CAP: working standalone + API base code, cmake library missing

README.md

@@ -86,42 +86,20 @@ gantt
 # TTool
 This is the repository hosting the API for TTool. It is a program able to detect the 6dof of a fix toolhead from the feed of a fix camera view.
 
-```mermaid
-flowchart TB
-    A(TTool API)
-    B(TSegment API) --> A
-    C(TSlet API) --> A
-    D(ML API*) --> A
+## How to use
 
-    A --> E(Augmented Carpentry)
+```bash
+cmake -S . -B build && cmake --build build && ./build/ttool -c 0 -l "./assets/calibration_orange_A_1280_720_r.yml" -t -s
 ```
+where,
 
-## TTool Dataflow
-
-```mermaid
-graph TD;
-cam[TTool::Camera]
-uii["TTool::PoseInput / ML::PoseEstimator"]
-seg[TSegment::Segmentation]
-%% mle[ML::PoseEstimator]
-tkr[TSLET::ObjectTracker]
-
-cam--image-->seg
-cam--image-->uii
-
-seg--segmentationMask-->uii
-seg--segmentationMask-->tkr
+- `[-h,--help]`: print this message
+- `[-c,--camera]`: camera index
+- `[-l,--calib]`: calibration file for the camera
+- `[-s,--save]`: record video of session, give custom path for output (default: ./default)
+- `[-t,--trackPose]`: it saves all poses and objects in a log file
 
 
-uii--initialPose-->tkr
-uii--toolheadID-->tkr
-
-%% uii<-->mle 
-
-tkr--refinedPose-->TTool::Visualizer
-tkr--3DObject-->TTool::Visualizer
-```
-
 ## CI/CD
 If you commit and push some code that does not influence the compilation (e.g. readme, docs, etc), add one of these texts to your commit message, it will stop the run of the github action.
 ```

run_cam.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 ./build.sh
-./build/ttool ./live_camera/config.yml
+./build/ttool

src/input.hh

@@ -189,11 +189,6 @@ namespace ttool
                 m_VisualizerPtr->ToggleShowKeymaps();
                 break;
             }
-            case 'n':
-            {
-                m_VisualizerPtr->ToggleSavingImages();
-                break;
-            }
             default:
                 break;
             }

src/main.cc

@@ -20,11 +20,12 @@ int main(int argc, char **argv)
                                "[-h,--help]: print this message\n" \
                                "[-c,--camera]: camera index\n" \
                                "[-l,--calib]: calibration file for the camera\n" \
-                               "[-s,--save]: save image path\n" \
+                               "[-s,--save]: record video of session\n" \
                                "[-t,--trackPose]: it saves all poses and objects in a log file\n";
     int cameraID = 0;
     std::string calibFilePath;
     bool trackPose = false;
+    bool isVideoRecording = false;
     std::string saveImagePath = "./debug/";
     if (argc == 1)
     {
@@ -69,17 +70,12 @@ int main(int argc, char **argv)
         }
         else if (arg == "-s" || arg == "--save")
         {
+            isVideoRecording = true;
             if (i + 1 < argc)
             {
                 saveImagePath = argv[++i];
-                std::cout << "\033[1;35m[Info]: Save image path: " << saveImagePath << "\033[0m" << std::endl;
-            }
-            else
-            {
-                std::cout << "\033[1;31m[Error]: save image path is not specified\033[0m" << std::endl;
-                std::cout << helpMsg << std::endl;
-                return 1;
             }
+            std::cout << "\033[1;35m[Info]: Save video path: " << saveImagePath << "\033[0m" << std::endl;
         }
         else if (arg == "-t" || arg == "--trackPose")
         {
@@ -111,14 +107,15 @@ int main(int argc, char **argv)
                                                                             ttool->GetModelManager(),
                                                                             configPtr->GetConfigData().Zn,
                                                                             configPtr->GetConfigData().Zf);
-    visualizerPtr->SetSaveImagePath(saveImagePath);
+    if (isVideoRecording) {visualizerPtr->SetSaveImagePath(saveImagePath);}
     cameraPtr->UpdateCamera();
     ttool::InputVisualizer inputVisualizer(visualizerPtr);
 
