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|
||||
title = "{L}eonardo {S}chwerpunkt {H}aptik \texttt{http://capehorn.gmd.de:8080/download/haptik/\linebreak haptik.mp3}"
|
||||
}
|
||||
|
||||
@misc{CAMERA,
|
||||
author = "CAMERA: CAd Modelling of Built Environments from Range Analysis",
|
||||
title = "\texttt{http://www.dai.ed.ac.uk/homes/rbf/{CAMERA}/camera.htm}",
|
||||
year = "2000"
|
||||
}
|
||||
|
||||
@misc{RESOLV,
|
||||
author = "{The ACTS RESOLV (REconstruction using Scanned Laser and Video) Project}",
|
||||
title = "\texttt{http://www.comp.leeds.ac.uk/resolv/}",
|
||||
year = "1999"
|
||||
}
|
||||
|
||||
@misc{RIEGLold,
|
||||
author = "RIEGL Laser Measurement Systems GmbH",
|
||||
title = "\texttt{http://www.riegl.co.at/}",
|
||||
year = "2001"
|
||||
}
|
||||
|
||||
@misc{AVENUE,
|
||||
author = "{AVENUE (Autonomous Vehicle for Exploration and Navigation in Urban Environments) Project}",
|
||||
title = "\texttt{http://www.cs.columbia.edu/} \texttt{robotics/projects/avenue/}",
|
||||
year = "2001"
|
||||
}
|
||||
|
||||
@misc{3DMAP,
|
||||
author = "3D Terrain Mapping Using Range Sensors",
|
||||
title = "\texttt{http://www-2.cs.cmu.edu/$\sim$dhuber/ mapping/}",
|
||||
year = "1999"
|
||||
}
|
||||
|
||||
@misc{URLTHRUN,
|
||||
author = "CMU's 3D Robot Mapping Project",
|
||||
title = "\texttt{http://www-2.cs.cmu.edu/$\sim$thrun/3D/index.html}",
|
||||
year = "2000"
|
||||
}
|
||||
|
||||
@misc{3DFAX,
|
||||
author = "Project to build a 3D fax machine",
|
||||
title = "\texttt{http://graphics.stanford.edu/projects/faxing/}",
|
||||
year = "2001"
|
||||
}
|
||||
|
||||
@misc{LYAPUNOV,
|
||||
author = "The Lyapunov Function, Wolfram Research{,}",
|
||||
title = "\texttt{http://mathworld.wolfram.com/Lyapunov\linebreak Function.html}",
|
||||
year = "2002"
|
||||
}
|
||||
|
||||
@misc{CLAY,
|
||||
author = "Clay Mathematics Institute",
|
||||
title = "\texttt{http://www.claymath.org/prizeproblems/index.htm}",
|
||||
month = "May",
|
||||
year = "2000"
|
||||
}
|
||||
|
||||
@misc{POWERCRUST,
|
||||
author = "The Power Crust",
|
||||
title = "\texttt{http://www.cs.utexas.edu/users/amenta/powercrust/}",
|
||||
year = "2002"
|
||||
}
|
||||
|
||||
@misc{INTRO,
|
||||
author = "MIT's Bouncing Baby Robot?",
|
||||
title = "\texttt{http://www.controleng.com/archives/2000/ctl0101.00\linebreak /000101w1.htm}",
|
||||
year = "2000"
|
||||
}
|
||||
|
||||
@misc{SIEMENS3D,
|
||||
author = "Siemens 3D-Sensor",
|
||||
title = "http://w4.siemens.de/FuI/de/archiv/newworld/heft2\_01/artikel03/",
|
||||
year = "2001",
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,199 @@
|
|||
//----------------------------------------------------------------------
|
||||
// File: ANN.cpp
|
||||
// Programmer: Sunil Arya and David Mount
|
||||
// Description: Methods for ANN.h and ANNx.h
|
||||
// Last modified: 01/04/05 (Version 1.0)
|
||||
//----------------------------------------------------------------------
|
||||
// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and
|
||||
// David Mount. All Rights Reserved.
|
||||
//
|
||||
// This software and related documentation is part of the Approximate
|
||||
// Nearest Neighbor Library (ANN). This software is provided under
|
||||
// the provisions of the Lesser GNU Public License (LGPL). See the
|
||||
// file ../ReadMe.txt for further information.
|
||||
//
|
||||
// The University of Maryland (U.M.) and the authors make no
|
||||
// representations about the suitability or fitness of this software for
|
||||
// any purpose. It is provided "as is" without express or implied
|
||||
// warranty.
|
||||
//----------------------------------------------------------------------
|
||||
// History:
|
||||
// Revision 0.1 03/04/98
|
||||
// Initial release
|
||||
// Revision 1.0 04/01/05
|
||||
// Added performance counting to annDist()
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <ANN/ANNx.h> // all ANN includes
|
||||
#include <ANN/ANNperf.h> // ANN performance
|
||||
|
||||
using namespace std; // make std:: accessible
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Point methods
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Distance utility.
|
||||
// (Note: In the nearest neighbor search, most distances are
|
||||
// computed using partial distance calculations, not this
|
||||
// procedure.)
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
ANNdist annDist( // interpoint squared distance
|
||||
int dim,
|
||||
ANNpoint p,
|
||||
ANNpoint q)
|
||||
{
|
||||
register int d;
|
||||
register ANNcoord diff;
|
||||
register ANNcoord dist;
|
||||
|
||||
dist = 0;
|
||||
for (d = 0; d < dim; d++) {
|
||||
diff = p[d] - q[d];
|
||||
dist = ANN_SUM(dist, ANN_POW(diff));
|
||||
}
|
||||
ANN_FLOP(3*dim) // performance counts
|
||||
ANN_PTS(1)
|
||||
ANN_COORD(dim)
|
||||
return dist;
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// annPrintPoint() prints a point to a given output stream.
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
void annPrintPt( // print a point
|
||||
ANNpoint pt, // the point
|
||||
int dim, // the dimension
|
||||
std::ostream &out) // output stream
|
||||
{
|
||||
for (int j = 0; j < dim; j++) {
|
||||
out << pt[j];
|
||||
if (j < dim-1) out << " ";
|
||||
}
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Point allocation/deallocation:
|
||||
//
|
||||
// Because points (somewhat like strings in C) are stored
|
||||
// as pointers. Consequently, creating and destroying
|
||||
// copies of points may require storage allocation. These
|
||||
// procedures do this.
|
||||
//
|
||||
// annAllocPt() and annDeallocPt() allocate a deallocate
|
||||
// storage for a single point, and return a pointer to it.
|
||||
//
|
||||
// annAllocPts() allocates an array of points as well a place
|
||||
// to store their coordinates, and initializes the points to
|
||||
// point to their respective coordinates. It allocates point
|
||||
// storage in a contiguous block large enough to store all the
|
||||
// points. It performs no initialization.
|
||||
//
|
||||
// annDeallocPts() should only be used on point arrays allocated
|
||||
// by annAllocPts since it assumes that points are allocated in
|
||||
// a block.
|
||||
//
|
||||
// annCopyPt() copies a point taking care to allocate storage
|
||||
// for the new point.
|
||||
//
|
||||
// annAssignRect() assigns the coordinates of one rectangle to
|
||||
// another. The two rectangles must have the same dimension
|
||||
// (and it is not possible to test this here).
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
ANNpoint annAllocPt(int dim, ANNcoord c) // allocate 1 point
|
||||
{
|
||||
ANNpoint p = new ANNcoord[dim];
|
||||
for (int i = 0; i < dim; i++) p[i] = c;
|
||||
return p;
|
||||
}
|
||||
|
||||
ANNpointArray annAllocPts(int n, int dim) // allocate n pts in dim
|
||||
{
|
||||
ANNpointArray pa = new ANNpoint[n]; // allocate points
|
||||
ANNpoint p = new ANNcoord[n*dim]; // allocate space for coords
|
||||
for (int i = 0; i < n; i++) {
|
||||
pa[i] = &(p[i*dim]);
|
||||
}
|
||||
return pa;
|
||||
}
|
||||
|
||||
void annDeallocPt(ANNpoint &p) // deallocate 1 point
|
||||
{
|
||||
delete [] p;
|
||||
p = NULL;
|
||||
}
|
||||
|
||||
void annDeallocPts(ANNpointArray &pa) // deallocate points
|
||||
{
|
||||
delete [] pa[0]; // dealloc coordinate storage
|
||||
delete [] pa; // dealloc points
|
||||
pa = NULL;
|
||||
}
|
||||
|
||||
ANNpoint annCopyPt(int dim, ANNpoint source) // copy point
|
||||
{
|
||||
ANNpoint p = new ANNcoord[dim];
|
||||
for (int i = 0; i < dim; i++) p[i] = source[i];
|
||||
return p;
|
||||
}
|
||||
|
||||
// assign one rect to another
|
||||
void annAssignRect(int dim, ANNorthRect &dest, const ANNorthRect &source)
|
||||
{
|
||||
for (int i = 0; i < dim; i++) {
|
||||
dest.lo[i] = source.lo[i];
|
||||
dest.hi[i] = source.hi[i];
|
||||
}
|
||||
}
|
||||
|
||||
// is point inside rectangle?
|
||||
ANNbool ANNorthRect::inside(int dim, ANNpoint p)
|
||||
{
|
||||
for (int i = 0; i < dim; i++) {
|
||||
if (p[i] < lo[i] || p[i] > hi[i]) return ANNfalse;
|
||||
}
|
||||
return ANNtrue;
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Error handler
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
void annError(char *msg, ANNerr level)
|
||||
{
|
||||
if (level == ANNabort) {
|
||||
cerr << "ANN: ERROR------->" << msg << "<-------------ERROR\n";
|
||||
exit(1);
|
||||
}
|
||||
else {
|
||||
cerr << "ANN: WARNING----->" << msg << "<-------------WARNING\n";
|
||||
}
|
||||
}
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Limit on number of points visited
|
||||
// We have an option for terminating the search early if the
|
||||
// number of points visited exceeds some threshold. If the
|
||||
// threshold is 0 (its default) this means there is no limit
|
||||
// and the algorithm applies its normal termination condition.
|
||||
// This is for applications where there are real time constraints
|
||||
// on the running time of the algorithm.
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
int ANNmaxPtsVisited = 0; // maximum number of pts visited
|
||||
int ANNptsVisited; // number of pts visited in search
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Global function declarations
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
void annMaxPtsVisit( // set limit on max. pts to visit in search
|
||||
int maxPts) // the limit
|
||||
{
|
||||
ANNmaxPtsVisited = maxPts;
|
||||
}
|
||||
|
|
@ -0,0 +1,96 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief
|
||||
*
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef MULTI_ARRAY_H
|
||||
#define MULTI_ARRAY_H
|
||||
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#include "scanserver/cache/cacheDataAccess.h"
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief Point-Array imitation for xyz[i][0..2] calls
|
||||
*/
|
||||
template<typename return_type>
|
||||
class TripleArray : public CacheDataAccess {
|
||||
public:
|
||||
//! Take ownership of a cache data
|
||||
TripleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {}
|
||||
|
||||
//! Move constructor of this type like CacheData, transfer lock
|
||||
TripleArray(TripleArray&& other) : CacheDataAccess(other) {}
|
||||
|
||||
//! Represent the CacheData as an array of T[3]'s
|
||||
inline return_type* operator[](unsigned int i) const
|
||||
{
|
||||
return reinterpret_cast<return_type*>(getData()) + (i*3);
|
||||
}
|
||||
|
||||
//! Count of T[3] objects in this CacheData
|
||||
inline unsigned int size() const { return CacheDataAccess::getSize() / (3*sizeof(return_type)); }
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Point-Array imitation for value[i] calls
|
||||
*/
|
||||
template<typename return_type>
|
||||
class SingleArray : public CacheDataAccess {
|
||||
public:
|
||||
//! Take ownership of a cache data
|
||||
SingleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {}
|
||||
|
||||
//! Move constructor of this type like CacheData, transfer lock
|
||||
SingleArray(SingleArray&& other) : CacheDataAccess(other) {}
|
||||
|
||||
//! Represent the CacheData as an array of T's
|
||||
inline return_type& operator[](unsigned int i) const
|
||||
{
|
||||
return *(reinterpret_cast<return_type*>(getData()) + i);
|
||||
}
|
||||
|
||||
//! Count of T objects in this CacheData
|
||||
inline unsigned int size() const { return CacheDataAccess::getSize() / sizeof(return_type); }
|
||||
};
|
||||
|
||||
typedef TripleArray<double> DataXYZ;
|
||||
typedef TripleArray<unsigned char> DataRGB;
|
||||
typedef SingleArray<float> DataReflectance;
|
||||
typedef SingleArray<float> DataAmplitude;
|
||||
typedef SingleArray<int> DataType;
|
||||
typedef SingleArray<float> DataDeviation;
|
||||
|
||||
/**
|
||||
* To simplify T** access patterns for an array of T[3] (points), this RAII type class helps creating and managing this pointer array on the stack.
|
||||
*/
|
||||
template<typename T>
|
||||
class Array {
|
||||
public:
|
||||
//! Create a temporary array and fill it sequentially with pointers to each point
|
||||
Array(const TripleArray<T>& data) {
|
||||
unsigned int size = data.size();
|
||||
m_array = new T*[size];
|
||||
for(unsigned int i = 0; i < size; ++i)
|
||||
m_array[i] = data[i];
|
||||
}
|
||||
|
||||
//! Removes the temporary array on destruction (RAII)
|
||||
~Array() {
|
||||
delete[] m_array;
|
||||
}
|
||||
|
||||
//! Conversion operator to interface the MultiArray to a T** array
|
||||
inline T* const* get() const { return m_array; }
|
||||
private:
|
||||
T** m_array;
|
||||
};
|
||||
|
||||
#endif //MULTI_ARRAY_H
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
|
||||
|
||||
int glui_img_leftarrow[] = { 16, 16, /* width, height */
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 192,192,192, 128,128,128, 128,128,128, 128,128,128,
|
||||
128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128,
|
||||
128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128,
|
||||
128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192,
|
||||
255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0,
|
||||
192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128,
|
||||
0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255,
|
||||
192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192,
|
||||
255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0,
|
||||
192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128,
|
||||
0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 0, 0, 0,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192,
|
||||
255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
|
||||
255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
|
||||
255,255,255, 255,255,255, 255,255,255, 128,128,128, 0, 0, 0,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192,
|
||||
0, 0, 0,
|
||||
};
|
||||
|
|
@ -0,0 +1,188 @@
|
|||
/*
|
||||
* cacheManager implementation
|
||||
*
|
||||
* Copyright (C) Thomas Escher, Kai Lingemann
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "scanserver/cache/cacheManager.h"
|
||||
|
||||
#include <stdexcept>
|
||||
#include <string>
|
||||
|
||||
#include <boost/interprocess/exceptions.hpp>
|
||||
|
||||
using namespace boost::interprocess;
|
||||
using std::runtime_error;
|
||||
using std::vector;
|
||||
using std::string;
|
||||
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#else
|
||||
#include <sys/mman.h> // mlock for avoiding swaps
|
||||
#endif
|
||||
|
||||
|
||||
CacheManager::CacheManager(SegmentManager* sm, const char* shm_name, std::size_t cache_size) :
|
||||
m_segment_manager(sm),
|
||||
m_shm_name(shm_name)
|
||||
{
|
||||
// remove any existing shared memory that wasn't cleaned up
|
||||
shared_memory_object::remove(m_shm_name.c_str());
|
||||
|
||||
try {
|
||||
m_msm = new managed_shared_memory(create_only, m_shm_name.c_str(), cache_size);
|
||||
#ifndef WIN32
|
||||
cout << " Locking cache memory... " << std::flush;
|
||||
int ret = mlock(m_msm->get_address(), m_msm->get_size());
|
||||
if(ret == 0)
|
||||
cout << "success.";
|
||||
else if(ret == -EPERM)
|
||||
cout << "unsuccessful, no permissions.";
|
||||
else if(ret == -ENOMEM)
|
||||
cout << "unsuccessful, RLIMIT_MEMLOCK too small.";
|
||||
else
|
||||
cout << "unsuccessful, error=" << ret << ".";
|
||||
cout << endl;
|
||||
#endif
|
||||
} catch(interprocess_exception& e) {
|
||||
throw std::runtime_error(std::string("Could not create shared memory: ") + e.what());
|
||||
}
|
||||
}
|
||||
|
||||
CacheManager::~CacheManager()
|
||||
{
|
||||
// clean up objects
|
||||
for(vector<CacheObject*>::iterator it = m_objects.begin(); it != m_objects.end(); ++it)
|
||||
m_segment_manager->destroy_ptr(*it);
|
||||
|
||||
// remove cache data shared memory
|
||||
delete m_msm;
|
||||
shared_memory_object::remove(m_shm_name.c_str());
|
||||
}
|
||||
|
||||
CacheObject* CacheManager::createCacheObject()
|
||||
{
|
||||
CacheObject* obj = m_segment_manager->construct<CacheObject>(anonymous_instance)();
|
||||
m_objects.push_back(obj);
|
||||
return obj;
|
||||
}
|
||||
|
||||
bool CacheManager::loadCacheObject(CacheObject* obj)
|
||||
{
|
||||
if(obj->m_handler) {
|
||||
return obj->m_handler->load();
|
||||
} else {
|
||||
throw runtime_error("No CacheHandler set for loading");
|
||||
}
|
||||
}
|
||||
|
||||
unsigned char* CacheManager::allocateCacheObject(CacheObject* obj, unsigned int size)
|
||||
{
|
||||
// remove old data if this isn't a cache miss call but a direct allocate call
|
||||
if(obj->m_handle != 0) {
|
||||
if(size == obj->m_size) {
|
||||
// INFO
|
||||
//cout << "CacheManager::allocateCacheObject reusing space" << endl;
|
||||
// space fits? leave it be
|
||||
return reinterpret_cast<unsigned char*>(m_msm->get_address_from_handle(obj->m_handle));
|
||||
} else {
|
||||
// reset CO
|
||||
m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle));
|
||||
obj->m_size = 0;
|
||||
obj->m_handle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// try to allocate it initially
|
||||
try {
|
||||
return load(obj, size);
|
||||
} catch(bad_alloc& e) {
|
||||
// flush behaviour below
|
||||
}
|
||||
|
||||
// create a list of COs to remove from memory
|
||||
// TODO: create the list from the heuristic
|
||||
vector<CacheObject*> loaded = m_loaded;
|
||||
// try to exclusively lock COs to remove them from memory
|
||||
for(vector<CacheObject*>::iterator it = loaded.begin(); it != loaded.end(); ++it) {
|
||||
CacheObject* target = *it;
|
||||
scoped_lock<interprocess_upgradable_mutex> lock(target->m_mutex_in_use, try_to_lock);
|
||||
if(lock) {
|
||||
unload(target);
|
||||
// try to allocate it
|
||||
try {
|
||||
return load(obj, size);
|
||||
} catch(bad_alloc& e) {
|
||||
// continue flushing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// when flushing didn't work, there's nothing to do anymore
|
||||
throw runtime_error("CacheManager could not allocate enough memory for CacheObject. All available memory is locked for used CacheObjects and you need to increase the cache memory size");
|
||||
}
|
||||
|
||||
void CacheManager::invalidateCacheObject(CacheObject* obj)
|
||||
{
|
||||
// remove its data
|
||||
if(obj->m_handle != 0) {
|
||||
// reset CO
|
||||
m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle));
|
||||
obj->m_size = 0;
|
||||
obj->m_handle = 0;
|
||||
}
|
||||
|
||||
// invalidate the handler too
|
||||
obj->m_handler->invalidate();
|
||||
}
|
||||
|
||||
unsigned char* CacheManager::load(CacheObject* obj, unsigned int size)
|
||||
{
|
||||
// INFO
|
||||
//cout << " CM::load (" << size << ")" << endl;
|
||||
|
||||
// allocate
|
||||
unsigned char* data = m_msm->construct<unsigned char>(anonymous_instance)[size]();
|
||||
obj->m_size = size;
|
||||
obj->m_handle = m_msm->get_handle_from_address(data);
|
||||
|
||||
// mark it as loaded
|
||||
m_loaded.push_back(obj);
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
void CacheManager::unload(CacheObject* obj)
|
||||
{
|
||||
if(obj->m_handle == 0) return;
|
||||
|
||||
// INFO
|
||||
//cout << " CM::unload" << endl;
|
||||
|
||||
// save the CO by its handler
|
||||
unsigned char* data = reinterpret_cast<unsigned char*>(m_msm->get_address_from_handle(obj->m_handle));
|
||||
obj->m_handler->save(data, obj->m_size);
|
||||
// TODO: exceptions?
