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0.9.3
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separated detector code from DepthCamera logic, adding Detector.h, etc;
moved headers into include/;
added Ptr (shared pointer type) typedef in several classes;
re-implemented flood fill algorithm partly based on scan line;
using new, more robust contourCurvature function;
renamed ObjectParameters -> DetectionParameters
adjusted several parameters in DetectionParameters;
CMake: removed BUILD_LIB and added BUILD_DEMO flag;
use /Ot MSVC flag by default;

reduced lag, retrained SVM

no longer uses UMat when finding contour (was causing a reduction in performance)

visualizer: draw confidence number over dominant direction arrow

modified several functions in util to make use of OpenCV built-in methods;
adjusted a number of parameters in ObjectParams;
use extractChannel instead of split to reduce number of redundant operations

added new, more robust contourCurvature function that actually
measures the curvature of the contour (rather than local angle);
adjusted several parameters;
simplified code in StreamingAverager slightly;
demo visual displays frame number with DEBUG flag on;
assertions turned on with DEBUG flag on;

separated detector code from DepthCamera logic; moved headers into
include/
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@sxyu
sxyu committed Mar 1, 2018
1 parent 0821e1f commit 3f4b81b
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Showing 40 changed files with 34,154 additions and 20,512 deletions.
95 changes: 52 additions & 43 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,28 +4,29 @@ project( OpenARK )

set(OpenARK_VERSION_MAJOR 0)
set(OpenARK_VERSION_MINOR 9)
set(OpenARK_VERSION_PATCH 2)
set(OpenARK_VERSION_PATCH 3)

set(SVM_PATHS "\"svm/\", \"../svm/\", \"\"")
set(INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")

set(CMAKE_CXX_STACK_SIZE "10000000")
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")

set(LIB_NAME "OpenARK")
set(DEMO_NAME "OpenARK_demo")
set(TEST_NAME "OpenARK_test")
set(LIB_NAME "OpenARK")

option(BUILD_LIB "BUILD_LIB" ON)
option(BUILD_DEMO "BUILD_DEMO" ON)
option(BUILD_TESTS "BUILD_TESTS" OFF)
option(USE_PMD "USE_PMD" OFF)

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 /EHsc")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x /EHsc")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
Expand Down Expand Up @@ -79,53 +80,59 @@ set(
Webcam.cpp
DepthCamera.cpp
RGBCamera.cpp
UDPSender.cpp
StreamingAverager.cpp
Calibration.cpp
Util.cpp
Visualizer.cpp
Converter.cpp
HandClassifier.cpp
Detector.cpp
HandDetector.cpp
PlaneDetector.cpp
)

set(
HEADERS
FrameObject.h
ObjectParams.h
Hand.h FramePlane.h
Webcam.h
DepthCamera.h
RGBCamera.h
UDPSender.h
StreamingAverager.h
Calibration.h
Util.h
Visualizer.h
Converter.h
HEADERS
${INCLUDE_DIR}/FrameObject.h
${INCLUDE_DIR}/DetectionParams.h
${INCLUDE_DIR}/Hand.h
${INCLUDE_DIR}/FramePlane.h
${INCLUDE_DIR}/Webcam.h
${INCLUDE_DIR}/DepthCamera.h
${INCLUDE_DIR}/RGBCamera.h
${INCLUDE_DIR}/StreamingAverager.h
${INCLUDE_DIR}/Calibration.h
${INCLUDE_DIR}/Util.h
${INCLUDE_DIR}/Visualizer.h
${INCLUDE_DIR}/Converter.h
${INCLUDE_DIR}/HandClassifier.h
${INCLUDE_DIR}/Detector.h
${INCLUDE_DIR}/HandDetector.h
${INCLUDE_DIR}/PlaneDetector.h
stdafx.h
HandClassifier.h
)

if(NOT RSSDK_FOUND)
SET(RSSDK "//")
else()
set(SOURCES ${SOURCES} SR300Camera.cpp)
set(HEADERS ${HEADERS} SR300Camera.h)
set(HEADERS ${HEADERS} ${INCLUDE_DIR}/SR300Camera.h)
endif(NOT RSSDK_FOUND)

