Improved usability with instructions and examples

Application/PerseusLibTest.cpp

@@ -5,8 +5,27 @@
 
 using namespace Perseus::Utils;
 
-int main(void)
+std::string folder = "/home/src/pwp3d/Files/";
+
+// determine step size relative to current distance to the camera
+inline double step_size(double x, double b, double maxval, double k = 8.0)
+{
+    double diff = fabs(x-b) * k / b + 1;
+    double y = maxval / diff;
+    if (x > b) y = 2 * maxval - y;
+    return y;
+}
+
+int main(int argc, char** argv)
 {
+  std::string sModelPath = argv[argc-11];
+  std::string sSrcImage = argv[1];
+  std::string sCameraMatrix = folder + "CameraCalibration/drill_n1.cal";
+  std::string sTargetMask = folder + "Masks/1280p_All_VideoMask.png";
+  std::string sHistSrc = argv[1];
+  std::string sHistMask = argv[argc-12];
+
+
   //  std::string sModelPath = "/Users/luma/Code/Luma/PWP3D/Files/Models/Renderer/long.obj";
   //  std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/Red.png";
   //  std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/900nc.cal";
@@ -24,23 +43,26 @@ int main(void)
   //  std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-3-LiveImage.png";
 
   // red can demo
-  std::string sModelPath = "/Users/luma/Code/DataSet/Mesh/RedCan.obj";
-  std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png";
-  std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/Kinect.cal";
-  std::string sTargetMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/480p_All_VideoMask.png";
-  std::string sHistSrc = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png";
-  std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-1-LiveImage.png";
+  //  std::string sModelPath = "/Users/luma/Code/DataSet/Mesh/RedCan.obj";
+  //  std::string sSrcImage = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png";
+  //  std::string sCameraMatrix = "/Users/luma/Code/Luma/PWP3D/Files/CameraCalibration/Kinect.cal";
+  //  std::string sTargetMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/480p_All_VideoMask.png";
+  //  std::string sHistSrc = "/Users/luma/Code/Luma/PWP3D/Files/Images/248-LiveRGB.png";
+  //  std::string sHistMask = "/Users/luma/Code/Luma/PWP3D/Files/Masks/248-ID-1-LiveImage.png";
 
   // ---------------------------------------------------------------------------
   char str[100];
-  int i;
+  int i, n = 10;
 
-  int width = 640, height = 480;
+  int width = 1920, height = 1280;
   int viewCount = 1, objectCount = 1;
   int objectId = 0, viewIdx = 0, objectIdx = 0;
+  double step_r, step_xy, step_z, z, param[n];
 
   Timer t;
 
+  for(i = 0; i < n; i++) param[i] = atof(argv[argc-n+i]);
+
   //result visualisation
   ImageUChar4* ResultImage = new ImageUChar4(width, height);
 
@@ -92,10 +114,15 @@ int main(void)
   iterConfig->levelSetBandSize = 8;
   iterConfig->iterObjectIds[viewIdx][objectIdx] = 0;
   iterConfig->iterViewCount = 1;
-  iterConfig->iterCount = 1;
+  iterConfig->iterCount = param[0];
+  iterConfig->useCUDAEF = true;
+  iterConfig->useCUDARender = true;
+
+  objects[objectIdx]->initialPose[viewIdx]->SetFrom(
+        param[1], param[2], param[3], param[4], param[5], param[6]);
 
   //step size per object and view
-  objects[objectIdx]->stepSize[viewIdx] = new StepSize3D(0.2f, 0.5f, 0.5f, 10.0f);
+  //objects[objectIdx]->stepSize[viewIdx] = new StepSize3D(0.2f, 0.5f, 0.5f, 10.0f);
 
   //initial pose per object and view
   // Notice the input pose here is angle, not radians for the rotation part
@@ -106,8 +133,8 @@ int main(void)
   //  objects[objectIdx]->initialPose[viewIdx]->SetFrom( -3.0f,-4.5f,28.f, -220.90f, -207.77f, 87.48f);
 
   // for red can demo
-  objects[objectIdx]->initialPose[viewIdx]->SetFrom(
-        1.0f, 3.0f, 30.f, 180.f, 80.f, 60.f);
+  //  objects[objectIdx]->initialPose[viewIdx]->SetFrom(
+  //        1.0f, 3.0f, 30.f, 180.f, 80.f, 60.f);
 
   //primary initilisation
   OptimisationEngine::Instance()->Initialise(width, height);
@@ -124,52 +151,48 @@ int main(void)
 
   cv::Mat ResultMat(height,width,CV_8UC4, ResultImage->pixels);
   cv::imshow("initial pose", ResultMat);
-  cv::waitKey(1000);
+  cv::waitKey(0);
 
   std::cout<<"[App] Finish Rendered object initial pose."<<std::endl;
+  //objects[objectIdx]->histogramVarBin[views[viewIdx]->viewId]->mergeAlphaForeground = 0.03f;
+  //objects[objectIdx]->histogramVarBin[views[viewIdx]->viewId]->mergeAlphaBackground = 0.02f;
 