|
||||
|
||||
// reset CO
|
||||
m_msm->destroy_ptr(data);
|
||||
obj->m_size = 0;
|
||||
obj->m_handle = 0;
|
||||
|
||||
// mark it as unloaded
|
||||
for(vector<CacheObject*>::iterator it = m_loaded.begin(); it != m_loaded.end(); ++it) {
|
||||
if(obj == *it) {
|
||||
m_loaded.erase(it);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,483 @@
|
|||
|
||||
//#define WANT_STREAM
|
||||
#define WANT_MATH
|
||||
|
||||
#include "include.h"
|
||||
|
||||
#include "newmatap.h"
|
||||
//#include "newmatio.h"
|
||||
|
||||
#include "tmt.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
using namespace NEWMAT;
|
||||
#endif
|
||||
|
||||
// check D is sorted
|
||||
void CheckIsSorted(const DiagonalMatrix& D, bool ascending = false)
|
||||
{
|
||||
DiagonalMatrix D1 = D;
|
||||
if (ascending) SortAscending(D1); else SortDescending(D1);
|
||||
D1 -= D; Print(D1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void trymate()
|
||||
{
|
||||
|
||||
|
||||
Tracer et("Fourteenth test of Matrix package");
|
||||
Tracer::PrintTrace();
|
||||
|
||||
{
|
||||
Tracer et1("Stage 1");
|
||||
Matrix A(8,5);
|
||||
{
|
||||
#ifndef ATandT
|
||||
Real a[] = { 22, 10, 2, 3, 7,
|
||||
14, 7, 10, 0, 8,
|
||||
-1, 13, -1,-11, 3,
|
||||
-3, -2, 13, -2, 4,
|
||||
9, 8, 1, -2, 4,
|
||||
9, 1, -7, 5, -1,
|
||||
2, -6, 6, 5, 1,
|
||||
4, 5, 0, -2, 2 };
|
||||
#else
|
||||
Real a[40];
|
||||
a[ 0]=22; a[ 1]=10; a[ 2]= 2; a[ 3]= 3; a[ 4]= 7;
|
||||
a[ 5]=14; a[ 6]= 7; a[ 7]=10; a[ 8]= 0; a[ 9]= 8;
|
||||
a[10]=-1; a[11]=13; a[12]=-1; a[13]=-11;a[14]= 3;
|
||||
a[15]=-3; a[16]=-2; a[17]=13; a[18]=-2; a[19]= 4;
|
||||
a[20]= 9; a[21]= 8; a[22]= 1; a[23]=-2; a[24]= 4;
|
||||
a[25]= 9; a[26]= 1; a[27]=-7; a[28]= 5; a[29]=-1;
|
||||
a[30]= 2; a[31]=-6; a[32]= 6; a[33]= 5; a[34]= 1;
|
||||
a[35]= 4; a[36]= 5; a[37]= 0; a[38]=-2; a[39]= 2;
|
||||
#endif
|
||||
A << a;
|
||||
}
|
||||
DiagonalMatrix D; Matrix U; Matrix V;
|
||||
int anc = A.Ncols(); IdentityMatrix I(anc);
|
||||
SymmetricMatrix S1; S1 << A.t() * A;
|
||||
SymmetricMatrix S2; S2 << A * A.t();
|
||||
Real zero = 0.0; SVD(A+zero,D,U,V); CheckIsSorted(D);
|
||||
DiagonalMatrix D1; SVD(A,D1); CheckIsSorted(D1);
|
||||
D1 -= D; Clean(D1,0.000000001);Print(D1);
|
||||
Matrix W;
|
||||
SVD(A, D1, W, W, true, false); D1 -= D; W -= U;
|
||||
Clean(W,0.000000001); Print(W); Clean(D1,0.000000001); Print(D1);
|
||||
Matrix WX;
|
||||
SVD(A, D1, WX, W, false, true); D1 -= D; W -= V;
|
||||
Clean(W,0.000000001); Print(W); Clean(D1,0.000000001); Print(D1);
|
||||
Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU);
|
||||
Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV);
|
||||
Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
D1=0.0; SVD(A,D1,A); CheckIsSorted(D1);
|
||||
A -= U; Clean(A,0.000000001); Print(A);
|
||||
D(1) -= sqrt(1248.0); D(2) -= 20; D(3) -= sqrt(384.0);
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
Jacobi(S1, D, V); CheckIsSorted(D, true);
|
||||
V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
Jacobi(S1, D); CheckIsSorted(D, true);
|
||||
D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
SymmetricMatrix JW(5);
|
||||
Jacobi(S1, D, JW); CheckIsSorted(D, true);
|
||||
D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
Jacobi(S2, D, V); CheckIsSorted(D, true);
|
||||
V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
EigenValues(S1, D, V); CheckIsSorted(D, true);
|
||||
V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D(5)-=1248; D(4)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
EigenValues(S2, D, V); CheckIsSorted(D, true);
|
||||
V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D(8)-=1248; D(7)-=400; D(6)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
EigenValues(S1, D); CheckIsSorted(D, true);
|
||||
D(5)-=1248; D(4)-=400; D(3)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
SymmetricMatrix EW(S2);
|
||||
EigenValues(S2, D, EW); CheckIsSorted(D, true);
|
||||
D(8)-=1248; D(7)-=400; D(6)-=384;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 2");
|
||||
Matrix A(20,21);
|
||||
int i,j;
|
||||
for (i=1; i<=20; i++) for (j=1; j<=21; j++)
|
||||
{ if (i>j) A(i,j) = 0; else if (i==j) A(i,j) = 21-i; else A(i,j) = -1; }
|
||||
A = A.t();
|
||||
SymmetricMatrix S1; S1 << A.t() * A;
|
||||
SymmetricMatrix S2; S2 << A * A.t();
|
||||
DiagonalMatrix D; Matrix U; Matrix V;
|
||||
#ifdef ATandT
|
||||
int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug
|
||||
#else
|
||||
DiagonalMatrix I(A.Ncols());
|
||||
#endif
|
||||
I=1.0;
|
||||
SVD(A,D,U,V); CheckIsSorted(D);
|
||||
Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU);
|
||||
Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV);
|
||||
Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
for (i=1; i<=20; i++) D(i) -= sqrt((22.0-i)*(21.0-i));
|
||||
Clean(D,0.000000001); Print(D);
|
||||
Jacobi(S1, D, V); CheckIsSorted(D, true);
|
||||
V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D = D.Reverse();
|
||||
for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i);
|
||||
Clean(D,0.000000001); Print(D);
|
||||
Jacobi(S2, D, V); CheckIsSorted(D, true);
|
||||
V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
D = D.Reverse();
|
||||
for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i);
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
EigenValues(S1, D, V); CheckIsSorted(D, true);
|
||||
V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
for (i=1; i<=20; i++) D(i) -= (i+1)*i;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
EigenValues(S2, D, V); CheckIsSorted(D, true);
|
||||
V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V);
|
||||
for (i=2; i<=21; i++) D(i) -= (i-1)*i;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
EigenValues(S1, D); CheckIsSorted(D, true);
|
||||
for (i=1; i<=20; i++) D(i) -= (i+1)*i;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
EigenValues(S2, D); CheckIsSorted(D, true);
|
||||
for (i=2; i<=21; i++) D(i) -= (i-1)*i;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 3");
|
||||
Matrix A(30,30);
|
||||
int i,j;
|
||||
for (i=1; i<=30; i++) for (j=1; j<=30; j++)
|
||||
{ if (i>j) A(i,j) = 0; else if (i==j) A(i,j) = 1; else A(i,j) = -1; }
|
||||
Real d1 = A.LogDeterminant().Value();
|
||||
DiagonalMatrix D; Matrix U; Matrix V;
|
||||
#ifdef ATandT
|
||||
int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug
|
||||
#else
|
||||
DiagonalMatrix I(A.Ncols());
|
||||
#endif
|
||||
I=1.0;
|
||||
SVD(A,D,U,V); CheckIsSorted(D);
|
||||
Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU);
|
||||
Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV);
|
||||
Real d2 = D.LogDeterminant().Value();
|
||||
Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
Real d3 = D.LogDeterminant().Value();
|
||||
ColumnVector Test(3);
|
||||
Test(1) = d1 - 1; Test(2) = d2 - 1; Test(3) = d3 - 1;
|
||||
Clean(Test,0.00000001); Print(Test); // only 8 decimal figures
|
||||
A.ReSize(2,2);
|
||||
Real a = 1.5; Real b = 2; Real c = 2 * (a*a + b*b);
|
||||
A << a << b << a << b;
|
||||
I.ReSize(2); I=1;
|
||||
SVD(A,D,U,V); CheckIsSorted(D);
|
||||
SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU);
|
||||
SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV);
|
||||
B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
D = D*D; SortDescending(D);
|
||||
DiagonalMatrix D50(2); D50 << c << 0; D = D - D50;
|
||||
Clean(D,0.000000001);
|
||||
Print(D);
|
||||
A << a << a << b << b;
|
||||
SVD(A,D,U,V); CheckIsSorted(D);
|
||||
SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU);
|
||||
SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV);
|
||||
B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
D = D*D; SortDescending(D);
|
||||
D = D - D50;
|
||||
Clean(D,0.000000001);
|
||||
Print(D);
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 4");
|
||||
|
||||
// test for bug found by Olof Runborg,
|
||||
// Department of Numerical Analysis and Computer Science (NADA),
|
||||
// KTH, Stockholm
|
||||
|
||||
Matrix A(22,20);
|
||||
|
||||
A = 0;
|
||||
|
||||
int a=1;
|
||||
|
||||
A(a+0,a+2) = 1; A(a+0,a+18) = -1;
|
||||
A(a+1,a+9) = 1; A(a+1,a+12) = -1;
|
||||
A(a+2,a+11) = 1; A(a+2,a+12) = -1;
|
||||
A(a+3,a+10) = 1; A(a+3,a+19) = -1;
|
||||
A(a+4,a+16) = 1; A(a+4,a+19) = -1;
|
||||
A(a+5,a+17) = 1; A(a+5,a+18) = -1;
|
||||
A(a+6,a+10) = 1; A(a+6,a+4) = -1;
|
||||
A(a+7,a+3) = 1; A(a+7,a+2) = -1;
|
||||
A(a+8,a+14) = 1; A(a+8,a+15) = -1;
|
||||
A(a+9,a+13) = 1; A(a+9,a+16) = -1;
|
||||
A(a+10,a+8) = 1; A(a+10,a+9) = -1;
|
||||
A(a+11,a+1) = 1; A(a+11,a+15) = -1;
|
||||
A(a+12,a+16) = 1; A(a+12,a+4) = -1;
|
||||
A(a+13,a+6) = 1; A(a+13,a+9) = -1;
|
||||
A(a+14,a+5) = 1; A(a+14,a+4) = -1;
|
||||
A(a+15,a+0) = 1; A(a+15,a+1) = -1;
|
||||
A(a+16,a+14) = 1; A(a+16,a+0) = -1;
|
||||
A(a+17,a+7) = 1; A(a+17,a+6) = -1;
|
||||
A(a+18,a+13) = 1; A(a+18,a+5) = -1;
|
||||
A(a+19,a+7) = 1; A(a+19,a+8) = -1;
|
||||
A(a+20,a+17) = 1; A(a+20,a+3) = -1;
|
||||
A(a+21,a+6) = 1; A(a+21,a+11) = -1;
|
||||
|
||||
|
||||
Matrix U, V; DiagonalMatrix S;
|
||||
|
||||
SVD(A, S, U, V, true, true); CheckIsSorted(S);
|
||||
|
||||
DiagonalMatrix D(20); D = 1;
|
||||
|
||||
Matrix tmp = U.t() * U - D;
|
||||
Clean(tmp,0.000000001); Print(tmp);
|
||||
|
||||
tmp = V.t() * V - D;
|
||||
Clean(tmp,0.000000001); Print(tmp);
|
||||
|
||||
tmp = U * S * V.t() - A ;
|
||||
Clean(tmp,0.000000001); Print(tmp);
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 5");
|
||||
Matrix A(10,10);
|
||||
|
||||
A.Row(1) << 1.00 << 0.07 << 0.05 << 0.00 << 0.06
|
||||
<< 0.09 << 0.03 << 0.02 << 0.02 << -0.03;
|
||||
A.Row(2) << 0.07 << 1.00 << 0.05 << 0.05 << -0.03
|
||||
<< 0.07 << 0.00 << 0.07 << 0.00 << 0.02;
|
||||
A.Row(3) << 0.05 << 0.05 << 1.00 << 0.05 << 0.02
|
||||
<< 0.01 << -0.05 << 0.04 << 0.05 << -0.03;
|
||||
A.Row(4) << 0.00 << 0.05 << 0.05 << 1.00 << -0.05
|
||||
<< 0.04 << 0.01 << 0.02 << -0.05 << 0.00;
|
||||
A.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00
|
||||
<< -0.03 << 0.02 << -0.02 << 0.04 << 0.00;
|
||||
A.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03
|
||||
<< 1.00 << -0.06 << 0.08 << -0.02 << -0.10;
|
||||
A.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02
|
||||
<< -0.06 << 1.00 << 0.09 << 0.12 << -0.03;
|
||||
A.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02
|
||||
<< 0.08 << 0.09 << 1.00 << 0.00 << -0.02;
|
||||
A.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04
|
||||
<< -0.02 << 0.12 << 0.00 << 1.00 << 0.02;
|
||||
A.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00
|
||||
<< -0.10 << -0.03 << -0.02 << 0.02 << 1.00;
|
||||
|
||||
SymmetricMatrix AS; AS << A;
|
||||
Matrix V; DiagonalMatrix D, D1;
|
||||
ColumnVector Check(6);
|
||||
EigenValues(AS,D,V); CheckIsSorted(D, true);
|
||||
Check(1) = MaximumAbsoluteValue(A - V * D * V.t());
|
||||
DiagonalMatrix I(10); I = 1;
|
||||
Check(2) = MaximumAbsoluteValue(V * V.t() - I);
|
||||
Check(3) = MaximumAbsoluteValue(V.t() * V - I);
|
||||
|
||||
EigenValues(AS, D1); CheckIsSorted(D1, true);
|
||||
D -= D1;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
Jacobi(AS,D,V);
|
||||
Check(4) = MaximumAbsoluteValue(A - V * D * V.t());
|
||||
Check(5) = MaximumAbsoluteValue(V * V.t() - I);
|
||||
Check(6) = MaximumAbsoluteValue(V.t() * V - I);
|
||||
|
||||
SortAscending(D);
|
||||
D -= D1;
|
||||
Clean(D,0.000000001); Print(D);
|
||||
|
||||
Clean(Check,0.000000001); Print(Check);
|
||||
|
||||
// Check loading rows
|
||||
|
||||
SymmetricMatrix B(10);
|
||||
|
||||
B.Row(1) << 1.00;
|
||||
B.Row(2) << 0.07 << 1.00;
|
||||
B.Row(3) << 0.05 << 0.05 << 1.00;
|
||||
B.Row(4) << 0.00 << 0.05 << 0.05 << 1.00;
|
||||
B.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00;
|
||||
B.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03
|
||||
<< 1.00;
|
||||
B.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02
|
||||
<< -0.06 << 1.00;
|
||||
B.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02
|
||||
<< 0.08 << 0.09 << 1.00;
|
||||
B.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04
|
||||
<< -0.02 << 0.12 << 0.00 << 1.00;
|
||||
B.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00
|
||||
<< -0.10 << -0.03 << -0.02 << 0.02 << 1.00;
|
||||
|
||||
B -= AS; Print(B);
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 6");
|
||||
// badly scaled matrix
|
||||
Matrix A(9,9);
|
||||
|
||||
A.Row(1) << 1.13324e+012 << 3.68788e+011 << 3.35163e+009
|
||||
<< 3.50193e+011 << 1.25335e+011 << 1.02212e+009
|
||||
<< 3.16602e+009 << 1.02418e+009 << 9.42959e+006;
|
||||
A.Row(2) << 3.68788e+011 << 1.67128e+011 << 1.27449e+009
|
||||
<< 1.25335e+011 << 6.05413e+010 << 4.34573e+008
|
||||
<< 1.02418e+009 << 4.69192e+008 << 3.61098e+006;
|
||||
A.Row(3) << 3.35163e+009 << 1.27449e+009 << 1.25571e+007
|
||||
<< 1.02212e+009 << 4.34573e+008 << 3.69769e+006
|
||||
<< 9.42959e+006 << 3.61098e+006 << 3.59450e+004;
|
||||
A.Row(4) << 3.50193e+011 << 1.25335e+011 << 1.02212e+009
|
||||
<< 1.43514e+011 << 5.42310e+010 << 4.15822e+008
|
||||
<< 1.23068e+009 << 4.31545e+008 << 3.58714e+006;
|
||||
A.Row(5) << 1.25335e+011 << 6.05413e+010 << 4.34573e+008
|
||||
<< 5.42310e+010 << 2.76601e+010 << 1.89102e+008
|
||||
<< 4.31545e+008 << 2.09778e+008 << 1.51083e+006;
|
||||
A.Row(6) << 1.02212e+009 << 4.34573e+008 << 3.69769e+006
|
||||
<< 4.15822e+008 << 1.89102e+008 << 1.47143e+006
|
||||
<< 3.58714e+006 << 1.51083e+006 << 1.30165e+004;
|
||||
A.Row(7) << 3.16602e+009 << 1.02418e+009 << 9.42959e+006
|
||||
<< 1.23068e+009 << 4.31545e+008 << 3.58714e+006
|
||||
<< 1.12335e+007 << 3.54778e+006 << 3.34311e+004;
|
||||
A.Row(8) << 1.02418e+009 << 4.69192e+008 << 3.61098e+006
|
||||
<< 4.31545e+008 << 2.09778e+008 << 1.51083e+006
|
||||
<< 3.54778e+006 << 1.62552e+006 << 1.25885e+004;
|
||||
A.Row(9) << 9.42959e+006 << 3.61098e+006 << 3.59450e+004
|
||||
<< 3.58714e+006 << 1.51083e+006 << 1.30165e+004
|
||||
<< 3.34311e+004 << 1.25885e+004 << 1.28000e+002;
|
||||
|
||||
|
||||
SymmetricMatrix AS; AS << A;
|
||||