     PoseWriter poseWriter = PoseWriter("trackingPose.log", __TTOOL_CONFIG_PATH__, configPtr->GetConfigData().ModelFiles);
 
     // main thread
     bool exit = false;
+    if (isVideoRecording) {visualizerPtr->ToggleSavingImages();}
     while (!exit)
     {
         int fid = 0;
@@ -184,6 +181,6 @@ int main(int argc, char **argv)
     }
 
     cv::destroyAllWindows();
-    ttool::makeVideoFromAllSavedImages(saveImagePath);
+    if (isVideoRecording) {ttool::standaloneUtils::makeVideoFromAllSavedImages(saveImagePath);}
 
 }

src/util.hh

@@ -22,7 +22,7 @@ inline bool IsFileExist (const std::string& name) {
 
 } // namespace tk
 
-namespace ttool
+namespace ttool::standaloneUtils
 {
     inline void createVideo(const std::filesystem::path& path)
     {
@@ -60,19 +60,13 @@ namespace ttool
         ss << std::put_time(&tm, "%Y-%m-%d");
         std::string currentDate = ss.str();
 
-        // Check if the directory exists
         if (std::filesystem::exists(directoryPath) && std::filesystem::is_directory(directoryPath)) {
-            // Iterate over the directory entries
             for (const auto& entry : std::filesystem::directory_iterator(directoryPath)) {
-                // Check if the entry is a directory
                 if (entry.is_directory()) {
-                    // Get the directory name and print it
                     std::string folderName = entry.path().filename().string();
                     if (startsWith(folderName, currentDate))
                     {
                         std::cout << "Folder: " << entry.path().string() << std::endl;
-
-                        // Create the video
                         createVideoAndDeleteImages(entry.path().string());
                     }
                 }

src/visualizer.hh

@@ -35,6 +35,11 @@ namespace ttool::standaloneUtils
          */
         void SetSaveImagePath(std::string path)
         {
+            // if it doesn't exists create a folder
+            if (!std::filesystem::exists(path))
+            {
+                std::filesystem::create_directory(path);
+            }
             m_ImageSavePath = path;
         }
 
@@ -78,14 +83,13 @@ namespace ttool::standaloneUtils
             else
             {
                 m_IsSavingImages = true;
-                // Generate a folder name based on the current time
+
                 std::time_t t = std::time(nullptr);
                 std::tm tm = *std::localtime(&t);
                 std::stringstream ss;
                 ss << m_ImageSavePath << "/" << std::put_time(&tm, "%Y-%m-%d-%H-%M-%S") << "/";
                 std::string path = ss.str();
 
-                // Create the folder
                 std::filesystem::create_directory(path);
                 std::filesystem::create_directory(path + "/raw/");
 

util/load_dataset_2_config.py

@@ -108,6 +108,7 @@ def main(dataset_path : str, config_path : str) -> None:
     new_lines_modelFiles : list[str] = []
     new_lines_gtPoses : list[str] = []
     for i in range(len(model_obj_paths)):
+        # load the model path from the file
         new_model_path : str = ""
         new_lines_modelFiles.append("   - \"{}\"\n".format(model_obj_paths[i]))
 
@@ -117,8 +118,6 @@ def main(dataset_path : str, config_path : str) -> None:
             for line in lines:
                 new_model_path += line
         new_lines_gtPoses.append("{}\n".format(new_model_path))
-        # identity_matrix : str = "   - [ 1, 0, 0,\n       0, 1, 0,\n       0, 0, 1,\n       0, 0, 0 ]\n"
-        # new_lines_gtPoses.append(identity_matrix)
 
     with open(config_path, "r+") as f:
         lines = f.readlines()