if(NOT PMDSDK_FOUND)
SET(PMDSDK "//")
else()
include_directories(${PMDSDK_INCLUDE_DIR})
set(SOURCES ${SOURCES} PMDCamera.cpp)
set(HEADERS ${HEADERS} PMDCamera.h)
set(HEADERS ${HEADERS} ${INCLUDE_DIR}/PMDCamera.h)
set(DEPENDENCIES ${DEPENDENCIES} ${PMDSDK_LIBRARIES})
endif(NOT PMDSDK_FOUND)

configure_file(Version.h.in ${PROJECT_SOURCE_DIR}/version.h)
set(HEADERS ${HEADERS} version.h)
configure_file(Version.h.in ${INCLUDE_DIR}/Version.h)
set(HEADERS ${HEADERS} ${INCLUDE_DIR}/Version.h)

source_group("Header Files" *.h)
# create source group
source_group("Header Files" REGULAR_EXPRESSION ".*\\.(h|hpp)")

macro(add_msvc_pch PrecompiledHeader PrecompiledSource SourcesVar)
if(MSVC)
Expand All @@ -150,32 +157,32 @@ endmacro(add_msvc_pch)
if (MSVC)
add_msvc_pch("stdafx.h" "stdafx.cpp" SOURCES)
add_definitions(-D_CRT_SECURE_NO_WARNINGS)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /Ot")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD")
endif(MSVC)

add_executable( ${DEMO_NAME} main.cpp ${SOURCES} ${HEADERS})

if(${BUILD_LIB})
add_library(${LIB_NAME} STATIC core.h ${SOURCES} ${HEADERS})
set_target_properties( ${LIB_NAME} PROPERTIES OUTPUT_NAME
"openark_${OpenARK_VERSION_MAJOR}_${OpenARK_VERSION_MINOR}_${OpenARK_VERSION_PATCH}")
set_target_properties(${LIB_NAME} PROPERTIES COMPILE_FLAGS "/MDd")
set_property(TARGET ${LIB_NAME} PROPERTY DBG_POSTFIX d)
target_link_libraries( ${LIB_NAME} ${DEPENDENCIES} )
endif(${BUILD_LIB})

target_link_libraries( ${DEMO_NAME} ${DEPENDENCIES} )
set_target_properties( ${DEMO_NAME} PROPERTIES OUTPUT_NAME "OpenARK")
set_target_properties( ${DEMO_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
add_library(${LIB_NAME} STATIC "${INCLUDE_DIR}/Core.h" ${SOURCES} ${HEADERS})
set_target_properties( ${LIB_NAME} PROPERTIES OUTPUT_NAME
"openark_${OpenARK_VERSION_MAJOR}_${OpenARK_VERSION_MINOR}_${OpenARK_VERSION_PATCH}")
set_target_properties(${LIB_NAME} PROPERTIES COMPILE_FLAGS "/MD")
set_property(TARGET ${LIB_NAME} PROPERTY DBG_POSTFIX d)
target_link_libraries( ${LIB_NAME} ${DEPENDENCIES} )
target_include_directories(${LIB_NAME} PRIVATE ${INCLUDE_DIR})

if(${BUILD_DEMO})
add_executable( ${DEMO_NAME} main.cpp ${SOURCES} ${HEADERS})
target_include_directories(${DEMO_NAME} PRIVATE ${INCLUDE_DIR})
target_link_libraries( ${DEMO_NAME} ${DEPENDENCIES} )
set_target_properties( ${DEMO_NAME} PROPERTIES OUTPUT_NAME ${LIB_NAME})
set_target_properties( ${DEMO_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
endif(${BUILD_DEMO})

if(${BUILD_TESTS})
if(NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test)
execute_process(
COMMAND git clone https://github.com/augcog/OpenARK_test.git
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
#else()
# execute_process(
# COMMAND git pull
# WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/OpenARK_test)
endif(NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test)

set(
Expand All @@ -190,4 +197,6 @@ if(${BUILD_TESTS})
target_link_libraries( ${TEST_NAME} ${DEPENDENCIES} )
set_target_properties( ${TEST_NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})

target_include_directories(${TEST_NAME} PRIVATE ${INCLUDE_DIR})
endif(${BUILD_TESTS})
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