Matrix V; DiagonalMatrix D, D1;
|
||||
ColumnVector Check(6);
|
||||
EigenValues(AS,D,V); CheckIsSorted(D, true);
|
||||
Check(1) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000;
|
||||
DiagonalMatrix I(9); I = 1;
|
||||
Check(2) = MaximumAbsoluteValue(V * V.t() - I);
|
||||
Check(3) = MaximumAbsoluteValue(V.t() * V - I);
|
||||
|
||||
EigenValues(AS, D1);
|
||||
D -= D1;
|
||||
Clean(D,0.001); Print(D);
|
||||
|
||||
Jacobi(AS,D,V);
|
||||
Check(4) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000;
|
||||
Check(5) = MaximumAbsoluteValue(V * V.t() - I);
|
||||
Check(6) = MaximumAbsoluteValue(V.t() * V - I);
|
||||
|
||||
SortAscending(D);
|
||||
D -= D1;
|
||||
Clean(D,0.001); Print(D);
|
||||
|
||||
Clean(Check,0.0000001); Print(Check);
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 7");
|
||||
// matrix with all singular values close to 1
|
||||
Matrix A(8,8);
|
||||
A.Row(1)<<-0.4343<<-0.0445<<-0.4582<<-0.1612<<-0.3191<<-0.6784<<0.1068<<0;
|
||||
A.Row(2)<<0.5791<<0.5517<<0.2575<<-0.1055<<-0.0437<<-0.5282<<0.0442<<0;
|
||||
A.Row(3)<<0.5709<<-0.5179<<-0.3275<<0.2598<<-0.196<<-0.1451<<-0.4143<<0;
|
||||
A.Row(4)<<0.2785<<-0.5258<<0.1251<<-0.4382<<0.0514<<-0.0446<<0.6586<<0;
|
||||
A.Row(5)<<0.2654<<0.3736<<-0.7436<<-0.0122<<0.0376<<0.3465<<0.3397<<0;
|
||||
A.Row(6)<<0.0173<<-0.0056<<-0.1903<<-0.7027<<0.4863<<-0.0199<<-0.4825<<0;
|
||||
A.Row(7)<<0.0434<<0.0966<<0.1083<<-0.4576<<-0.7857<<0.3425<<-0.1818<<0;
|
||||
A.Row(8)<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<-1.0;
|
||||
Matrix U,V; DiagonalMatrix D;
|
||||
SVD(A,D,U,V); CheckIsSorted(D);
|
||||
Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B);
|
||||
DiagonalMatrix I(8); I = 1; D -= I; Clean(D,0.0001); Print(D);
|
||||
U *= U.t(); U -= I; Clean(U,0.000000001); Print(U);
|
||||
V *= V.t(); V -= I; Clean(V,0.000000001); Print(V);
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 8");
|
||||
// check SortSV functions
|
||||
|
||||
Matrix A(15, 10);
|
||||
int i, j;
|
||||
for (i = 1; i <= 15; ++i) for (j = 1; j <= 10; ++j)
|
||||
A(i, j) = i + j / 1000.0;
|
||||
DiagonalMatrix D(10);
|
||||
D << 0.2 << 0.5 << 0.1 << 0.7 << 0.8 << 0.3 << 0.4 << 0.7 << 0.9 << 0.6;
|
||||
Matrix U = A; Matrix V = 10 - 2 * A;
|
||||
Matrix Prod = U * D * V.t();
|
||||
|
||||
DiagonalMatrix D2 = D; SortDescending(D2);
|
||||
DiagonalMatrix D1 = D; SortSV(D1, U, V); Matrix X = D1 - D2; Print(X);
|
||||
X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X);
|
||||
U = A; V = 10 - 2 * A;
|
||||
D1 = D; SortSV(D1, U); X = D1 - D2; Print(X);
|
||||
D1 = D; SortSV(D1, V); X = D1 - D2; Print(X);
|
||||
X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X);
|
||||
|
||||
D2 = D; SortAscending(D2);
|
||||
U = A; V = 10 - 2 * A;
|
||||
D1 = D; SortSV(D1, U, V, true); X = D1 - D2; Print(X);
|
||||
X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X);
|
||||
U = A; V = 10 - 2 * A;
|
||||
D1 = D; SortSV(D1, U, true); X = D1 - D2; Print(X);
|
||||
D1 = D; SortSV(D1, V, true); X = D1 - D2; Print(X);
|
||||
X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X);
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 9");
|
||||
// Tom William's example
|
||||
Matrix A(10,10);
|
||||
Matrix U;
|
||||
Matrix V;
|
||||
DiagonalMatrix Sigma;
|
||||
Real myVals[] =
|
||||
{
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 0,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 0,
|
||||
1, 1, 1, 1, 1, 1, 1, 1, 0, 0,
|
||||
1, 1, 1, 1, 1, 1, 1, 0, 0, 0,
|
||||
1, 1, 1, 1, 1, 0, 0, 0, 0, 0,
|
||||
};
|
||||
|
||||
A << myVals;
|
||||
SVD(A, Sigma, U, V); CheckIsSorted(Sigma);
|
||||
A -= U * Sigma * V.t();
|
||||
Clean(A, 0.000000001); Print(A);
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief IO of a 3D scan
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef __SCAN_IO_H__
|
||||
#define __SCAN_IO_H__
|
||||
|
||||
#include "slam6d/io_types.h"
|
||||
#include "slam6d/pointfilter.h"
|
||||
|
||||
#include <string>
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <vector>
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief IO of a 3D scan
|
||||
*
|
||||
* This class needs to be instantiated by a class loading
|
||||
* 3D scans from different file formats.
|
||||
*/
|
||||
class ScanIO {
|
||||
public:
|
||||
/**
|
||||
* Read a directory and return all possible scans in the [start,end] interval.
|
||||
*
|
||||
* @param dir_path The directory from which to read the scans
|
||||
* @param start Starting index
|
||||
* @param end Last index
|
||||
* @return List of IO-specific identifiers of scans, matching the search
|
||||
*/
|
||||
virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0;
|
||||
|
||||
/**
|
||||
* Reads the pose from a dedicated pose file or from the scan file.
|
||||
*
|
||||
* @param dir_path The directory the scan is contained in
|
||||
* @param scan_identifier IO-specific identifier for the particular scan
|
||||
* @param pose Pointer to an existing double[6] array where the pose is saved in
|
||||
*/
|
||||
virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0;
|
||||
|
||||
/**
|
||||
* Given a scan identifier, load the contents of this particular scan.
|
||||
*
|
||||
* @param dir_path The directory the scan is contained in
|
||||
* @param identifier IO-specific identifier for the particular scan
|
||||
* @param filter Filter object which each point is tested on by its position
|
||||
*/
|
||||
virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz = 0, std::vector<unsigned char>* rgb = 0, std::vector<float>* reflectance = 0, std::vector<float>* amplitude = 0, std::vector<int>* type = 0, std::vector<float>* deviation = 0) = 0;
|
||||
|
||||
/**
|
||||
* Returns whether this ScanIO can load the requested data from a scan.
|
||||
*
|
||||
* @param type data channel request
|
||||
* @return whether it's supported or not
|
||||
*/
|
||||
virtual bool supports(IODataType type) = 0;
|
||||
|
||||
/**
|
||||
* @brief Global mapping of io_types to single instances of ScanIOs.
|
||||
*
|
||||
* If the ScanIO doesn't exist, it will be created and saved in a map.
|
||||
* Otherwise, the matching ScanIO will be returned.
|
||||
*
|
||||
* @param type Key identifying the ScanIO
|
||||
* @return The newly created or found ScanIO
|
||||
*/
|
||||
static ScanIO* getScanIO(IOType iotype);
|
||||
|
||||
//! Delete all ScanIO instances and (lazy) try to unload the libraries.
|
||||
static void clearScanIOs();
|
||||
private:
|
||||
static std::map<IOType, ScanIO *> m_scanIOs;
|
||||
};
|
||||
|
||||
// Since the shared object files are loaded on the fly, we
|
||||
// need class factories
|
||||
|
||||
// the types of the class factories
|
||||
typedef ScanIO* create_sio();
|
||||
typedef void destroy_sio(ScanIO*);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,219 @@
|
|||
/*
|
||||
* icp6Dlumquat implementation
|
||||
*
|
||||
* Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/** @file
|
||||
* @brief Implementation of the ICP error function minimization via
|
||||
* via linearization with quaternions
|
||||
*
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
||||
* @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany
|
||||
*
|
||||
*/
|
||||
|
||||
#include "slam6d/icp6Dlumquat.h"
|
||||
|
||||
#include "slam6d/globals.icc"
|
||||
#include <iomanip>
|
||||
using std::ios;
|
||||
using std::resetiosflags;
|
||||
using std::setiosflags;
|
||||
|
||||
#include "newmat/newmat.h"
|
||||
#include "newmat/newmatap.h"
|
||||
using namespace NEWMAT;
|
||||
/**
|
||||
* computes the rotation matrix consisting
|
||||
* of a rotation and translation that
|
||||
* minimizes the root-mean-square error of the
|
||||
* point pairs using linearization with quarernions
|
||||
* @param pairs Vector of point pairs (pairs of corresponding points)
|
||||
* @param *alignfx The resulting transformation matrix
|
||||
* @return Error estimation of the matching (rms)
|
||||
*/
|
||||
double icp6D_LUMQUAT::Point_Point_Align(const vector<PtPair>& pairs, double *alignfx,
|
||||
const double centroid_m[3], const double centroid_d[3])
|
||||
{
|
||||
// alignfx is filled with the current pose, t is the translation, quat is the quaternion
|
||||
double t[3], quat[4];
|
||||
Matrix4ToQuat(alignfx, quat, t);
|
||||
|
||||
|
||||
double error = 0;
|
||||
double sum = 0.0;
|
||||
for(unsigned int i = 0; i < pairs.size(); i++){
|
||||
sum += sqr(pairs[i].p1.x - pairs[i].p2.x)
|
||||
+ sqr(pairs[i].p1.y - pairs[i].p2.y)
|
||||
+ sqr(pairs[i].p1.z - pairs[i].p2.z) ;
|
||||
|
||||
}
|
||||
|
||||
error = sqrt(sum / (double)pairs.size());
|
||||
|
||||
if (!quiet) {
|
||||
cout.setf(ios::basefield);
|
||||
cout << "LUMQUAT RMS point-to-point error = "
|
||||
<< resetiosflags(ios::adjustfield) << setiosflags(ios::internal)
|
||||
<< resetiosflags(ios::floatfield) << setiosflags(ios::fixed)
|
||||
<< std::setw(10) << std::setprecision(7)
|
||||
<< error
|
||||
<< " using " << std::setw(6) << (int)pairs.size() << " points" << endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////
|
||||
|
||||
/// MZ = M^T * Z
|
||||
ColumnVector MZ(7); MZ = 0.0;
|
||||
/// MM = M^T * M
|
||||
Matrix MM(7, 7); MM = 0.0;
|
||||
double x = 0.0, y = 0.0, z = 0.0, dx = 0.0, dy = 0.0, dz = 0.0, sx = 0.0, sy = 0.0, sz = 0.0, xpy = 0.0, xpz = 0.0, ypz = 0.0, xpypz = 0.0, xy = 0.0, yz = 0.0, xz = 0.0;
|
||||
|
||||
for(unsigned int i = 0; i < pairs.size(); ++i) {
|
||||
/// temporary values that we shall use multiple times in the subsequent computations
|
||||
|
||||
x = (pairs[i].p1.x + pairs[i].p1.x) / 2.0;
|
||||
y = (pairs[i].p1.y + pairs[i].p2.y) / 2.0;
|
||||
z = (pairs[i].p1.z + pairs[i].p2.z) / 2.0;
|
||||
dx = pairs[i].p1.x - pairs[i].p2.x;
|
||||
dy = pairs[i].p1.y - pairs[i].p2.y;
|
||||
dz = pairs[i].p1.z - pairs[i].p2.z;
|
||||
|
||||
/// sums of each coordinate
|
||||
sx += x;
|
||||
sy += y;
|
||||
sz += z;
|
||||
|
||||
/// sums of squares of coordinates
|
||||
xpy += x*x + y*y;
|
||||
xpz += x*x + z*z;
|
||||
ypz += y*y + z*z;
|
||||
xpypz += x*x + y*y + z*z;
|
||||
|
||||
/// sums of products of pairs of coordinates
|
||||
xy += x*y;
|
||||
xz += x*z;
|
||||
yz += y*z;
|
||||
|
||||
/// incrementally construct matrix M^T * Z
|
||||
MZ(1) += dx;
|
||||
MZ(2) += dy;
|
||||
MZ(3) += dz;
|
||||
MZ(4) += x*dx + y*dy + z*dz;
|
||||
MZ(5) += z*dy - y*dz;
|
||||
MZ(6) += x*dz - z*dx;
|
||||
MZ(7) += y*dx - x*dy;
|
||||
}
|
||||
|
||||
/// construct M^ * M
|
||||
MM(1,1) = MM(2,2) = MM(3,3) = pairs.size();
|
||||
MM(4,4) = xpypz;
|
||||
MM(5,5) = ypz;
|
||||
MM(6,6) = xpz;
|
||||
MM(7,7) = xpy;
|
||||
MM(1,4) = MM(4,1) = sx;
|
||||
MM(1,6) = MM(6,1) = -sz;
|
||||
MM(1,7) = MM(7,1) = sy;
|
||||
MM(2,4) = MM(4,2) = sy;
|
||||
MM(2,5) = MM(5,2) = sz;
|
||||
MM(2,7) = MM(7,2) = -sx;
|
||||
MM(3,4) = MM(4,3) = sz;
|
||||
MM(3,5) = MM(5,3) = -sy;
|
||||
MM(3,6) = MM(6,3) = sx;
|
||||
MM(5,6) = MM(6,5) = -xy;
|
||||
MM(5,7) = MM(7,5) = -xz;
|
||||
MM(6,7) = MM(7,6) = -yz;
|
||||
|
||||
ColumnVector Ehat = MM.i() * MZ ;
|
||||
|
||||
|
||||
/// construct the auxiliary matrices U and T needed to build up H
|
||||
double p = quat[0], q = quat[1], r = quat[2], s = quat[3];
|
||||
x = t[0], y = t[1], z = t[2];
|
||||
Matrix U(4, 4);
|
||||
U << p << q << r << s
|
||||
<< q <<-p << s <<-r
|
||||
<< r <<-s <<-p << q
|
||||
<< s << r <<-q <<-p;
|
||||
|
||||
Matrix T(3, 4);
|
||||
T << p*x + s*y - r*z << q*x + r*y + s*z << r*x - q*y + p*z << s*x - p*y - q*z
|
||||
<<-s*x + p*y + q*z <<-r*x + q*y - p*z << q*x + r*y + s*z << p*x + s*y - r*z
|
||||
<< r*x - q*y + p*z <<-s*x + p*y + q*z <<-p*x - s*y + r*z << q*x + r*y - s*z;
|
||||
/// now actually compose matrix H
|
||||
Matrix H(7, 7); H = 0.0;
|
||||
H.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3);
|
||||
H.SubMatrix(1, 3, 4, 7) = T *(-2);
|
||||
H.SubMatrix(4, 7, 4, 7) = U * 2;
|
||||
|
||||
|
||||
/// Xhat is the pose estimate for the second scan - use the pose of the first scan
|
||||
ColumnVector Xhat(7); Xhat << x << y << z << p << q << r << s;
|
||||
|
||||
/// create a transformation matrix for the first scan with the given values
|
||||
Matrix T1(4, 4); T1 = 0.0;
|
||||
Matrix Cq(3, 3);
|
||||
ColumnVector qvec(3); qvec << q << r << s;
|
||||
Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0;
|
||||
ColumnVector qtq(1); qtq = qvec.t() *qvec * (-1);
|
||||
T1.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p;
|
||||
T1(1, 4) = x;
|
||||
T1(2, 4) = y;
|
||||
T1(3, 4) = z;
|
||||
T1(4, 4) = 1;
|
||||
|
||||
|
||||
/// the translation and quaternion for the second scan are computed
|
||||
ColumnVector X = Xhat - H.i() * Ehat;
|
||||
|
||||
|
||||
/// create the transformation matrix for the second scan
|
||||
x = X(1), y = X(2), z = X(3);
|
||||
p = X(4); q = X(5); r = X(6); s = X(7);
|
||||
Matrix T2(4, 4); T2 = 0.0;
|
||||
qvec = 0.0; qvec << q << r << s;
|
||||
Cq = 0.0; Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0;
|
||||
qtq = qvec.t() *qvec * (-1);
|
||||
T2.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p;
|
||||
T2(1, 4) = x;
|
||||
T2(2, 4) = y;
|
||||
T2(3, 4) = z;
|
||||
T2(4, 4) = 1;
|
||||
|
||||
/// the incremental transform calculated from the absolute poses of the two scans
|
||||
Matrix T_inc = T1 * T2.i();
|
||||
|
||||
/// convert our 4x4 transform to column-wise opengl form
|
||||
alignfx[0] = T_inc(1, 1);
|
||||
alignfx[1] = T_inc(2, 1);
|
||||
alignfx[2] = T_inc(3, 1);
|
||||
alignfx[3] = 0.0;
|
||||
alignfx[4] = T_inc(1, 2);
|
||||
alignfx[5] = T_inc(2, 2);
|
||||
alignfx[6] = T_inc(3, 2);
|
||||
alignfx[7] = 0.0;
|
||||
alignfx[8] = T_inc(1, 3);
|
||||
alignfx[9] = T_inc(2, 3);
|
||||
alignfx[10]= T_inc(3, 3);
|
||||
alignfx[11]= 0.0;
|
||||
alignfx[12]= T_inc(1, 4);
|
||||
alignfx[13]= T_inc(2, 4);
|
||||
alignfx[14]= T_inc(3, 4);
|
||||
alignfx[15]= 1.0;
|
||||
|
||||
/////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
return error;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
/**
|
||||
* @file panorama.h
|
||||
* @brife create panorama images from 3D scans.
