAM/Build/Linux/Makefile.r114 2009-07-15 00:05:11.000000000 +0900 @@ -0,0 +1,73 @@ +# DO NOT DELETE THIS LINE -- make depend depends on it. + + +# Edit the lines below to point to any needed include and link paths +# Or to change the compiler's optimization flags +CC = g++ +COMPILEFLAGS = -I MY_CUSTOM_INCLUDE_PATH -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3 +LINKFLAGS = -L MY_CUSTOM_LINK_PATH -lGVars3 -lcvd + +# Edit this line to change video source +VIDEOSOURCE = VideoSource_Linux_DV.o + +OBJECTS= main.o\ + GLWindow2.o\ + GLWindowMenu.o\ + $(VIDEOSOURCE)\ + System.o \ + ATANCamera.o\ + KeyFrame.o\ + MapPoint.o\ + Map.o\ + SmallBlurryImage.o\ + ShiTomasi.o \ + HomographyInit.o \ + MapMaker.o \ + Bundle.o \ + PatchFinder.o\ + Relocaliser.o\ + MiniPatch.o\ + MapViewer.o\ + ARDriver.o\ + EyeGame.o\ + Tracker.o + +CALIB_OBJECTS= GLWindow2.o\ + GLWindowMenu.o\ + $(VIDEOSOURCE)\ + CalibImage.o \ + CalibCornerPatch.o\ + ATANCamera.o \ + CameraCalibrator.o + +All: PTAM CameraCalibrator + +PTAM: $(OBJECTS) + $(CC) -o PTAM $(OBJECTS) $(LINKFLAGS) + +CameraCalibrator:$(CALIB_OBJECTS) + $(CC) -o CameraCalibrator $(CALIB_OBJECTS) $(LINKFLAGS) + + +%.o: %.cc + $(CC) $< -o $@ -c $(COMPILEFLAGS) + +clean: + rm *.o + + +depend: + rm dependecies; touch dependencies + makedepend -fdependencies $(INCLUDEFLAGS) $(MOREINCS) *.cc *.h + + +-include dependencies + + + + + + + + + diff -urN PTAM-r114-linux/Build/Linux/VideoSource_Linux_OpenCV.cc PTAM/Build/Linux/VideoSource_Linux_OpenCV.cc --- PTAM-r114-linux/Build/Linux/VideoSource_Linux_OpenCV.cc 1970-01-01 09:00:00.000000000 +0900 +++ PTAM/Build/Linux/VideoSource_Linux_OpenCV.cc 2010-10-13 00:38:56.000000000 +0900 @@ -0,0 +1,107 @@ +/* +* Autor : Arnaud GROSJEAN (VIDE SARL) +* This implementation of VideoSource allows to use OpenCV as a source for the video input +* I did so because libCVD failed getting my V4L2 device +* +* INSTALLATION : +* - Copy the VideoSource_Linux_OpenCV.cc file in your PTAM directory +* - In the Makefile: +* - set the linkflags to + LINKFLAGS = -L MY_CUSTOM_LINK_PATH -lblas -llapack -lGVars3 -lcvd -lcv -lcxcore -lhighgui +* - set the videosource to + VIDEOSOURCE = VideoSource_Linux_OpenCV.o +* - Compile the project +* - Enjoy ! +* +* Notice this code define two constants for the image width and height (OPENCV_VIDEO_W and OPENCV_VIDEO_H) +*/ + +#include "VideoSource.h" +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace CVD; +using namespace std; +using namespace GVars3; +using namespace cv; + +#define OPENCV_VIDEO_W 640 +#define OPENCV_VIDEO_H 480 + +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +extern string kmd_cameraname; + +VideoSource::VideoSource() +{ + cout << " VideoSource_Linux: Opening video source..." << endl; + + // 2010/10/06 kameda[at]iit.tsukuba.ac.jp + // I want to be a fluent C++ speaker ... + mptr = new VideoCapture(); + if (kmd_cameraname == "") { + mptr = new VideoCapture(0); // default camera device + } else { + int kmdcamnum = -1; + stringstream(kmd_cameraname) >> kmdcamnum; // try to find number + if (kmdcamnum >= 0) + mptr = new VideoCapture(kmdcamnum); // by device number + else + mptr = new VideoCapture(kmd_cameraname); // by url/video-file + } + + VideoCapture* cap = (VideoCapture*)mptr; + if(!cap->isOpened()){ + cerr << "Unable to get the camera " << kmd_cameraname << endl; + exit(-1); + } + + cout << " ... got video source." << endl; + mirSize = ImageRef(OPENCV_VIDEO_W, OPENCV_VIDEO_H); +}; + +ImageRef VideoSource::Size() +{ + return mirSize; +}; + +void conversionNB(Mat frame, Image &imBW){ + Mat clone = frame.clone(); + Mat_& frame_p = (Mat_&)clone; + for (int i = 0; i < OPENCV_VIDEO_H; i++){ + for (int j = 0; j < OPENCV_VIDEO_W; j++){ + imBW[i][j] = (frame_p(i,j)[0] + frame_p(i,j)[1] + frame_p(i,j)[2]) / 