-  for (i=0; i<4; i++)
+  bool sequence = argc > 14;
+  int loopcount = sequence ? argc-12 : 101;
+  for (i=1; i<loopcount; i++)
   {
-    switch (i)
-    {
-    case 0:
-      iterConfig->useCUDAEF = true;
-      iterConfig->useCUDARender = true;
-      break;
-    case 1:
-      iterConfig->useCUDAEF = false;
-      iterConfig->useCUDARender = true;
-      break;
-    case 2:
-      iterConfig->useCUDAEF = true;
-      iterConfig->useCUDARender = false;
-      break;
-    case 3:
-      iterConfig->useCUDAEF = false;
-      iterConfig->useCUDARender = false;
-      break;
-    }
-
-    printf("======= mode: useCUDAAEF: %d, use CUDARender %d ========;\n",
-           iterConfig->useCUDAEF, iterConfig->useCUDARender);
-
-    sprintf(str, "/Users/luma/Code/Luma/PWP3D/Files/Results/result%04d.png", i);
+    z = objects[objectIdx]->initialPose[viewIdx]->translation->z;
+
+    step_r = step_size(z, param[3], param[7]);
+    step_xy = step_size(z, param[3], param[8]);
+    step_z = step_size(z, param[3], param[9]);
+    objects[objectIdx]->stepSize[viewIdx]->SetFrom(step_r, step_xy, step_xy, step_z);
+
+    printf("%d Step: %f %f %f\n", i, step_r, step_xy, step_z);
+    ImageUtils::Instance()->LoadImageFromFile(camera, argv[sequence ? i : 1]);
+    OptimisationEngine::Instance()->RegisterViewImage(views[viewIdx], camera);
 
     //main processing
     t.restart();
     OptimisationEngine::Instance()->Minimise(objects, views, iterConfig);
+    objects[objectIdx]->initialPose[viewIdx]->SetFrom(objects[objectIdx]->pose[viewIdx]);
     t.check("Iteration");
+
+    //update at your own risk
+    //HistogramEngine::Instance()->UpdateVarBinHistogram(
+    //    objects[objectIdx], views[viewIdx], camera, objects[objectIdx]->pose[viewIdx]);
 
     //result plot
     VisualisationEngine::Instance()->GetImage(
           ResultImage, GETIMAGE_PROXIMITY,
           objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]);
 
     //result save to file
-    //    ImageUtils::Instance()->SaveImageToFile(result, str);
+    sprintf(str, "%sResults/result_%03d.png", folder.c_str(), i);
+    //ImageUtils::Instance()->SaveImageToFile(ResultImage, str);
     cv::Mat ResultMat(height,width,CV_8UC4, ResultImage->pixels);
     cv::imshow("result", ResultMat);
-    cv::waitKey(2000);
+    cv::waitKey(1);
 
     printf("final pose result %f %f %f %f %f %f %f\n\n",
            objects[objectIdx]->pose[viewIdx]->translation->x,
@@ -179,15 +202,15 @@ int main(void)
            objects[objectIdx]->pose[viewIdx]->rotation->vector4d.y,
            objects[objectIdx]->pose[viewIdx]->rotation->vector4d.z,
            objects[objectIdx]->pose[viewIdx]->rotation->vector4d.w);
-  }
 
-  //posteriors plot
-  sprintf(str, "/Users/luma/Code/Luma/PWP3D/Files/Results/posteriors.png");
-  VisualisationEngine::Instance()->GetImage(
-        ResultImage, GETIMAGE_POSTERIORS,
-        objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]);
+    //posteriors plot
+    sprintf(str, "%sResults/posterior_%03d.png", folder.c_str(), i);
+    VisualisationEngine::Instance()->GetImage(
+            ResultImage, GETIMAGE_POSTERIORS,
+            objects[objectIdx], views[viewIdx], objects[objectIdx]->pose[viewIdx]);
 
-  ImageUtils::Instance()->SaveImageToFile(ResultImage, str);
+    //ImageUtils::Instance()->SaveImageToFile(ResultImage, str);
+  }
 
   //primary engine destructor
   OptimisationEngine::Instance()->Shutdown();

CMakeLists.txt

@@ -13,14 +13,15 @@ include(SetPlatformVars)
 
 # Overide with cmake -DCMAKE_BUILD_TYPE=Debug {dir}
 if( NOT CMAKE_BUILD_TYPE )
-   set( CMAKE_BUILD_TYPE Release )
+   set( CMAKE_BUILD_TYPE Debug )
 endif()
 
 option(BUILD_SHARED_LIBS "Build Shared Library" ON)
 add_subdirectory(PerseusLib)
 
-option(BUILD_PWP3D_APP "Build PWP3D App" OFF)
+option(BUILD_PWP3D_APP "Build PWP3D App" ON)
 if(BUILD_PWP3D_APP)
   add_subdirectory(Application)
+  target_include_directories(PWP3DAPP PUBLIC .)
 endif()
 

Files/CameraCalibration/canon_t3.cal

@@ -0,0 +1,4 @@
+Perseus_CalFile
+1920 1280
+1661.4874   1650.7941
+977.53137   612.69568

Files/CameraCalibration/drill_n1.cal

@@ -0,0 +1,4 @@
+Perseus_CalFile
+1920 1280
+1711.7103   1711.7113
+961.36137   632.54090