|
||||
* This class is a panorama image container with different projections.
|
||||
* It creats panoramic images with specified resolutions.
|
||||
* @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
|
||||
* @date Date: 2012/05/23 2:00
|
||||
*/
|
||||
|
||||
#ifndef PANORAMA_H_
|
||||
#define PANORAMA_H_
|
||||
|
||||
#include "fbr_global.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
namespace fbr{
|
||||
/**
|
||||
* @class panorama : create panorama images with different projection methods from input scan files(Mat from scan_cv class) in opencv Mat format
|
||||
* @param iReflectance panorama image from reflectance data
|
||||
* @param iRange panorama image from range data
|
||||
* @param iMap panorama map of 3D cartesian coordinate of input scan(same points as iRange and iReflectance)
|
||||
* @param extendedIMap 3D vector as panorama map with all the points
|
||||
* @param iWidth width of the panorama image (cols in opencv)
|
||||
* @param iHeight height of panorama image (rows in opencv)
|
||||
* @param pMethod projection method for panorama creation
|
||||
* @param nImage number of images per scan specially for Rectilinear, Pannini and Stereographic projections
|
||||
* @param pParam special d parameter of Pannini projection (Master Thesis for more info) or special R parameter of Stereographic projection (Master Thesis for more info)
|
||||
*/
|
||||
class panorama{
|
||||
cv::Mat iReflectance;
|
||||
cv::Mat iMap;
|
||||
cv::Mat iRange;
|
||||
vector<vector<vector<cv::Vec3f> > > extendedIMap;
|
||||
unsigned int iWidth;
|
||||
unsigned int iHeight;
|
||||
projection_method pMethod;
|
||||
unsigned int nImages;
|
||||
double pParam;
|
||||
panorama_map_method mapMethod;
|
||||
|
||||
void init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
|
||||
void map(int x, int y, cv::MatIterator_<cv::Vec4f> it, double range);
|
||||
public:
|
||||
/**
|
||||
* constructor of class panorama
|
||||
* @param width the width of the panorama image
|
||||
* @param height the height of the panorama image
|
||||
* @param method the projection method
|
||||
* @param images number of subsets to crate panorama image
|
||||
* @param param special parameter for pannini or stereographic projections
|
||||
* @param mapMethod mapping method for panorama image and 3D points
|
||||
*/
|
||||
panorama (unsigned int width, unsigned int height, projection_method method);
|
||||
panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages);
|
||||
panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param);
|
||||
panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
|
||||
/**
|
||||
* @brief creates the panorama reflectance image and map.
|
||||
*/
|
||||
void createPanorama(cv::Mat scan);
|
||||
unsigned int getImageWidth();
|
||||
unsigned int getImageHeight();
|
||||
projection_method getProjectionMethod();
|
||||
unsigned int getNumberOfImages();
|
||||
double getProjectionParam();
|
||||
cv::Mat getReflectanceImage();
|
||||
cv::Mat getMap();
|
||||
cv::Mat getRangeImage();
|
||||
vector<vector<vector<cv::Vec3f> > > getExtendedMap();
|
||||
panorama_map_method getMapMethod();
|
||||
void getDescription();
|
||||
};
|
||||
}
|
||||
#endif /* PANORAMA_H_ */
|
||||
|
|
@ -0,0 +1,97 @@
|
|||
/**************************************************************************
|
||||
|
||||
quaternion.h
|
||||
|
||||
A quaternion class
|
||||
|
||||
---------------------------------------------------------------------
|
||||
|
||||
Feb 1998, Paul Rademacher (rademach@cs.unc.edu)
|
||||
|
||||
**************************************************************************/
|
||||
|
||||
#ifndef _QUATERNION_H_
|
||||
#define _QUATERNION_H_
|
||||
|
||||
#include "algebra3.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
/* this line defines a new type: pointer to a function which returns a */
|
||||
/* float and takes as argument a float */
|
||||
typedef float (*V_FCT_PTR)(float);
|
||||
|
||||
|
||||
/****************************************************************
|
||||
* Quaternion *
|
||||
****************************************************************/
|
||||
|
||||
class quat
|
||||
{
|
||||
/*protected: */
|
||||
public:
|
||||
|
||||
vec3 v; /* vector component */
|
||||
float s; /* scalar component */
|
||||
|
||||
/*public: */
|
||||
|
||||
/* Constructors */
|
||||
|
||||
quat(void);
|
||||
quat(const float x, const float y, const float z, const float w);
|
||||
quat( vec3 v, float s );
|
||||
quat( float s, vec3 v );
|
||||
quat(const float *d ); /* copy from four-element float array */
|
||||
quat(const double *f ); /* copy from four-element double array */
|
||||
quat(const quat &q ); /* copy from other quat */
|
||||
|
||||
/* Assignment operators */
|
||||
|
||||
quat &operator = ( const quat &v ); /* assignment of a quat */
|
||||
quat &operator += ( const quat &v ); /* incrementation by a quat */
|
||||
quat &operator -= ( const quat &v ); /* decrementation by a quat */
|
||||
quat &operator *= ( const float d ); /* multiplication by a constant */
|
||||
quat &operator /= ( const float d ); /* division by a constant */
|
||||
float &operator [] ( int i); /* indexing */
|
||||
|
||||
/* special functions */
|
||||
|
||||
float length(void); /* length of a quat */
|
||||
float length2(void); /* squared length of a quat */
|
||||
quat &normalize(void); /* normalize a quat */
|
||||
quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
|
||||
void set( float x, float y, float z ); /* set quat */
|
||||
void set( vec3 v, float s ); /* set quat */
|
||||
void print( FILE *file, char *name ); /* print quat to a file */
|
||||
vec3 xform( const vec3 &v ); /* q*v*q-1 */
|
||||
mat4 to_mat4( void );
|
||||
void set_angle( float f ); /* set rot angle (degrees) */
|
||||
void scale_angle( float f ); /* scale rot angle (degrees) */
|
||||
float get_angle( void ); /* set rot angle (degrees) */
|
||||
vec3 get_axis( void ); /* get axis */
|
||||
|
||||
/* friends */
|
||||
|
||||
friend quat operator - (const quat &v); /* -q1 */
|
||||
friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */
|
||||
friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */
|
||||
friend quat operator * (const quat &a, const float d); /* q1 * 3.0 */
|
||||
friend quat operator * (const float d, const quat &a); /* 3.0 * q1 */
|
||||
friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */
|
||||
friend quat operator / (const quat &a, const float d); /* q1 / 3.0 */
|
||||
friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */
|
||||
friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */
|
||||
friend void swap(quat &a, quat &b); /* swap q1 &q2 */
|
||||
/*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */
|
||||
/*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */
|
||||
friend quat prod(const quat &a, const quat &b); /* term by term mult */
|
||||
};
|
||||
|
||||
/* Utility functions */
|
||||
|
||||
quat quat_identity( void ); /* Returns quaternion identity element */
|
||||
quat quat_slerp( quat from, quat to, float t );
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,158 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_xyzr.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Reads specified scans from given directory.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function.
|
||||
*
|
||||
* This function actually implements loading of 3D scans
|
||||
* in UOS + reflectance file format and will be compiled as shared lib.
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_xyzr::readScans(int start, int end, string &dir, int maxDist, int minDist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
static int fileCounter = start;
|
||||
string scanFileName;
|
||||
string poseFileName;
|
||||
|
||||
ifstream scan_in, pose_in;
|
||||
|
||||
double maxDist2 = sqr(maxDist);
|
||||
double minDist2 = sqr(minDist);
|
||||
|
||||
int my_fileNr = fileCounter;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
/*
|
||||
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
|
||||
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
|
||||
|
||||
scan_in.open(scanFileName.c_str());
|
||||
pose_in.open(poseFileName.c_str());
|
||||
*/
|
||||
|
||||
scanFileName = dir + "konv_bremenc_" + to_string(fileCounter,3) + ".txt";
|
||||
scan_in.open(scanFileName.c_str());
|
||||
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
|
||||
pose_in.open(poseFileName.c_str());
|
||||
|
||||
// read 3D scan
|
||||
// if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
||||
if (!scan_in.good()) return -1; // no more files in the directory
|
||||
cout << "Processing Scan " << scanFileName;
|
||||
|
||||
if (pose_in.good()) {
|
||||
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
|
||||
|
||||
// convert angles from deg to rad
|
||||
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
|
||||
} else {
|
||||
cout << endl << "No pose estimate given." << endl;
|
||||
for (unsigned int i = 0; i < 6; euler[i++] = 0.0);
|
||||
}
|
||||
|
||||
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
||||
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
|
||||
|
||||
// convert angles from deg to rad
|
||||
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
|
||||
|
||||
// overread the first line
|
||||
char dummy[255];
|
||||
scan_in.getline(dummy, 255);
|
||||
|
||||
double tmp;
|
||||
while (scan_in.good()) {
|
||||
Point p;
|
||||
try {
|
||||
scan_in >> p;
|
||||
|
||||
p.x -= 485531.0;
|
||||
p.y -= 5882078.400;
|
||||
p.z -= 52;
|
||||
|
||||
tmp = p.z;
|
||||
p.z = p.y;
|
||||
p.y = tmp;
|
||||
|
||||
scan_in >> p.reflectance;
|
||||
} catch (...) {
|
||||
break;
|
||||
}
|
||||
// load points up to a certain distance only
|
||||
// maxDist2 = -1 indicates no limitation
|
||||
if ((maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) && (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2))
|
||||
ptss.push_back(p);
|
||||
}
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return my_fileNr;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_xyzr;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,925 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading a 3D CAD model and creating a 3D
|
||||
* surface sampling of it. This sampling is then used as an artificial
|
||||
* 3D scan in regular scan matching
|
||||
* @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_cad.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
#include <cmath>
|
||||
#include <limits>
|
||||
|
||||
// TODO: make eventually compatible to windoze
|
||||
#include <stdint.h> // can be changed to cstdint if -std=c++0x compiler flag is used
|
||||
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
#define BOOST_NEW_FS_API 104600
|
||||
|
||||
ScanIO_CAD::ScanIO_CAD (void) : _op_descr ("CAD Config Options")
|
||||
{
|
||||
setUpOptionDescription ();
|
||||
}
|
||||
|
||||
/**
|
||||
* Reads specified 'scans' from CAD models in a given directory.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function.
|
||||
*
|
||||
* Each CAD model will be represented by a sampling of 3D points on the
|
||||
* the surface of the CAD model. Currently the implementation is able to
|
||||
* handle CAD models in the .stl file format (binary or ASCII is fine).
|
||||
* In constrast to other ScanIOs only one 3D scan will be read (specified
|
||||
* by parameter start). Other data is generated from the (arbitrary) named
|
||||
* .stl files in the directory specified by argument dir. Parameter end is
|
||||
* soley kept to satisfy the general interface.
|
||||
*
|
||||
* !!!!!!
|
||||
* Config parameters are read from an (optional) config.txt in the scan directory.
|
||||
* A config.txt with content "help = 1" will print out all possible parameters.
|
||||
* !!!!!!
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_CAD::readScans(int start, int end, string &dir, int maxDist, int minDist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
/*
|
||||
* we need to read 1 normal scan (the first one) and afterwards
|
||||
* create point samplings of the CAD models
|
||||
*/
|
||||
static int fileCounter = start; // this is a really ugly hack...
|
||||
|
||||
// check before the first scan is read for a config file
|
||||
if (fileCounter == start)
|
||||
{
|
||||
// is there a config file ?
|
||||
std::string config_file_name = dir + "config.txt";
|
||||
std::ifstream config;
|
||||
config.open (config_file_name.c_str ());
|
||||
if (config.good ())
|
||||
{
|
||||
// parse the config to eventually overload default parameters
|
||||
parseConfig (config);
|
||||
}
|
||||
// else use the default parameters
|
||||
|
||||
// retrieve all stl files
|
||||
parseDirForAllSTL (dir);
|
||||
}
|
||||
|
||||
string scanFileName;
|
||||
string poseFileName;
|
||||
|
||||
ifstream scan_in, pose_in;
|
||||
|
||||
// clear the point vector (to make sure no old garbage is contained)
|
||||
ptss.clear ();
|
||||
|
||||
int my_fileNr = fileCounter;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
|
||||
fs::path stl_file;
|
||||
|
||||
// the first scan file name should be a .3d file
|
||||
if (fileCounter == start)
|
||||
{
|
||||
scanFileName = dir + "scan" + to_string(fileCounter, 3) + ".3d";
|
||||
poseFileName = dir + "scan" + to_string(fileCounter, 3) + ".pose";
|
||||
}
|
||||
// otherwise it should be a .stl file
|
||||
else
|
||||
{
|
||||
// get the next stl file if the directory contains one more
|
||||
if (getNextSTLFromDir (stl_file))
|
||||
{
|
||||
fs::path pose_file (stl_file);
|
||||
|
||||
// retrieve the the filenames according to the installed boost version
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
// change extension
|
||||
pose_file.replace_extension (".pose");
|
||||
scanFileName = stl_file.directory_string ();
|
||||
poseFileName = pose_file.directory_string ();
|
||||
#else
|
||||
// change extension
|
||||
pose_file.replace_extension (fs::path (".pose"));
|
||||
scanFileName = stl_file.string ();
|
||||
poseFileName = pose_file.string ();
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
// aparently no stl file available anymore
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
scan_in.open(scanFileName.c_str());
|
||||
pose_in.open(poseFileName.c_str());
|
||||
|
||||
// read pose information independent from file type
|
||||
// read 3D scan
|
||||
if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
||||
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing Scan " << scanFileName;
|
||||
|
||||
// read a 'normal' Slam6D Pose
|
||||
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
|
||||
|
||||
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
||||
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
|
||||
|
||||
// convert angles from deg to rad
|
||||
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
|
||||
|
||||
if (fileCounter == start)
|
||||
{
|
||||
read3DScan (scan_in, maxDist, minDist, ptss);
|
||||
}
|
||||
else
|
||||
{
|
||||
bool success = createSamplingFromSTL (scan_in, ptss);
|
||||
if (!success)
|
||||
{
|
||||
// terminate similar to missing file
|
||||
exit (1);
|
||||
}
|
||||
if (store_cad)
|
||||
{
|
||||
std::string stem;
|
||||
// get the string of the file-stem according to installed boost API
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
stem = stl_file.stem ();
|
||||
#else
|
||||
stem = stl_file.stem ().string ();
|
||||
#endif
|
||||
fs::path sample_file (stl_file);
|
||||
// is filename scanXXX.3d ?