3; + } + } + +} + +void conversionRGB(Mat frame, Image > &imRGB){ + Mat clone = frame.clone(); + Mat_& frame_p = (Mat_&)clone; + for (int i = 0; i < OPENCV_VIDEO_H; i++){ + for (int j = 0; j < OPENCV_VIDEO_W; j++){ + imRGB[i][j].red = frame_p(i,j)[2]; + imRGB[i][j].green = frame_p(i,j)[1]; + imRGB[i][j].blue = frame_p(i,j)[0]; + } + } +} + +void VideoSource::GetAndFillFrameBWandRGB(Image &imBW, Image > &imRGB) +{ +Mat frame; +VideoCapture* cap = (VideoCapture*)mptr; +*cap >> frame; + conversionNB(frame, imBW); + conversionRGB(frame, imRGB); +} + + diff -urN PTAM-r114-linux/CHANGELOG_kmd.txt PTAM/CHANGELOG_kmd.txt --- PTAM-r114-linux/CHANGELOG_kmd.txt 1970-01-01 09:00:00.000000000 +0900 +++ PTAM/CHANGELOG_kmd.txt 2010-10-13 01:44:11.000000000 +0900 @@ -0,0 +1,13 @@ +(See CHANGELOG.txt too) +------------------------------------------------------------------------ +Based on r114 | Yoshinari Kameda | 2010-10-13 01:42 JST | see-below + (1) Tested only on Linux / Ubuntu 10.04LTS with OpenCV 2.1.0 + (2) Handle OpenCV video input (thanks to Arnaud GROSJEAN) + (3) make a switch option to call glDrawPixels(,, GL_RGB,,) + (4) make a switch option of glEnable(GL_LIGHTING) +Patch and document should be available at +http://www.kameda-lab.org/_local/imagelab.tsukuba.ac.jp/ubuntu1004+opencv21/PTAMk/index-e.html +------------------------------------------------------------------------ + + + diff -urN PTAM-r114-linux/CalibImage.cc PTAM/CalibImage.cc --- PTAM-r114-linux/CalibImage.cc 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/CalibImage.cc 2010-10-13 00:38:56.000000000 +0900 @@ -17,6 +17,9 @@ using namespace CVD; using namespace GVars3; +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +extern bool kmd_coloron; + inline bool IsCorner(Image &im, ImageRef ir, int nGate) { // Does a quick check to see if a point in an image could be a grid corner. // Does this by going around a 16-pixel ring, and checking that there's four @@ -105,7 +108,7 @@ return v2Ret; } -bool CalibImage::MakeFromImage(Image &im) +bool CalibImage::MakeFromImage(Image &im, Image > &cim) { static gvar3 gvnCornerPatchSize("CameraCalibrator.CornerPatchPixelSize", 20, SILENT); mvCorners.clear(); @@ -113,6 +116,9 @@ mim = im; mim.make_unique(); + + // 2010/10/06 kameda[at]iit.tsukuba.ac.jp + if (kmd_coloron) rgbmim = cim; // Find potential corners.. // This works better on a blurred image, so make a blurred copy diff -urN PTAM-r114-linux/CalibImage.h PTAM/CalibImage.h --- PTAM-r114-linux/CalibImage.h 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/CalibImage.h 2010-10-13 00:38:56.000000000 +0900 @@ -35,7 +35,7 @@ { public: - bool MakeFromImage(CVD::Image &im); + bool MakeFromImage(CVD::Image &im, CVD::Image > &cim); SE3<> mse3CamFromWorld; void DrawImageGrid(); void Draw3DGrid(ATANCamera &Camera, bool bDrawErrors); @@ -51,6 +51,7 @@ std::vector Project(ATANCamera &Camera); CVD::Image mim; + CVD::Image >rgbmim; protected: std::vector mvCorners; diff -urN PTAM-r114-linux/CameraCalibrator.cc PTAM/CameraCalibrator.cc --- PTAM-r114-linux/CameraCalibrator.cc 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/CameraCalibrator.cc 2010-10-13 01:31:20.000000000 +0900 @@ -6,21 +6,56 @@ #include #include + using namespace CVD; using namespace std; using namespace GVars3; -int main() +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +// To hand over the camera name +bool kmd_coloron = false; +string kmd_cameraname = ""; + +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +// Parsing command-line options +void kmd_parseoptions(int argc, char *argv[]) +{ + int i = 0; + cout << " KMD: parsing command line options ... " << endl; + + for (i = 1; i < argc; i++) { + // cout << i << " " << argv[i] << endl; + if (string(argv[i]) == "-coloron") { + kmd_coloron = true; + cout << " KMD: -coloron: Always show color images" << endl; + cout << " (to overccome the case GL_LUMINANCE does not work) ..." << endl; + } else { + kmd_cameraname = string(argv[i]); + cout << " KMD: Camera-name is now set to \"" << kmd_cameraname << "\"" << endl; + } + } + return; +} + +int main(int argc, char *argv[]) { cout << " Welcome to CameraCalibrator " << endl; cout << " -------------------------------------- " << endl; cout << " Parallel tracking and mapping for Small AR workspaces" << endl; cout << " Copyright (C) Isis Innovation Limited 2008 " << endl; cout << endl; + + // 2010/10/06 kameda[at]iit.tsukuba.ac.jp + cout << " | You may try these options at command line (by Y.Kameda, 2010/10)" << endl; + cout << " | -coloron ... If you unfortunately see black image, try this" << endl; + cout << " | 0 ... Select 1st USB camera" << endl; + cout << " | 1 ... Select 2nd USB camera (and 2 for 3rd, ...) " << endl; + cout << " | http://192.168.1.183/mjpg/video.mjpg ... network streaming " << endl; + cout << endl; + kmd_parseoptions(argc, argv); + cout << " Parsing calibrator_settings.cfg ...." << endl; - GUI.LoadFile("calibrator_settings.cfg"); - GUI.StartParserThread(); atexit(GUI.StopParserThread); // Clean up readline when program quits @@ -94,10 +129,15 @@ if(!*mgvnOptimizing) { GUI.ParseLine("CalibMenu.ShowMenu Live"); - glDrawPixels(imFrameBW); - + if (! kmd_coloron) { + glRasterPos2i(0, 0); + glDrawPixels(imFrameBW); + } else { + glRasterPos2i(0, 0); + glDrawPixels(imFrameRGB.size().x, imFrameRGB.size().y, GL_RGB, GL_UNSIGNED_BYTE, imFrameRGB.data()); + } CalibImage c; - if(c.MakeFromImage(imFrameBW)) + if(c.MakeFromImage(imFrameBW, imFrameRGB)) { if(mbGrabNextFrame) { @@ -120,7 +160,13 @@ nToShow = mvCalibImgs.size()-1; *mgvnShowImage = nToShow + 1; - glDrawPixels(mvCalibImgs[nToShow].mim); + if (! kmd_coloron) { + glRasterPos2i(0, 0); + glDrawPixels(mvCalibImgs[nToShow].mim); + } else { + glRasterPos2i(0, 0); + glDrawPixels(mvCalibImgs[nToShow].rgbmim.size().x, mvCalibImgs[nToShow].rgbmim.size().y, GL_RGB, GL_UNSIGNED_BYTE, mvCalibImgs[nToShow].rgbmim.data()); + } mvCalibImgs[nToShow].Draw3DGrid(mCamera,true); } diff -urN PTAM-r114-linux/EyeGame.cc PTAM/EyeGame.cc --- PTAM-r114-linux/EyeGame.cc 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/EyeGame.cc 2010-10-13 00:38:56.000000000 +0900 @@ -5,6 +5,9 @@ using namespace CVD; +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +extern bool kmd_lighton; + EyeGame::EyeGame() { mdEyeRadius = 0.1; @@ -24,7 +27,8 @@ glFrontFace(GL_CW); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_LEQUAL); - glEnable(GL_LIGHTING); + // 2010/10/06 kameda[at]iit.tsukuba.ac.jp + if (kmd_lighton) glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_NORMALIZE); glEnable(GL_COLOR_MATERIAL); @@ -107,7 +111,7 @@ double dSliceAngle = M_PI / (double)(nSlices); double dSegAngle = 2.0 * M_PI / (double)(nSegments); - + glColor3f(0.0,0.0,0.0); { // North pole: double Z = sin(M_PI/2.0 - dSliceAngle); diff -urN PTAM-r114-linux/System.cc PTAM/System.cc --- PTAM-r114-linux/System.cc 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/System.cc 2010-10-13 00:38:56.000000000 +0900 @@ -87,7 +87,7 @@ bool bDrawMap = mpMap->IsGood() && *gvnDrawMap; bool bDrawAR = mpMap->IsGood() && *gvnDrawAR; - mpTracker->TrackFrame(mimFrameBW, !bDrawAR && !bDrawMap); + mpTracker->TrackFrame(mimFrameBW, !bDrawAR && !bDrawMap, mimFrameRGB); if(bDrawMap) mpMapViewer->DrawMap(mpTracker->GetCurrentPose()); diff -urN PTAM-r114-linux/Tracker.cc PTAM/Tracker.cc --- PTAM-r114-linux/Tracker.cc 2010-01-29 11:06:14.000000000 +0900 +++ PTAM/Tracker.cc 2010-10-13 01:32:07.000000000 +0900 @@ -23,6 +23,9 @@ using namespace std; using namespace