|
||||
if (stem.substr (0, 4).compare ("scan") == 0 &&
|
||||
std::atoi (stem.substr (4).c_str ()) == fileCounter)
|
||||
{
|
||||
// replace the extension according to the installed boost API
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
sample_file.replace_extension (".3d");
|
||||
#else
|
||||
sample_file.replace_extension (fs::path (".3d"));
|
||||
#endif
|
||||
// the appropriate .pose file already exists
|
||||
}
|
||||
else
|
||||
{
|
||||
// generate appropriate filename
|
||||
std::string filename = "scan" + to_string (fileCounter, 3) + ".3d";
|
||||
sample_file.remove_filename ();
|
||||
sample_file /= filename;
|
||||
|
||||
// copy .pose file
|
||||
fs::path orig_pose (stl_file);
|
||||
fs::path copied_pose (sample_file);
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
orig_pose.replace_extension (".pose");
|
||||
copied_pose.replace_extension (".pose");
|
||||
#else
|
||||
orig_pose.replace_extension (fs::path (".pose"));
|
||||
copied_pose.replace_extension (fs::path (".pose"));
|
||||
#endif
|
||||
fs::copy_file (orig_pose, copied_pose, fs::copy_option::overwrite_if_exists);
|
||||
}
|
||||
// retrieve the filename according to the installed boost API
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
storeSamplingTo3D (sample_file.directory_string (), ptss);
|
||||
#else
|
||||
storeSamplingTo3D (sample_file.string (), ptss);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// close the filestreams
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return my_fileNr;
|
||||
}
|
||||
|
||||
/**
|
||||
* Helper function to read a regular UOS scan
|
||||
*/
|
||||
void
|
||||
ScanIO_CAD::read3DScan (std::ifstream &scan_in, int maxDist, int minDist,
|
||||
vector<Point> &points)
|
||||
{
|
||||
// reading regular uos scan (copy & paste from scan_io_uos.cc)
|
||||
// overread the first line
|
||||
char dummy[255];
|
||||
scan_in.getline(dummy, 255);
|
||||
double maxDist2 = sqr (maxDist);
|
||||
double minDist2 = sqr (minDist);
|
||||
|
||||
while (scan_in.good()) {
|
||||
Point p;
|
||||
try {
|
||||
scan_in >> p;
|
||||
} catch (...) {
|
||||
break;
|
||||
}
|
||||
// load points up to a certain distance only
|
||||
// maxDist2 = -1 indicates no limitation
|
||||
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
|
||||
{
|
||||
if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
|
||||
{
|
||||
points.push_back(p);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Helper function to create a 3D point sampling for a given .stl file
|
||||
*/
|
||||
bool
|
||||
ScanIO_CAD::createSamplingFromSTL (std::ifstream &scan_in,
|
||||
vector<Point> &points)
|
||||
{
|
||||
bool success;
|
||||
if (hasASCIIHeader (scan_in))
|
||||
{
|
||||
std::cout << "detected ASCII header, parsing file" << std::endl;
|
||||
success = parseASCII (scan_in, points);
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "couldn't detect ASCII header, trying to parse binary"
|
||||
<< std::endl;
|
||||
success = parseBinary (scan_in, points);
|
||||
}
|
||||
return success;
|
||||
}
|
||||
|
||||
bool
|
||||
ScanIO_CAD::hasASCIIHeader (std::ifstream &scan_in)
|
||||
{
|
||||
// store current get pointer position
|
||||
std::streampos current_pos = scan_in. tellg ();
|
||||
|
||||
bool is_ascii = true;
|
||||
|
||||
/* idea: check for the keywords with have to occur at the beginning
|
||||
* and the end of an ASCII .stl files
|
||||
* (see http://www.ennex.com/~fabbers/StL.asp for further specs)
|
||||
*/
|
||||
std::string solid ("solid");
|
||||
std::string last_line;
|
||||
std::string name;
|
||||
std::string last_read_string;
|
||||
|
||||
// go to the beginning of the ifstream
|
||||
scan_in.seekg (0, std::ios::beg);
|
||||
// read the first string
|
||||
scan_in >> last_read_string;
|
||||
if (solid.compare (last_read_string) != 0)
|
||||
{
|
||||
is_ascii = false;
|
||||
}
|
||||
if (is_ascii)
|
||||
{
|
||||
// read the next string (i.e. name of the stl)
|
||||
scan_in >> name;
|
||||
// generate expected last line
|
||||
last_line = "endsolid " + name;
|
||||
// set the get pointer to the correct position
|
||||
scan_in.seekg (-last_line.length () - 2, std::ios::end);
|
||||
scan_in >> last_read_string;
|
||||
if (last_read_string.compare ("endsolid") != 0)
|
||||
{
|
||||
is_ascii = false;
|
||||
}
|
||||
if (is_ascii)
|
||||
{
|
||||
scan_in >> last_read_string;
|
||||
if (last_read_string.compare (name) != 0)
|
||||
{
|
||||
is_ascii = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// reset the position of the get pointer to its original position
|
||||
scan_in.seekg (current_pos, std::ios::beg);
|
||||
return is_ascii;
|
||||
}
|
||||
|
||||
bool
|
||||
ScanIO_CAD::parseASCII (std::ifstream &scan_in, vector<Point> &points)
|
||||
{
|
||||
float vertex1[3];
|
||||
float vertex2[3];
|
||||
float vertex3[3];
|
||||
float raw_data[3];
|
||||
|
||||
unsigned int line_nr = 0;
|
||||
unsigned int face_counter = 0;
|
||||
|
||||
float* vertices[3];
|
||||
vertices[0] = vertex1;
|
||||
vertices[1] = vertex2;
|
||||
vertices[2] = vertex3;
|
||||
|
||||
bool success = true;
|
||||
bool reached_end = false;
|
||||
|
||||
// retrieve current pos of get pointer
|
||||
std::ios::streampos current_pos = scan_in.tellg ();
|
||||
|
||||
// set get pointer to beginning of file
|
||||
scan_in.seekg (0, std::ios::beg);
|
||||
|
||||
std::string read_key;
|
||||
std::string tmp;
|
||||
|
||||
// ignore first line, since in hasASCIIHeader ()
|
||||
std::getline (scan_in, read_key);
|
||||
line_nr++;
|
||||
|
||||
while (scan_in.good ())
|
||||
{
|
||||
// read first string at current position
|
||||
scan_in >> read_key;
|
||||
// determine if end of file reached
|
||||
if (read_key.compare ("endsolid") == 0)
|
||||
{
|
||||
reached_end = true;
|
||||
break;
|
||||
}
|
||||
// otherwise check if a new face begins
|
||||
if (read_key.compare ("facet") != 0 ||
|
||||
!scan_in.good ())
|
||||
{
|
||||
// no new face -> misformated .stl
|
||||
std::cout << "expected 'facet', contains '" << read_key.substr (0,5)
|
||||
<< "'" << std::endl;
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
// read the rest of the line (containing the normal)
|
||||
getline (scan_in, read_key);
|
||||
line_nr++;
|
||||
|
||||
// get the next 2 strings
|
||||
scan_in >> read_key;
|
||||
scan_in >> tmp;
|
||||
read_key += " " + tmp;
|
||||
if (read_key.compare ("outer loop") != 0 ||
|
||||
!scan_in.good ())
|
||||
{
|
||||
std::cout << "expected 'outer loop', read '" << read_key
|
||||
<< "' instead" << std::endl;
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
// read the rest of the line
|
||||
getline (scan_in, read_key);
|
||||
line_nr++;
|
||||
|
||||
// read the 3 vertices
|
||||
for (unsigned int i = 0; i < 3; ++i)
|
||||
{
|
||||
scan_in >> read_key;
|
||||
line_nr++;
|
||||
if (read_key.compare ("vertex") == 0)
|
||||
{
|
||||
// read x, y and z coordinate in this order
|
||||
scan_in >> raw_data[0] >> raw_data[1] >> raw_data[2];
|
||||
// scale and order according to the specified settings
|
||||
copyRawData2Vertex (raw_data, vertices[i]);
|
||||
if (!scan_in.good ())
|
||||
{
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// retrieve the closing tag for the vertices
|
||||
scan_in >> read_key;
|
||||
if (read_key.compare ("endloop") != 0 ||
|
||||
!scan_in.good ())
|
||||
{
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
// retrieve the rest of the current line
|
||||
getline (scan_in, read_key);
|
||||
line_nr++;
|
||||
|
||||
// retrieve the closing tag for the face
|
||||
scan_in >> read_key;
|
||||
if (read_key.compare ("endfacet") != 0 ||
|
||||
!scan_in.good ())
|
||||
{
|
||||
std::cout << "Expected 'endfacet', read '" << read_key
|
||||
<< "' instead" << std::endl;
|
||||
success = false;
|
||||
break;
|
||||
}
|
||||
// retrieve the rest of the line
|
||||
getline (scan_in, read_key);
|
||||
line_nr++;
|
||||
// increment nr of read faces
|
||||
face_counter++;
|
||||
// create the sampling for the face
|
||||
createSampingForFace (vertex1, vertex2, vertex3, points);
|
||||
}
|
||||
|
||||
if (!reached_end)
|
||||
{
|
||||
success = false;
|
||||
}
|
||||
|
||||
// reset position of get pointer
|
||||
scan_in.seekg (current_pos, std::ios::beg);
|
||||
|
||||
if (!success)
|
||||
{
|
||||
std::cerr << "Misformated ASCII .stl file. Parsing error in line "
|
||||
<< line_nr << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Created " << points.size () << " sample points for "
|
||||
<< face_counter << " faces." << std::endl;
|
||||
}
|
||||
return success;
|
||||
}
|
||||
|
||||
bool
|
||||
ScanIO_CAD::parseBinary (std::ifstream &scan_in, vector<Point> &points)
|
||||
{
|
||||
// TODO: make eventually compatible to windoze
|
||||
uint32_t nr_faces;
|
||||
uint32_t face_counter = 0;
|
||||
uint16_t attribute;
|
||||
|
||||
float normal[3];
|
||||
float vertex1[3];
|
||||
float vertex2[3];
|
||||
float vertex3[3];
|
||||
float raw_data[3];
|
||||
|
||||
bool success;
|
||||
|
||||
size_t header_size = 80; // defined in the binary .stl standard
|
||||
char* header = new char[header_size];
|
||||
|
||||
// retrieve the current get pointer position
|
||||
std::streampos current_pos = scan_in.tellg ();
|
||||
|
||||
// jump to begin of file
|
||||
scan_in.seekg (0, std::ios::beg);
|
||||
|
||||
if (scan_in.is_open ())
|
||||
{
|
||||
// read the header (unimportant for the sampling)
|
||||
scan_in.read (header, header_size);
|
||||
|
||||
// read nr of faces contained in stl file
|
||||
scan_in.read ((char*) &nr_faces, 4);
|
||||
|
||||
// try to read all faces
|
||||
for (face_counter = 0; face_counter < nr_faces; ++face_counter)
|
||||
{
|
||||
if (!scan_in.good ())
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
// read face normal (which we don't need)
|
||||
scan_in.read ((char*) &normal, 12);
|
||||
|
||||
// read the first vertex
|
||||
scan_in.read ((char*) &raw_data, 12);
|
||||
copyRawData2Vertex (raw_data, vertex1);
|
||||
|
||||
// read the second vertex
|
||||
scan_in.read ((char*) &raw_data, 12);
|
||||
copyRawData2Vertex (raw_data, vertex2);
|
||||
|
||||
// read the first vertex
|
||||
scan_in.read ((char*) &raw_data, 12);
|
||||
copyRawData2Vertex (raw_data, vertex3);
|
||||
|
||||
// read the attribute (which we don't need)
|
||||
scan_in.read ((char*) &attribute, 2);
|
||||
|
||||
// create the sampling for the current face
|
||||
createSampingForFace (vertex1, vertex2, vertex3, points);
|
||||
}
|
||||
}
|
||||
|
||||
// check if indeed the specified number of faces could be read
|
||||
if (face_counter == nr_faces)
|
||||
{
|
||||
success = true;
|
||||
std::cout << "Created " << points.size () << " sample points for "
|
||||
<< nr_faces << " faces." << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cerr << "Error parsing binary .stl file. Expected " << nr_faces
|
||||
<< " faces but could read only " << face_counter << std::endl;
|
||||
success = false;
|
||||
}
|
||||
|
||||
// reset the get pointer position;
|
||||
scan_in.seekg (current_pos, std::ios::beg);
|
||||
|
||||
delete [] header;
|
||||
return success;
|
||||
}
|
||||
|
||||
void
|
||||
ScanIO_CAD::createSampingForFace (float* vertex1, float* vertex2,
|
||||
float* vertex3, vector<Point> &points)
|
||||
{
|
||||
/*
|
||||
* Random sampling approach to sample a triangle:
|
||||
* First compute the area of the triangle and decide how many sample
|
||||
* points are needed; afterwards randomly create a number of points
|
||||
* inside the triangle
|
||||
*/
|
||||
|
||||
// get the area of the triangle
|
||||
float vector12[3];
|
||||
float vector13[3];
|
||||
float vector23[3];
|
||||
|
||||
for (unsigned int i = 0; i < 3; ++i)
|
||||
{
|
||||
vector12[i] = vertex2[i] - vertex1[i];
|
||||
vector13[i] = vertex3[i] - vertex1[i];
|
||||
vector23[i] = vertex3[i] - vertex2[i];
|
||||
}
|
||||
|
||||
float a, b, c;
|
||||
a = b = c = 0.0f;
|
||||
|
||||
a = dotProd (vector12, vector12);
|
||||
b = dotProd (vector13, vector13);
|
||||
c = dotProd (vector23, vector23);
|
||||
|
||||
a = sqrt (a);
|
||||
b = sqrt (b);
|
||||
c = sqrt (c);
|
||||
|
||||
float s = a + b + c;
|
||||
s /= 2.0f;
|
||||
|
||||
float area = sqrt (s * (s - a) * (s - b) * (s - c));
|
||||
|
||||
unsigned int nr_sample_points, nr_added_points;
|
||||
|
||||
nr_sample_points = area / (sample_point_dist * sample_point_dist);
|
||||
nr_added_points = 0;
|
||||
|
||||
if (nr_sample_points > 3)
|
||||
{
|
||||
points.reserve (points.size () + nr_sample_points);
|
||||
|
||||
float u, v;
|
||||
float point_in_triangle[3];
|
||||
|
||||
while (nr_added_points < nr_sample_points)
|
||||
{
|
||||
// randomly generate scalar u and v in [0,1]
|
||||
u = (float) std::rand () / (float) RAND_MAX;
|
||||
v = (float) std::rand () / (float) RAND_MAX;
|
||||
|
||||
// check if u and v are smaller than 1.0 (i.e. point is in triangle)
|
||||
if (u + v <= 1.0f)
|
||||
{
|
||||
for (unsigned int i = 0; i < 3; ++i)
|
||||
{
|
||||
point_in_triangle[i] = vertex1[i] + u * vector12[i] + v * vector13[i];
|
||||
}
|
||||
points.push_back (Point (point_in_triangle[0],
|
||||
point_in_triangle[1], point_in_triangle[2]));
|
||||
nr_added_points++;
|
||||
}
|
||||
}
|
||||
}
|
||||
// for a small face just add the corners to the sample points
|
||||
else
|
||||
{
|
||||
points.reserve (points.size () + 3);
|
||||
points.push_back (Point (vertex1[0], vertex1[1], vertex1[2]));
|
||||
points.push_back (Point (vertex2[0], vertex2[1], vertex2[2]));
|
||||
points.push_back (Point (vertex3[0], vertex3[1], vertex3[2]));
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ScanIO_CAD::storeSamplingTo3D (std::string filename, vector<Point> &points)
|
||||
{
|
||||
std::ofstream sample_file (filename.c_str ());
|
||||
|
||||
// write header
|
||||
sample_file << "# artificial scan from cad model '" << filename
|
||||
<< "', containing " << points.size () << " sample points" << std::endl;
|
||||
// write all points
|
||||
vector<Point>::const_iterator it = points.begin ();
|
||||
while (it != points.end ())
|
||||
{
|
||||
sample_file << *it++ << std::endl;
|
||||
}
|
||||
|
||||
sample_file.flush ();
|
||||
sample_file.close ();
|
||||
}
|
||||
|
||||
float
|
||||
ScanIO_CAD::dotProd (const float* vec1, const float* vec2)
|
||||
{
|
||||
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
|
||||
}
|
||||
|
||||
void
|
||||
ScanIO_CAD::parseConfig (std::ifstream &config)
|
||||
{
|
||||
try
|
||||
{
|
||||
po::store (po::parse_config_file (config, _op_descr), _vmap);
|
||||
}
|
||||
catch (std::exception &e)
|
||||
{
|
||||
std::cout << "illegal parameter in config file:" << std::endl
|
||||
<< e.what () << std::endl << std::endl;
|
||||
std::cout << "The following options are available:" << std::endl;
|
||||
std::cout << _op_descr << std::endl;
|
||||
config.close ();
|
||||
exit (-1);
|
||||
}
|
||||
catch (...)
|
||||
{
|
||||
std::cerr << "this line shouldn't have been reached ever" << std::endl;
|
||||
config.close ();
|
||||
exit (-2);
|
||||
}
|
||||
|
||||
po::notify (_vmap);
|
||||
|
||||
if (_vmap.count ("help"))
|
||||
{
|
||||
std::cout << _op_descr << std::endl;
|
||||
// when help is enabled we'll just exit
|
||||
exit (1);
|
||||
}
|
||||
std::cout << "'store_cad' ";
|
||||
if (store_cad)
|
||||
std::cout << "was set to true";
|
||||
else
|
||||
std::cout << "was set to false";
|
||||
std::cout << endl;
|
||||
|
||||
if (x_index == y_index)
|
||||
{
|
||||
std::cout << "Warning: x_index = y_index = " << x_index << std::endl;
|
||||
}
|
||||
if (x_index == z_index)
|
||||
{
|
||||
std::cout << "Warning: x_index = z_index = " << x_index << std::endl;
|
||||
}
|
||||
if (y_index == z_index)
|
||||
{
|
||||
std::cout << "Warning: y_index = z_index = " << y_index << std::endl;
|
||||
}
|
||||
|
||||
if (fabs (x_scale - STD_X_SCALE) > std::numeric_limits<float>::epsilon () ||
|
||||
fabs (y_scale - STD_Y_SCALE) > std::numeric_limits<float>::epsilon () ||
|
||||
fabs (z_scale - STD_Z_SCALE) > std::numeric_limits<float>::epsilon ())
|
||||
{
|
||||
this->individual_scale = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
this->individual_scale = false;
|
||||
}
|
||||
|
||||
config.close ();
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
ScanIO_CAD::copyRawData2Vertex (float *raw_data, float *vertex)
|
||||
{
|
||||
// copy the raw data to the desired positions
|
||||
vertex[0] = raw_data[x_index];
|
||||
vertex[1] = raw_data[y_index];
|
||||
vertex[2] = raw_data[z_index];
|
||||
|
||||
// any axis to be inverted in the data converted to scan coords?
|
||||
if (invert_x)
|
||||
vertex[0] *= -1.0f;
|
||||
if (invert_y)
|
||||
vertex[1] *= -1.0f;
|
||||
if (invert_z)
|
||||
vertex[2] *= -1.0f;
|
||||
|
||||
// scale with individual scale_factor
|
||||
if (individual_scale)
|
||||
{
|
||||
vertex[0] *= x_scale;
|
||||
vertex[1] *= y_scale;
|
||||
vertex[2] *= z_scale;
|
||||
// scale additionally with general scale factor
|
||||
if (combine_scales)
|
||||
{
|
||||
vertex[0] *= scale_factor;
|
||||
vertex[1] *= scale_factor;
|
||||
vertex[2] *= scale_factor;
|
||||
}
|
||||
}
|
||||
// scale with the general scale factor
|
||||
else
|
||||
{
|
||||
vertex[0] *= scale_factor;
|
||||
vertex[1] *= scale_factor;
|
||||
vertex[2] *= scale_factor;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ScanIO_CAD::setUpOptionDescription (void)
|
||||
{
|
||||
// just something for a little nicer output formating
|
||||
std::stringstream x_ss;
|
||||
x_ss << STD_X_SCALE;
|
||||
std::stringstream y_ss;
|
||||
y_ss << STD_Y_SCALE;
|
||||
std::stringstream z_ss;
|
||||
z_ss << STD_Z_SCALE;
|
||||
std::stringstream scale_ss;
|
||||
scale_ss << STD_SCALE_FACTOR;
|
||||
|
||||
// set up the options descriptions
|
||||
_op_descr.add_options ()
|
||||
("help", "produce this help message")
|
||||
("store_cad",
|
||||
po::value<bool> (&store_cad)->default_value (STD_STORE_CAD),
|
||||
"determine storage of sampled cad")
|
||||
("sample_dist",
|
||||
po::value<float> (&sample_point_dist)->default_value (STD_SAMPLE_DIST),
|
||||
"approximate distance of sample points")
|
||||
("random_sampling",
|
||||
po::value<bool> (&random_sampling)->default_value (STD_RND_SAMP),
|
||||
"enables/diables random surface sampling")
|
||||
("x_index",
|
||||
po::value<unsigned int> (&x_index)->default_value (STD_X_INDEX),
|
||||
"array index for the x coordinate (default should work for UOS scans)")
|
||||
("y_index",
|
||||
po::value<unsigned int> (&y_index)->default_value (STD_Y_INDEX),
|
||||
"array index for the y coordinate (default should work for UOS scans)")
|
||||
("z_index",
|
||||
po::value<unsigned int> (&z_index)->default_value (STD_Z_INDEX),
|
||||
"array index for the z coordinate (default should work for UOS scans)")
|
||||
("scale_factor",
|
||||
po::value<float> (&scale_factor)->default_value (STD_SCALE_FACTOR,
|
||||
scale_ss.str ()),
|
||||
"set general scale factor for x-, y- and z-axis")
|
||||
("x_scale",
|
||||
po::value<float> (&x_scale)->default_value (STD_X_SCALE, x_ss.str ()),
|
||||
"scale factor to convert the x coordinate of the CAD models to scan scale")
|
||||
("y_scale",
|
||||
po::value<float> (&y_scale)->default_value (STD_Y_SCALE, y_ss.str ()),
|
||||
"scale factor to convert the y coordinate of the CAD models to scan scale")
|
||||
("z_scale",
|
||||
po::value<float> (&z_scale)->default_value (STD_Z_SCALE, z_ss.str ()),
|
||||
"scale factor to convert the z coordinate of the CAD models to scan scale")
|
||||
("combine_scales",
|
||||
po::value<bool> (&combine_scales)->default_value (STD_COMBINE_SCALES),
|
||||
"enables combining of general scale factor and individual scale factors")
|
||||
("invert_x",
|
||||
po::value<bool> (&invert_x)->default_value (STD_INVERT_AXIS),
|
||||
"inverts the direction of the CAD models x-axis")
|
||||
("invert_y",
|
||||
po::value<bool> (&invert_y)->default_value (STD_INVERT_AXIS),
|
||||
"inverts the direction of the CAD models y-axis")
|
||||
("invert_z",
|
||||
po::value<bool> (&invert_z)->default_value (STD_INVERT_AXIS),
|
||||
"inverts the direction of the CAD models z-axis")
|
||||
;
|
||||
}
|
||||
|
||||
void
|
||||
ScanIO_CAD::parseDirForAllSTL (std::string &directory_name)
|
||||
{
|
||||
// make sure nothing is stored in the stl file vector
|
||||
_stl_files.clear ();
|
||||
|
||||
// get a directory iterator to mark the end of the directory
|
||||
fs::path dir (directory_name);
|
||||
fs::directory_iterator end;
|
||||
|
||||
// iterate over the complete directory
|
||||
for (fs::directory_iterator pos (dir); pos != end; ++pos)
|
||||
{
|
||||
if (fs::is_regular_file (*pos))
|
||||
{
|
||||
std::string extension;
|
||||
// retrieve the extension string according to the installed boost API
|
||||
#if BOOST_VERSION < BOOST_NEW_FS_API
|
||||
extension = pos->path ().extension ();
|
||||
#else
|
||||
extension = pos->path ().extension ().string ();
|
||||
#endif
|
||||
std::for_each (extension.begin (), extension.end (), ::tolower);
|
||||
|
||||
// add all stl files into the vector
|
||||
if (extension.compare (".stl") == 0)
|
||||
{
|
||||
_stl_files.push_back ((*pos));
|
||||
}
|
||||
}
|
||||
}
|
||||
_stl_files_pos = 0;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
ScanIO_CAD::getNextSTLFromDir (fs::path &stl_file)
|
||||
{
|
||||
if (_stl_files_pos < _stl_files.size ())
|
||||
{
|
||||
stl_file = _stl_files[_stl_files_pos++];
|
||||
return true;
|
||||
}
|
||||
// return an empty path
|
||||
stl_file = fs::path ();
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_CAD;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,148 @@
|
|||
/*
|
||||
* calibrate implementation
|
||||
*
|
||||
* Copyright (C) Stanislav Serebryakov
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include <cv.h>
|
||||
#include <highgui.h>
|
||||
|
||||
|
||||
void usage(char *progName) {
|
||||
printf("%s <board-size-x> <board-size-y> <square-size> <images-list>\n", progName);
|
||||
printf("\twhere board-size-x and y is count of *inner* corners of the booard");
|
||||
printf("i.e.: %s 6 4 0.04 image*\n", progName);
|
||||
printf("Use more then ten images.\nPress space bar to proceed.\n");
|
||||
}
|
||||
|
||||
void calibrate( CvMat *intrinsic, CvMat *distortion, CvSize imgSz, CvSize boardSz
|
||||
, double boardSide, CvPoint2D32f **corners, int boardsCnt) {
|
||||
|
||||
int totalPoints = boardSz.width * boardSz.height;
|
||||
// object points (model)
|
||||
CvMat *objPts = cvCreateMat(totalPoints * boardsCnt, 3, CV_32FC1);
|
||||
// found points
|
||||
CvMat *imgPts = cvCreateMat(totalPoints * boardsCnt, 2, CV_32FC1);
|
||||
// points count
|
||||
CvMat *ptsCnt = cvCreateMat(boardsCnt, 1, CV_32SC1);
|
||||
|
||||
// copy corners to matrix and fill model matrix
|
||||
for(int i = 0; i < boardsCnt; i++) {
|
||||
for(int j = 0; j < totalPoints; j++) {
|
||||
int s = i * totalPoints;
|
||||
CV_MAT_ELEM(*imgPts, float, s+j, 0) = corners[i][j].x;
|
||||
CV_MAT_ELEM(*imgPts, float, s+j, 1) = corners[i][j].y;
|
||||
CV_MAT_ELEM(*objPts, float, s+j, 0) = boardSide * (j / boardSz.width);
|
||||
CV_MAT_ELEM(*objPts, float, s+j, 1) = boardSide * (j % boardSz.width);
|
||||
CV_MAT_ELEM(*objPts, float, s+j, 2) = 0.0f;
|
||||
}
|
||||
CV_MAT_ELEM(*ptsCnt, int, i, 0) = totalPoints;
|
||||
}
|
||||
|
||||
// initial guess
|
||||
CV_MAT_ELEM(*intrinsic, float, 0, 0) = 1.0f;
|
||||
CV_MAT_ELEM(*intrinsic, float, 1, 1) = 1.0f;
|
||||
|
||||
cvCalibrateCamera2( objPts, imgPts, ptsCnt, imgSz
|
||||
, intrinsic, distortion
|
||||
, NULL, NULL, 0 );
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
if(argc < 5) {
|
||||
usage(argv[0]);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int patx = atoi(argv[1]);
|
||||
int paty = atoi(argv[2]);
|
||||
CvSize boardSz = cvSize(patx, paty);
|
||||
int loadImageCnt = argc - 4;
|
||||
int cornersTotal = boardSz.width * boardSz.height;
|
||||
float boardSide = atof(argv[3]);;
|
||||
char **images = &argv[4];
|
||||
|
||||
// intrinsic matrices and ditortion params
|
||||
CvMat *intrinsic = cvCreateMat(3, 3, CV_32F);
|
||||
CvMat *distortion = cvCreateMat(1, 4, CV_32F);
|
||||
|
||||
|
||||
IplImage *img = cvLoadImage(images[0], CV_LOAD_IMAGE_GRAYSCALE);
|
||||
IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3);
|
||||
|
||||
int subpixel;
|
||||
if(cvGetSize(img).width < 300) {
|
||||
subpixel = 4;
|
||||
}
|
||||
else {
|
||||
subpixel = 11;
|
||||
}
|
||||
|
||||
int imagesWithBoard = 0;
|
||||
|
||||
CvPoint2D32f **corners = (CvPoint2D32f**)calloc(100, sizeof(CvPoint2D32f*));
|
||||
corners[0] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
|
||||
|
||||
|
||||
cvNamedWindow("Cam", 0);
|
||||
|
||||
for(int imagesLoaded = 0; imagesLoaded < loadImageCnt; imagesLoaded++) {
|
||||
img = cvLoadImage(images[imagesLoaded], CV_LOAD_IMAGE_GRAYSCALE);
|
||||
|
||||
cvCvtColor(img, imgColor, CV_GRAY2BGR);
|
||||
|
||||
int cornersCount;
|
||||
|
||||
int found = cvFindChessboardCorners(img, boardSz, corners[imagesWithBoard],
|
||||
&cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
|
||||
if(found) cvFindCornerSubPix(img, corners[imagesWithBoard], cornersCount, cvSize(subpixel, subpixel), cvSize(-1,-1),
|
||||
cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
|
||||
|
||||
if(found && (cornersCount == cornersTotal)) {
|
||||
cvDrawChessboardCorners(imgColor, boardSz, corners[imagesWithBoard], cornersCount, found);
|
||||
imagesWithBoard++;
|
||||
corners[imagesWithBoard] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
|
||||
}
|
||||
cvShowImage("Cam", imgColor);
|
||||
cvWaitKey(0);
|
||||
|
||||
}
|
||||
|
||||
cvDestroyAllWindows();
|
||||
|
||||
printf("calibrating...\n");
|
||||
fflush(stdout);
|
||||
|
||||
//TODO: can be started in parallel to watch calibration on image undistortion :)
|
||||
calibrate(intrinsic, distortion, cvGetSize(img), boardSz, boardSide, corners, imagesWithBoard);
|
||||
|
||||
// save to xml files
|
||||
cvSave("./intrinsic.xml", intrinsic);
|
||||
cvSave("./distortion.xml", distortion);
|
||||
printf("matrices saved to xml files.\n");
|
||||
|
||||
// let OS clean all images and matrices
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/*void usage(char *progName) {
|
||||
printf( "usage:\n \
|
||||
%s <x> <y> <camera-id> [-s]\n \
|
||||
\tcamera-id is v4l id or -1 for pmd cam \
|
||||
\tpress space or 'a' to grab image\n \
|
||||
\tpress 'n' to skip grabbed frame\n \
|
||||
\tpress 'c' to finish frame grabbing start calibration\n \
|
||||
or:\n \
|
||||
%s <x> <y> <image1cam.jpg, image1pmd.jpg, image2cam.png...>\n", progName, progName);
|
||||
fflush(stdout);
|
||||
}*/
|
||||
|
||||
|
|
@ -0,0 +1,209 @@
|
|||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Name: spinctld.h
|
||||
// Purpose: A double valued spin control, compatible with wxSpinCtrl
|
||||
// Author: John Labenski
|
||||
// Created: 11/05/02
|
||||
// Copyright: John Labenski, 2002
|
||||
// License: wxWidgets
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/*
|
||||
wxSpinCtrlDbl is a double valued wxSpinCtrl using non native (wxWidgets) widgets
|
||||
|
||||
It consists of a wxSpinButton and a wxTextCtrl on a wxControl and can be used
|
||||
as a drop in replacement for the wxSpinCtrl. It's been tested in GTK and MSW
|
||||
and should work with MAC, but you may need to fix the sizing perhaps. It
|
||||
will not work in Motif as there is no wxSpinButton in Motif.
|
||||
|
||||
Differences to wxSpinCtrl:
|
||||
|
||||
It remembers the initial value as a default value, call SetDefaultValue,
|
||||
or press <ESC> to return to it
|
||||
|
||||
Shift + Arrow = *2 increment value
|
||||
Ctrl + Arrow = *10 increment value
|
||||
Alt + Arrow = *100 increment value
|
||||
combinations of Shift, Ctrl, Alt increment by the product of the factors
|
||||
|
||||
PgUp & PgDn = *10 increment * the product of the Shift, Ctrl, Alt factors
|
||||
|
||||
<SPACE> sets the control's value to the it's last valid state
|
||||
|
||||
SetDigits controls the format of the text, # decimal places
|
||||
exponential uses the %.Xle format otherwise %.Xlf, where places = X
|
||||
for arbitray formats subclass control and override SyncSpinToText()
|
||||
for proper behavior when a user types in a value
|
||||
*/
|
||||
|
||||
#ifndef __wxSPINCTRLDBL_H__
|
||||
#define __wxSPINCTRLDBL_H__
|
||||
|
||||
#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA)
|
||||
#pragma interface "spinctld.h"
|
||||
#endif
|
||||
|
||||
#include "wx/spinbutt.h"
|
||||
#include "wx/spinctrl.h" // for EVT_SPINCTRL
|
||||
#include "wx/things/thingdef.h"
|
||||
|
||||
class WXDLLEXPORT wxTextCtrl;
|
||||
class WXDLLIMPEXP_THINGS wxSpinCtrlDblTextCtrl;
|
||||
|
||||
enum
|
||||
{
|
||||
wxSPINCTRLDBL_AUTODIGITS = -1 // try to autocalc the # of digits
|
||||
};
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxSpinCtrlDbl: public wxControl
|
||||
{
|
||||
public:
|
||||
wxSpinCtrlDbl() : wxControl() { Init(); }
|
||||
|
||||
// Native constructor - note &parent, this is to avoid ambiguity
|
||||
wxSpinCtrlDbl( wxWindow &parent, wxWindowID id,
|
||||
const wxString &value = wxEmptyString,
|
||||
const wxPoint& pos = wxDefaultPosition,
|
||||
const wxSize& size = wxSize(95,-1),
|
||||
long style = 0,
|
||||
double min = 0.0, double max = 100.0,
|
||||
double initial = 0.0,
|
||||
double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS,
|
||||
const wxString& name = _T("wxSpinCtrlDbl") )
|
||||
{
|
||||
Init();
|
||||
Create(&parent, id, value, pos, size, style,
|
||||
min, max, initial, increment, digits, name);
|
||||
}
|
||||
|
||||
// wxSpinCtrl compatibility, call SetIncrement(increment,digits) after
|
||||
wxSpinCtrlDbl( wxWindow *parent, wxWindowID id = wxID_ANY,
|
||||
const wxString &value = wxEmptyString,
|
||||
const wxPoint& pos = wxDefaultPosition,
|
||||
const wxSize& size = wxSize(95,-1),
|
||||
long style = 0,
|
||||
int min = 0, int max = 100,
|
||||
int initial = 0,
|
||||
const wxString& name = _T("wxSpinCtrlDbl") )
|
||||
{
|
||||
Init();
|
||||
Create(parent, id, value, pos, size, style,
|
||||
(double)min, (double)max, (double)initial, 1.0, -1, name);
|
||||
}
|
||||
|
||||
bool Create( wxWindow *parent,
|
||||
wxWindowID id = wxID_ANY,
|
||||
const wxString &value = wxEmptyString,
|
||||
const wxPoint& pos = wxDefaultPosition,
|
||||
const wxSize& size = wxSize(100,-1),
|
||||
long style = 0,
|
||||
double min = 0.0, double max = 100.0,
|
||||
double initial = 0.0,
|
||||
double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS,
|
||||
const wxString& name = _T("wxSpinCtrlDbl") );
|
||||
|
||||
virtual ~wxSpinCtrlDbl();
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// Public (normal usage) functions
|
||||
|
||||
enum formatType
|
||||
{
|
||||
lf_fmt, // %lf
|
||||
le_fmt, // %le
|
||||
lg_fmt // %lg
|
||||
};
|
||||
|
||||
virtual void SetValue( double value );
|
||||
void SetValue( double value, double min, double max, double increment,
|
||||
int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt )
|
||||
{ SetRange(min, max); SetIncrement(increment); SetDigits(digits, fmt); SetValue(value); }
|
||||
// Set the value as text, if force then set text as is
|
||||
virtual void SetValue( const wxString& text, bool force );
|
||||
// Set the allowed range, if max_val < min_val then no range and all vals allowed.
|
||||
void SetRange( double min_val, double max_val );
|
||||
// Set the increment to use when the spin button or arrow keys pressed.
|
||||
void SetIncrement( double increment );
|
||||
void SetIncrement( double increment, int digits, formatType fmt = lg_fmt )
|
||||
{ SetIncrement(increment); SetDigits(digits, fmt); }
|
||||
// Set the number of digits to show, use wxSPINCTRLDBL_AUTODIGITS
|
||||
// or specify exact number to show i.e. %.[digits]lf
|
||||
// The format type is used to create an appropriate format string.
|
||||
void SetDigits( int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt );
|
||||
// Set the format string to use, ie. format="%.2lf" for .01
|
||||
void SetFormat( const wxString& format );
|
||||
// Set the control the the default value.
|
||||
virtual void SetDefaultValue() { SetValue( m_default_value ); }
|
||||
// Set the value of the default value, default is the inital value.
|
||||
void SetDefaultValue( double default_value );
|
||||
// Force the value to always be divisible by the increment, initially off.
|
||||
// This uses the default_value as the basis, you'll get strange results
|
||||
// for very large differences between the current value and default value
|
||||
// when the increment is very small.