GVars3; +// 2010/10/12 kameda[at]iit.tsukuba.ac.jp +extern bool kmd_coloron; + // The constructor mostly sets up interal reference variables // to the other classes.. Tracker::Tracker(ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm) : @@ -83,7 +86,7 @@ // It figures out what state the tracker is in, and calls appropriate internal tracking // functions. bDraw tells the tracker wether it should output any GL graphics // or not (it should not draw, for example, when AR stuff is being shown.) -void Tracker::TrackFrame(Image &imFrame, bool bDraw) +void Tracker::TrackFrame(Image &imFrame, bool bDraw, Image > &rgbFrame) { mbDraw = bDraw; mMessageForUser.str(""); // Wipe the user message clean @@ -114,7 +117,14 @@ if(mbDraw) { - glDrawPixels(mCurrentKF.aLevels[0].im); + + if (! kmd_coloron) { + glRasterPos2i(0, 0); + glDrawPixels(mCurrentKF.aLevels[0].im); + } else { + glRasterPos2i(0, 0); + glDrawPixels(rgbFrame.size().x, rgbFrame.size().y, GL_RGB, GL_UNSIGNED_BYTE, rgbFrame.data()); + } if(GV2.GetInt("Tracker.DrawFASTCorners",0, SILENT)) { glColor3f(1,0,1); glPointSize(1); glBegin(GL_POINTS); diff -urN PTAM-r114-linux/Tracker.h PTAM/Tracker.h --- PTAM-r114-linux/Tracker.h 2009-05-12 00:37:58.000000000 +0900 +++ PTAM/Tracker.h 2010-10-13 00:38:56.000000000 +0900 @@ -45,7 +45,7 @@ Tracker(CVD::ImageRef irVideoSize, const ATANCamera &c, Map &m, MapMaker &mm); // TrackFrame is the main working part of the tracker: call this every frame. - void TrackFrame(CVD::Image &imFrame, bool bDraw); + void TrackFrame(CVD::Image &imFrame, bool bDraw, CVD::Image > &rgbFrame); inline SE3<> GetCurrentPose() { return mse3CamFromWorld;} diff -urN PTAM-r114-linux/main.cc PTAM/main.cc --- PTAM-r114-linux/main.cc 2008-09-26 03:07:27.000000000 +0900 +++ PTAM/main.cc 2010-10-13 00:38:56.000000000 +0900 @@ -9,19 +9,58 @@ using namespace std; using namespace GVars3; -int main() +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +// To hand over the camera name +bool kmd_coloron = false; +bool kmd_lighton = true; +string kmd_cameraname = ""; + +// 2010/10/06 kameda[at]iit.tsukuba.ac.jp +// Parsing command-line options +void kmd_parseoptions(int argc, char *argv[]) +{ + int i = 0; + cout << " KMD: parsing command line options ... " << endl; + + for (i = 1; i < argc; i++) { + // cout << i << " " << argv[i] << endl; + if (string(argv[i]) == "-coloron") { + kmd_coloron = true; + cout << " KMD: -coloron: Always show color images" << endl; + cout << " (to overccome the case GL_LUMINANCE does not work) ..." << endl; + } else if (string(argv[i]) == "-lightoff") { + kmd_lighton = false; + cout << " KMD: -lightoff: Light turned off to avoid black eyes..." << endl; + } else { + kmd_cameraname = string(argv[i]); + cout << " KMD: Camera-name is now set to \"" << kmd_cameraname << "\"" << endl; + } + } + return; +} + +int main(int argc, char *argv[]) { cout << " Welcome to PTAM " << endl; cout << " --------------- " << endl; cout << " Parallel tracking and mapping for Small AR workspaces" << endl; cout << " Copyright (C) Isis Innovation Limited 2008 " << endl; cout << endl; + + // 2010/10/06 kameda[at]iit.tsukuba.ac.jp + cout << " | You may try these options at command line (by Y.Kameda, 2010/10)" << endl; + cout << " | -coloron ... If you unfortunately see black image, try this" << endl; + cout << " | -lightoff ... If you want to avoid black eye-balls, try this" << endl; + cout << " | 0 ... Select 1st USB camera" << endl; + cout << " | 1 ... Select 2nd USB camera (and 2 for 3rd, ...) " << endl; + cout << endl; + kmd_parseoptions(argc, argv); + cout << " Parsing settings.cfg ...." << endl; GUI.LoadFile("settings.cfg"); - GUI.StartParserThread(); // Start parsing of the console input atexit(GUI.StopParserThread); - + try { System s;