|
||||
void SetSnapToTicks(bool forceTicks);
|
||||
|
||||
double GetValue() const { return m_value; }
|
||||
double GetMin() const { return m_min; }
|
||||
double GetMax() const { return m_max; }
|
||||
virtual bool HasRange() const { return m_max >= m_min; }
|
||||
virtual bool InRange(double value) const { return !HasRange() || ((value >= m_min) && (value <= m_max)); }
|
||||
double GetIncrement() const { return m_increment; }
|
||||
int GetDigits() const { return m_digits; }
|
||||
wxString GetFormat() const { return m_textFormat; }
|
||||
double GetDefaultValue() const { return m_default_value; }
|
||||
bool GetSnapToTicks() const { return m_snap_ticks; }
|
||||
|
||||
bool IsDefaultValue() const { return (m_value == m_default_value); }
|
||||
|
||||
virtual bool SetFont( const wxFont &font );
|
||||
wxFont GetFont() const;
|
||||
|
||||
virtual bool SetBackgroundColour(const wxColour& colour);
|
||||
wxColour GetBackgroundColour() const;
|
||||
|
||||
virtual bool SetForegroundColour(const wxColour& colour);
|
||||
wxColour GetForegroundColour() const;
|
||||
|
||||
// for setting... stuff
|
||||
wxTextCtrl *GetTextCtrl() { return (wxTextCtrl*)m_textCtrl; }
|
||||
|
||||
protected:
|
||||
void OnSpinUp( wxSpinEvent &event );
|
||||
void OnSpinDown( wxSpinEvent &event );
|
||||
void OnTextEnter( wxCommandEvent &event );
|
||||
void OnText( wxCommandEvent &event );
|
||||
// the textctrl is subclassed to get at pgup/dn and then sent here
|
||||
void OnChar( wxKeyEvent &event );
|
||||
|
||||
virtual void SyncSpinToText(bool send_event = true, bool force_valid = true);
|
||||
|
||||
void DoSendEvent(); // send an event based on current state
|
||||
|
||||
virtual void DoSetSize(int x, int y, int width, int height,
|
||||
int sizeFlags = wxSIZE_AUTO);
|
||||
|
||||
virtual wxSize DoGetBestSize() const;
|
||||
|
||||
void OnFocus( wxFocusEvent& event ); // pass focus to textctrl, for wxTAB_TRAVERSAL
|
||||
void OnKillFocus( wxFocusEvent &event );
|
||||
|
||||
wxSpinButton *m_spinButton;
|
||||
wxSpinCtrlDblTextCtrl *m_textCtrl;
|
||||
|
||||
double m_min; // min allowed value
|
||||
double m_max; // max allowed value
|
||||
double m_value; // current value
|
||||
double m_default_value; // initial value, or SetDefaultValue(value)
|
||||
double m_increment; // how much to to add per spin
|
||||
int m_digits; // number of digits displayed after decimal point
|
||||
bool m_snap_ticks; // value is divisible by increment
|
||||
wxString m_textFormat; // used as wxString.Printf(m_textFormat.c_str(), m_value);
|
||||
|
||||
private:
|
||||
friend class wxSpinCtrlDblTextCtrl;
|
||||
|
||||
void Init();
|
||||
DECLARE_DYNAMIC_CLASS(wxSpinCtrlDbl)
|
||||
DECLARE_EVENT_TABLE()
|
||||
};
|
||||
|
||||
#endif // __wxSPINCTRLDBL_H__
|
||||
|
|
@ -0,0 +1,241 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Jochen Sprickerhof
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_uos_map_frames.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
#include <stdexcept>
|
||||
using std::exception;
|
||||
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Reads specified scans from given directory.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function.
|
||||
*
|
||||
* This function actually implements loading of 3D scans
|
||||
* in UOS file format and will be compiled as shared lib.
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_uos_map_frames::readScans(int start, int end, string &dir, int maxDist, int mindist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
static int fileCounter = start - 1;
|
||||
string scanFileName;
|
||||
string framesFileName;
|
||||
|
||||
ifstream scan_in, frames_in;
|
||||
|
||||
double maxDist2 = sqr(maxDist);
|
||||
|
||||
int my_fileNr = fileCounter;
|
||||
double transMat[16];
|
||||
int type;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
|
||||
if (fileCounter == start - 1) {
|
||||
|
||||
double c, s;
|
||||
|
||||
// read map as first 3D scan
|
||||
#define READ_MAP
|
||||
#ifdef READ_MAP
|
||||
scanFileName = dir + "Uni_Hannover.map";
|
||||
scan_in.open(scanFileName.c_str());
|
||||
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing 3D Map " << scanFileName << endl;
|
||||
|
||||
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
|
||||
|
||||
c = cos(rad(-191.0));
|
||||
s = sin(rad(-191.0));
|
||||
|
||||
while (scan_in.good()) {
|
||||
double x1, x2, z1, z2;
|
||||
double x1_t, x2_t, z1_t, z2_t;
|
||||
|
||||
scan_in >> x1_t >> z1_t >> x2_t >> z2_t;
|
||||
|
||||
x1_t = (x1_t - 113.07) * 100;
|
||||
x2_t = (x2_t - 113.07) * 100;
|
||||
z1_t = (z1_t + 64.05) * 100;
|
||||
z2_t = (z2_t + 64.05) * 100;
|
||||
|
||||
x1 = x1_t * c + z1_t * s;
|
||||
z1 = - x1_t * s + z1_t * c;
|
||||
|
||||
x2 = x2_t * c + z2_t * s;
|
||||
z2 = - x2_t * s + z2_t * c;
|
||||
|
||||
double length = sqrt(sqr(x2-x1) + sqr(z2-z1));
|
||||
double n_x = (x2 - x1) / length;
|
||||
double n_z = (z2 - z1) / length;
|
||||
|
||||
for (double t = 0.0; t < length; t += 25.0) {
|
||||
Point p;
|
||||
p.x = x1 + t * n_x - 713.832183017;
|
||||
p.z = z1 + t * n_z - 1238.220671;
|
||||
for (double y = -15.0; y < 1000; y += 25) {
|
||||
p.y = y + 13.8808;
|
||||
ptss.push_back(p);
|
||||
}
|
||||
}
|
||||
}
|
||||
cout << ptss.size() << endl;
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
#endif
|
||||
|
||||
#define READ_AERIAL
|
||||
#ifdef READ_AERIAL
|
||||
scanFileName = dir + "bereich_uni.txt";
|
||||
scan_in.open(scanFileName.c_str());
|
||||
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing 3D Aerial Map " << scanFileName << endl;
|
||||
|
||||
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
|
||||
|
||||
c = cos(rad(-191.0));
|
||||
s = sin(rad(-191.0));
|
||||
|
||||
while (scan_in.good()) {
|
||||
double x1, z1;
|
||||
double x1_t, y1_t, z1_t;
|
||||
|
||||
scan_in >> x1_t >> z1_t >> y1_t;
|
||||
|
||||
x1_t = (x1_t - 3548500 - 113.07) * 100;
|
||||
z1_t = (z1_t - 5806400 + 64.05) * 100;
|
||||
y1_t = (y1_t - 55.0) * 100;
|
||||
|
||||
x1 = x1_t * c + z1_t * s;
|
||||
z1 = - x1_t * s + z1_t * c;
|
||||
|
||||
Point p;
|
||||
p.x = x1 - 713.832183017;
|
||||
p.z = z1 - 1238.220671;
|
||||
p.y = y1_t + 13.8808;
|
||||
ptss.push_back(p);
|
||||
|
||||
}
|
||||
cout << "Map containts " << ptss.size() << " points" << endl;
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
#endif
|
||||
cout << "DONE" << endl;
|
||||
fileCounter++;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
|
||||
framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames";
|
||||
|
||||
scan_in.open(scanFileName.c_str());
|
||||
frames_in.open(framesFileName.c_str());
|
||||
|
||||
// read 3D scan
|
||||
if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
||||
if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); }
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing Scan " << scanFileName;
|
||||
|
||||
while(frames_in) {
|
||||
try {
|
||||
frames_in >> transMat >> type;
|
||||
}
|
||||
catch(const exception &e) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
Matrix4ToEuler(transMat, &euler[3], euler);
|
||||
|
||||
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
||||
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
|
||||
|
||||
// overread the first line
|
||||
char dummy[255];
|
||||
scan_in.getline(dummy, 255);
|
||||
|
||||
while (scan_in.good()) {
|
||||
Point p;
|
||||
try {
|
||||
scan_in >> p;
|
||||
} catch (...) {
|
||||
break;
|
||||
}
|
||||
// load points up to a certain distance only
|
||||
// maxDist2 = -1 indicates no limitation
|
||||
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
|
||||
ptss.push_back(p);
|
||||
}
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
frames_in.close();
|
||||
frames_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return my_fileNr;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_uos_map_frames;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
FIND_PACKAGE(OpenCV REQUIRED)
|
||||
|
||||
SET(FBR_IO_SRC scan_cv.cc)
|
||||
add_library(fbr_cv_io STATIC ${FBR_IO_SRC})
|
||||
|
||||
SET(FBR_PANORAMA_SRC panorama.cc)
|
||||
add_library(fbr_panorama STATIC ${FBR_PANORAMA_SRC})
|
||||
|
||||
SET(FBR_FEATURE_SRC feature.cc)
|
||||
add_library(fbr_feature STATIC ${FBR_FEATURE_SRC})
|
||||
|
||||
SET(FBR_FEATURE_MATCHER_SRC feature_matcher.cc)
|
||||
add_library(fbr_feature_matcher STATIC ${FBR_FEATURE_MATCHER_SRC})
|
||||
|
||||
SET(FBR_REGISTRATION_SRC registration.cc)
|
||||
add_library(fbr_registration STATIC ${FBR_REGISTRATION_SRC})
|
||||
|
||||
IF(WITH_FBR)
|
||||
SET(FBR_LIBS scan ANN ${OpenCV_LIBS})
|
||||
|
||||
add_executable(featurebasedregistration feature_based_registration.cc fbr_global.cc)
|
||||
target_link_libraries(featurebasedregistration fbr_cv_io fbr_panorama fbr_feature fbr_feature_matcher fbr_registration ${FBR_LIBS})
|
||||
ENDIF(WITH_FBR)
|
||||
|
|
@ -0,0 +1,156 @@
|
|||
------------------------------------------------------------
|
||||
ann_test: Version 1.0
|
||||
Copyright: David M. Mount and Sunil Arya.
|
||||
Latest Revision: Mar 1, 2005.
|
||||
------------------------------------------------------------
|
||||
|
||||
validate = on (Warning: this may slow execution time.)
|
||||
stats = query_stats
|
||||
[Read Data Points:
|
||||
data_size = 5000
|
||||
file_name = test2-data.pts
|
||||
dim = 8
|
||||
]
|
||||
[Read Query Points:
|
||||
query_size = 100
|
||||
file_name = test2-query.pts
|
||||
dim = 8
|
||||
]
|
||||
[Build ann-structure:
|
||||
split_rule = suggest
|
||||
shrink_rule = none
|
||||
data_size = 5000
|
||||
dim = 8
|
||||
bucket_size = 1
|
||||
process_time = 0.18 sec
|
||||
(Structure Statistics:
|
||||
n_nodes = 9999 (opt = 10000, best if < 100000)
|
||||
n_leaves = 5000 (0 contain no points)
|
||||
n_splits = 4999
|
||||
n_shrinks = 0
|
||||
empty_leaves = 0 percent (best if < 50 percent)
|
||||
depth = 17 (opt = 12, best if < 196)
|
||||
avg_aspect_ratio = 2.03396 (best if < 20)
|
||||
)
|
||||
]
|
||||
(Computing true nearest neighbors for validation. This may take time.)
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = standard
|
||||
epsilon = 0
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0008 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 269.6 : 154.1 ]< 68 , 1046 >
|
||||
splitting_nodes = [ 448.2 : 259.2 ]< 100 , 1858 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 717.8 : 412.6 ]< 168 , 2904 >
|
||||
points_visited = [ 269.6 : 154.1 ]< 68 , 1046 >
|
||||
coord_hits/pt = [ 0.1975 : 0.1075 ]< 0.0446 , 0.6974 >
|
||||
floating_ops_(K) = [ 8.492 : 4.716 ]< 1.939 , 32.61 >
|
||||
average_error = [ 0 : 0 ]< 0 , 0 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = priority
|
||||
epsilon = 0
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0011 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 237.7 : 131.6 ]< 68 , 801 >
|
||||
splitting_nodes = [ 408.1 : 227.7 ]< 100 , 1398 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 645.8 : 358.5 ]< 168 , 2149 >
|
||||
points_visited = [ 237.7 : 131.6 ]< 68 , 801 >
|
||||
coord_hits/pt = [ 0.1679 : 0.08993 ]< 0.0472 , 0.5492 >
|
||||
floating_ops_(K) = [ 10.83 : 6.344 ]< 2.638 , 38.3 >
|
||||
average_error = [ 0 : 0 ]< 0 , 0 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = standard
|
||||
epsilon = 0.1
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0006 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 200.9 : 115.8 ]< 51 , 762 >
|
||||
splitting_nodes = [ 344.9 : 202.4 ]< 77 , 1407 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 545.9 : 317.4 ]< 128 , 2169 >
|
||||
points_visited = [ 200.9 : 115.8 ]< 51 , 762 >
|
||||
coord_hits/pt = [ 0.1548 : 0.08517 ]< 0.0348 , 0.5494 >
|
||||
floating_ops_(K) = [ 6.606 : 3.703 ]< 1.513 , 25.14 >
|
||||
average_error = [ 0 : 0 ]< 0 , 0 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = priority
|
||||
epsilon = 0.1
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0007 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 176.1 : 101.1 ]< 49 , 629 >
|
||||
splitting_nodes = [ 314.3 : 186.9 ]< 77 , 1285 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 490.4 : 286.6 ]< 128 , 1914 >
|
||||
points_visited = [ 176.1 : 101.1 ]< 49 , 629 >
|
||||
coord_hits/pt = [ 0.1309 : 0.07112 ]< 0.0374 , 0.4332 >
|
||||
floating_ops_(K) = [ 8.205 : 4.999 ]< 2.032 , 33.27 >
|
||||
average_error = [ 0 : 0 ]< 0 , 0 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = standard
|
||||
epsilon = 0.5
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0002 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 83.07 : 46.06 ]< 23 , 264 >
|
||||
splitting_nodes = [ 163.4 : 94.86 ]< 42 , 512 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 246.5 : 140.2 ]< 67 , 776 >
|
||||
points_visited = [ 83.07 : 46.06 ]< 23 , 264 >
|
||||
coord_hits/pt = [ 0.0765 : 0.03992 ]< 0.0182 , 0.2192 >
|
||||
floating_ops_(K) = [ 3.224 : 1.734 ]< 0.891 , 9.572 >
|
||||
average_error = [ 0.0009039 : 0.009619 ]< 0 , 0.1516 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
[Run Queries:
|
||||
query_size = 100
|
||||
dim = 8
|
||||
search_method = priority
|
||||
epsilon = 0.5
|
||||
near_neigh = 3
|
||||
true_nn = 13
|
||||
query_time = 0.0004 sec/query (biased by perf measurements)
|
||||
(Performance stats: [ mean : stddev ]< min , max >
|
||||
leaf_nodes = [ 69.72 : 38.29 ]< 21 , 246 >
|
||||
splitting_nodes = [ 146.8 : 81.69 ]< 40 , 475 >
|
||||
shrinking_nodes = [ 0 : 0 ]< 0 , 0 >
|
||||
total_nodes = [ 216.5 : 118.8 ]< 65 , 721 >
|
||||
points_visited = [ 69.72 : 38.29 ]< 21 , 246 >
|
||||
coord_hits/pt = [ 0.06206 : 0.03155 ]< 0.0182 , 0.194 >
|
||||
floating_ops_(K) = [ 3.608 : 1.989 ]< 1.126 , 12.28 >
|
||||
average_error = [ 0.001425 : 0.011 ]< 0 , 0.1516 >
|
||||
rank_error = [ 0 : 0 ]< 0 , 0 >
|
||||
)
|
||||
]
|
||||
|
|
@ -0,0 +1,287 @@
|
|||
|
||||
//#define WANT_STREAM
|
||||
|
||||
|
||||
#include "include.h"
|
||||
|
||||
#include "newmat.h"
|
||||
|
||||
#include "tmt.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
using namespace NEWMAT;
|
||||
#endif
|
||||
|
||||
|
||||
/**************************** test program ******************************/
|
||||
|
||||
|
||||
void trymat2()
|
||||
{
|
||||
// cout << "\nSecond test of Matrix package\n\n";
|
||||
Tracer et("Second test of Matrix package");
|
||||
Tracer::PrintTrace();
|
||||
|
||||
int i,j;
|
||||
|
||||
Matrix M(3,5);
|
||||
for (i=1; i<=3; i++) for (j=1; j<=5; j++) M(i,j) = 100*i + j;
|
||||
Matrix X(8,10);
|
||||
for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j;
|
||||
Matrix Y = X; Matrix Z = X;
|
||||
{ X.SubMatrix(2,4,3,7) << M; }
|
||||
for (i=1; i<=3; i++) for (j=1; j<=5; j++) Y(i+1,j+2) = 100*i + j;
|
||||
Print(Matrix(X-Y));
|
||||
|
||||
|
||||
Real a[15]; Real* r = a;
|
||||
for (i=1; i<=3; i++) for (j=1; j<=5; j++) *r++ = 100*i + j;
|
||||
{ Z.SubMatrix(2,4,3,7) << a; }
|
||||
Print(Matrix(Z-Y));
|
||||
|
||||
{ M=33; X.SubMatrix(2,4,3,7) << M; }
|
||||
{ Z.SubMatrix(2,4,3,7) = 33; }
|
||||
Print(Matrix(Z-X));
|
||||
|
||||
for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j;
|
||||
Y = X;
|
||||
UpperTriangularMatrix U(5);
|
||||
for (i=1; i<=5; i++) for (j=i; j<=5; j++) U(i,j) = 100*i + j;
|
||||
{ X.SubMatrix(3,7,5,9) << U; }
|
||||
for (i=1; i<=5; i++) for (j=i; j<=5; j++) Y(i+2,j+4) = 100*i + j;
|
||||
for (i=1; i<=5; i++) for (j=1; j<i; j++) Y(i+2,j+4) = 0.0;
|
||||
Print(Matrix(X-Y));
|
||||
for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j;
|
||||
Y = X;
|
||||
for (i=1; i<=5; i++) for (j=i; j<=5; j++) U(i,j) = 100*i + j;
|
||||
{ X.SubMatrix(3,7,5,9).Inject(U); }
|
||||
for (i=1; i<=5; i++) for (j=i; j<=5; j++) Y(i+2,j+4) = 100*i + j;
|
||||
Print(Matrix(X-Y));
|
||||
|
||||
|
||||
// test growing and shrinking a vector
|
||||
{
|
||||
ColumnVector V(100);
|
||||
for (i=1;i<=100;i++) V(i) = i*i+i;
|
||||
V = V.Rows(1,50); // to get first 50 vlaues.
|
||||
|
||||
{
|
||||
V.Release(); ColumnVector VX=V;
|
||||
V.ReSize(100); V = 0.0; V.Rows(1,50)=VX;
|
||||
} // V now length 100
|
||||
|
||||
M=V; M=100; // to make sure V will hold its values
|
||||
for (i=1;i<=50;i++) V(i) -= i*i+i;
|
||||
Print(V);
|
||||
|
||||
|
||||
// test redimensioning vectors with two dimensions given
|
||||
ColumnVector CV1(10); CV1 = 10;
|
||||
ColumnVector CV2(5); CV2.ReSize(10,1); CV2 = 10;
|
||||
V = CV1-CV2; Print(V);
|
||||
|
||||
RowVector RV1(20); RV1 = 100;
|
||||
RowVector RV2; RV2.ReSize(1,20); RV2 = 100;
|
||||
V = (RV1-RV2).t(); Print(V);
|
||||
|
||||
X.ReSize(4,7);
|
||||
for (i=1; i<=4; i++) for (j=1; j<=7; j++) X(i,j) = 1000*i + 10*j;
|
||||
Y = 10.5 * X;
|
||||
Z = 7.25 - Y;
|
||||
M = Z + X * 10.5 - 7.25;
|
||||
Print(M);
|
||||
Y = 2.5 * X;
|
||||
Z = 9.25 + Y;
|
||||
M = Z - X * 2.5 - 9.25;
|
||||
Print(M);
|
||||
U.ReSize(8);
|
||||
for (i=1; i<=8; i++) for (j=i; j<=8; j++) U(i,j) = 100*i + j;
|
||||
Y = 100 - U;
|
||||
M = Y + U - 100;
|
||||
Print(M);
|
||||
}
|
||||
|
||||
{
|
||||
SymmetricMatrix S,T;
|
||||
|
||||
S << (U + U.t());
|
||||
T = 100 - S; M = T + S - 100; Print(M);
|
||||
T = 100 - 2 * S; M = T + S * 2 - 100; Print(M);
|
||||
X = 100 - 2 * S; M = X + S * 2 - 100; Print(M);
|
||||
T = S; T = 100 - T; M = T + S - 100; Print(M);
|
||||
}
|
||||
|
||||
// test new
|
||||
{
|
||||
ColumnVector CV1; RowVector RV1;
|
||||
Matrix* MX; MX = new Matrix; if (!MX) Throw(Bad_alloc("New fails "));
|
||||
MX->ReSize(10,20);
|
||||
for (i = 1; i <= 10; i++) for (j = 1; j <= 20; j++)
|
||||
(*MX)(i,j) = 100 * i + j;
|
||||
ColumnVector* CV = new ColumnVector(10);
|
||||
if (!CV) Throw(Bad_alloc("New fails "));
|
||||
*CV << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9 << 10;
|
||||
RowVector* RV = new RowVector(CV->t() | (*CV + 10).t());
|
||||
if (!RV) Throw(Bad_alloc("New fails "));
|
||||
CV1 = ColumnVector(10); CV1 = 1; RV1 = RowVector(20); RV1 = 1;
|
||||
*MX -= 100 * *CV * RV1 + CV1 * *RV;
|
||||
Print(*MX);
|
||||
delete MX; delete CV; delete RV;
|
||||
}
|
||||
|
||||
|
||||
// test copying of vectors and matrices with no elements
|
||||
{
|
||||
ColumnVector dims(16);
|
||||
Matrix M1; Matrix M2 = M1; Print(M2);
|
||||
dims(1) = M2.Nrows(); dims(2) = M2.Ncols();
|
||||
dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage();
|
||||
M2 = M1;
|
||||
dims(5) = M2.Nrows(); dims(6) = M2.Ncols();
|
||||
dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage();
|
||||
M2.ReSize(10,20); M2.CleanUp();
|
||||
dims(9) = M2.Nrows(); dims(10) = M2.Ncols();
|
||||
dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage();
|
||||
M2.ReSize(20,10); M2.ReSize(0,0);
|
||||
dims(13) = M2.Nrows(); dims(14) = M2.Ncols();
|
||||
dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage();
|
||||
Print(dims);
|
||||
}
|
||||
|
||||
{
|
||||
ColumnVector dims(16);
|
||||
ColumnVector M1; ColumnVector M2 = M1; Print(M2);
|
||||
dims(1) = M2.Nrows(); dims(2) = M2.Ncols()-1;
|
||||
dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage();
|
||||
M2 = M1;
|
||||
dims(5) = M2.Nrows(); dims(6) = M2.Ncols()-1;
|
||||
dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage();
|
||||
M2.ReSize(10); M2.CleanUp();
|
||||
dims(9) = M2.Nrows(); dims(10) = M2.Ncols()-1;
|
||||
dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage();
|
||||
M2.ReSize(10); M2.ReSize(0);
|
||||
dims(13) = M2.Nrows(); dims(14) = M2.Ncols()-1;
|
||||
dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage();
|
||||
Print(dims);
|
||||
}
|
||||
|
||||
{
|
||||
ColumnVector dims(16);
|
||||
RowVector M1; RowVector M2 = M1; Print(M2);
|
||||
dims(1) = M2.Nrows()-1; dims(2) = M2.Ncols();
|
||||
dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage();
|
||||
M2 = M1;
|
||||
dims(5) = M2.Nrows()-1; dims(6) = M2.Ncols();
|
||||
dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage();
|
||||
M2.ReSize(10); M2.CleanUp();
|
||||
dims(9) = M2.Nrows()-1; dims(10) = M2.Ncols();
|
||||
dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage();
|
||||
M2.ReSize(10); M2.ReSize(0);
|
||||
dims(13) = M2.Nrows()-1; dims(14) = M2.Ncols();
|
||||
dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage();
|
||||
Print(dims);
|
||||
}
|
||||
|
||||
// test identity matrix
|
||||
{
|
||||
Matrix M;
|
||||
IdentityMatrix I(10); DiagonalMatrix D(10); D = 1;
|
||||
M = I; M -= D; Print(M);
|
||||
D -= I; Print(D);
|
||||
ColumnVector X(8);
|
||||
D = 1;
|
||||
X(1) = Sum(D) - Sum(I);
|
||||
X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I);
|
||||
X(3) = SumSquare(D) - SumSquare(I);
|
||||
X(4) = Trace(D) - Trace(I);
|
||||
X(5) = Maximum(D) - Maximum(I);
|
||||
X(6) = Minimum(D) - Minimum(I);
|
||||
X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue();
|
||||
X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign();
|
||||
Clean(X,0.00000001); Print(X);
|
||||
|
||||
for (i = 1; i <= 10; i++) for (j = 1; j <= 10; j++)
|
||||
M(i,j) = 100 * i + j;
|
||||
Matrix N;
|
||||
N = M * I - M; Print(N);
|
||||
N = I * M - M; Print(N);
|
||||
N = M * I.i() - M; Print(N);
|
||||
N = I.i() * M - M; Print(N);
|
||||
N = I.i(); N -= I; Print(N);
|
||||
N = I.t(); N -= I; Print(N);
|
||||
N = I.t(); N += (-I); Print(N); // <----------------
|
||||
D = I; N = D; D = 1; N -= D; Print(N);
|
||||
N = I; D = 1; N -= D; Print(N);
|
||||
N = M + 2 * IdentityMatrix(10); N -= (M + 2 * D); Print(N);
|
||||
|
||||
I *= 4;
|
||||
|
||||
D = 4;
|
||||
|
||||
X.ReSize(14);
|
||||
X(1) = Sum(D) - Sum(I);
|
||||
X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I);
|
||||
X(3) = SumSquare(D) - SumSquare(I);
|
||||
X(4) = Trace(D) - Trace(I);
|
||||
X(5) = Maximum(D) - Maximum(I);
|
||||
X(6) = Minimum(D) - Minimum(I);
|
||||
X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue(); // <--
|
||||
X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign();
|
||||
int i,j;
|
||||
X(9) = I.Maximum1(i) - 4; X(10) = i-1;
|
||||
X(11) = I.Maximum2(i,j) - 4; X(12) = i-10; X(13) = j-10;
|
||||
X(14) = I.Nrows() - 10;
|
||||
Clean(X,0.00000001); Print(X);
|
||||
|
||||
|
||||
N = D.i();
|
||||
N += I / (-16);
|
||||
Print(N);
|
||||
N = M * I - 4 * M; Print(N);
|
||||
N = I * M - 4 * M; Print(N);
|
||||
N = M * I.i() - 0.25 * M; Print(N);
|
||||
N = I.i() * M - 0.25 * M; Print(N);
|
||||
N = I.i(); N -= I * 0.0625; Print(N);
|
||||
N = I.i(); N = N - 0.0625 * I; Print(N);
|
||||
N = I.t(); N -= I; Print(N);
|
||||
D = I * 2; N = D; D = 1; N -= 8 * D; Print(N);
|
||||
N = I * 2; N -= 8 * D; Print(N);
|
||||
N = 0.5 * I + M; N -= M; N -= 2.0 * D; Print(N);
|
||||
|
||||
IdentityMatrix J(10); J = 8;
|
||||
D = 4;
|
||||
DiagonalMatrix E(10); E = 8;
|
||||
N = (I + J) - (D + E); Print(N);
|
||||
N = (5*I + 3*J) - (5*D + 3*E); Print(N);
|
||||
N = (-I + J) - (-D + E); Print(N);
|
||||
N = (I - J) - (D - E); Print(N);
|
||||
N = (I | J) - (D | E); Print(N);
|
||||
N = (I & J) - (D & E); Print(N);
|
||||
N = SP(I,J) - SP(D,E); Print(N);
|
||||
N = D.SubMatrix(2,5,3,8) - I.SubMatrix(2,5,3,8); Print(N);
|
||||
|
||||
N = M; N.Inject(I); D << M; N -= (M + I); N += D; Print(N);
|
||||
D = 4;
|
||||
|
||||
IdentityMatrix K = I.i()*7 - J.t()/4;
|
||||
N = D.i() * 7 - E / 4 - K; Print(N);
|
||||
K = I * J; N = K - D * E; Print(N);
|
||||
N = I * J; N -= D * E; Print(N);
|
||||
K = 5*I - 3*J;
|
||||
N = K - (5*D - 3*E); Print(N);
|
||||
K = I.i(); N = K - 0.0625 * I; Print(N);
|
||||
K = I.t(); N = K - I; Print(N);
|
||||
|
||||
|
||||
K.ReSize(20); D.ReSize(20); D = 1;
|
||||
D -= K; Print(D);
|
||||
|
||||
I.ReSize(3); J.ReSize(3); K = I * J; N = K - I; Print(N);
|
||||
K << D; N = K - D; Print(N);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
// cout << "\nEnd of second test\n";
|
||||
}
|
||||
|
|
@ -0,0 +1,182 @@
|
|||
/*
|
||||
* elch6DunitQuat implementation
|
||||
*
|
||||
* Copyright (C) Jochen Sprickerhof
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @file ELCH implementation using unit Quaternions
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
|
||||
#include "slam6d/elch6DunitQuat.h"
|
||||
|
||||
#include "slam6d/metaScan.h"
|
||||
#include "slam6d/lum6Dquat.h"
|
||||
#include "slam6d/globals.icc"
|
||||
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#include <fstream>
|
||||
using std::ofstream;
|
||||
|
||||
#include <boost/graph/graph_traits.hpp>
|
||||
using boost::graph_traits;
|
||||
using namespace NEWMAT;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#define tie tr1::tie
|
||||
#endif
|
||||
|
||||
/**
|
||||
* ELCH loop closing function using unit Quaternion
|
||||
* matches first and last scan of a loop with ICP
|
||||
* distributes the error
|
||||
*
|
||||
* @param allScans all laser scans
|
||||
* @param first index of first laser scan in the loop
|
||||
* @param last indes of last laser scan in the loop
|
||||
* @param g graph for loop optimization
|
||||
*/
|
||||
void elch6DunitQuat::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
|
||||
{
|
||||
int n = num_vertices(g);
|
||||
graph_t grb[4];
|
||||
Matrix C(7, 7);
|
||||
graph_traits <graph_t>::edge_iterator ei, ei_end;
|
||||
for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) {
|
||||
int from = source(*ei, g);
|
||||
int to = target(*ei, g);
|
||||
lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C);
|
||||
C = C.i();
|
||||
for(int j = 0; j < 3; j++) {
|
||||
add_edge(from, to, abs(C(j + 1, j + 1)), grb[j]);
|
||||
}
|
||||
add_edge(from, to, abs(C(4, 4)) + abs(C(5, 5)) + abs(C(6, 6)) + abs(C(7, 7)), grb[3]);
|
||||
}
|
||||
|
||||
double *weights[4];
|
||||
for(int i = 0; i < 4; i++) {
|
||||
weights[i] = new double[n];
|
||||
graph_balancer(grb[i], first, last, weights[i]);
|
||||
}
|
||||
|
||||
vector <Scan *> meta_start;
|
||||
meta_start.push_back(allScans[first]);
|
||||
meta_start.push_back(allScans[first + 1]);
|
||||
meta_start.push_back(allScans[first + 2]);
|
||||
MetaScan *start = new MetaScan(meta_start, false, false);
|
||||
vector <Scan *> meta_end;
|
||||
meta_end.push_back(allScans[last - 2]);
|
||||
meta_end.push_back(allScans[last - 1]);
|
||||
meta_end.push_back(allScans[last]);
|
||||
MetaScan *end = new MetaScan(meta_end, false, false);
|
||||
|
||||
//save poses bevor ICP
|
||||
double pOld1[7], pOld2[7], pOld3[7];
|
||||
pOld1[0] = allScans[last]->get_rPos()[0];
|
||||
pOld1[1] = allScans[last]->get_rPos()[1];
|
||||
pOld1[2] = allScans[last]->get_rPos()[2];
|
||||
pOld1[3] = allScans[last]->get_rPosQuat()[0];
|
||||
pOld1[4] = allScans[last]->get_rPosQuat()[1];
|
||||
pOld1[5] = allScans[last]->get_rPosQuat()[2];
|
||||
pOld1[6] = allScans[last]->get_rPosQuat()[3];
|
||||
|
||||
pOld2[0] = allScans[last - 1]->get_rPos()[0];
|
||||
pOld2[1] = allScans[last - 1]->get_rPos()[1];
|
||||
pOld2[2] = allScans[last - 1]->get_rPos()[2];
|
||||
pOld2[3] = allScans[last - 1]->get_rPosQuat()[0];
|
||||
pOld2[4] = allScans[last - 1]->get_rPosQuat()[1];
|
||||
pOld2[5] = allScans[last - 1]->get_rPosQuat()[2];
|
||||
pOld2[6] = allScans[last - 1]->get_rPosQuat()[3];
|
||||
|
||||
pOld3[0] = allScans[last - 2]->get_rPos()[0];
|
||||
pOld3[1] = allScans[last - 2]->get_rPos()[1];
|
||||
pOld3[2] = allScans[last - 2]->get_rPos()[2];
|
||||
pOld3[3] = allScans[last - 2]->get_rPosQuat()[0];
|
||||
pOld3[4] = allScans[last - 2]->get_rPosQuat()[1];
|
||||
pOld3[5] = allScans[last - 2]->get_rPosQuat()[2];
|
||||
pOld3[6] = allScans[last - 2]->get_rPosQuat()[3];
|
||||
|
||||
double delta[3];
|
||||
delta[0] = allScans[last]->get_rPos()[0];
|
||||
delta[1] = allScans[last]->get_rPos()[1];
|
||||
delta[2] = allScans[last]->get_rPos()[2];
|
||||
double q1[4];
|
||||
q1[0] = allScans[last]->get_rPosQuat()[0];
|
||||
q1[1] = -allScans[last]->get_rPosQuat()[1];
|
||||
q1[2] = -allScans[last]->get_rPosQuat()[2];
|
||||
q1[3] = -allScans[last]->get_rPosQuat()[3];
|
||||
|
||||
my_icp6D->match(start, end);
|
||||
|
||||
delete start;
|
||||
delete end;
|
||||
|
||||
delta[0] = allScans[last]->get_rPos()[0] - delta[0];
|
||||
delta[1] = allScans[last]->get_rPos()[1] - delta[1];
|
||||
delta[2] = allScans[last]->get_rPos()[2] - delta[2];
|
||||
double q2[4];
|
||||
q2[0] = allScans[last]->get_rPosQuat()[0];
|
||||
q2[1] = allScans[last]->get_rPosQuat()[1];
|
||||
q2[2] = allScans[last]->get_rPosQuat()[2];
|
||||
q2[3] = allScans[last]->get_rPosQuat()[3];
|
||||
|
||||
double deltaQ[4];
|
||||
QMult(q2, q1, deltaQ); // q3 = q2*q1^-1
|
||||
|
||||
if(!quiet) {
|
||||
double axisangle[4];
|
||||
axisangle[0] = deltaQ[0];
|
||||
axisangle[1] = deltaQ[1];
|
||||
axisangle[2] = deltaQ[2];
|
||||
axisangle[3] = deltaQ[3];
|
||||
QuatToAA(axisangle);
|
||||
cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl;
|
||||
}
|
||||
|
||||
// restore poses after ICP matching
|
||||
allScans[last]->transformToQuat(pOld1, &pOld1[3], Scan::INVALID, -1);
|
||||
allScans[last - 1]->transformToQuat(pOld2, &pOld2[3], Scan::INVALID, -1);
|
||||
allScans[last - 2]->transformToQuat(pOld3, &pOld3[3], Scan::INVALID, -1);
|
||||
|
||||
//compute inverse rotation of Scan 0
|
||||
double scan0Pdelta[4], scan0Q[4];
|
||||
QMult(deltaQ, allScans[0]->get_rPosQuat(), scan0Pdelta);
|
||||
scan0Q[0] = (1 - weights[3][0]) * allScans[0]->get_rPosQuat()[0] + scan0Pdelta[0] * weights[3][0];
|
||||
scan0Q[1] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[1] + scan0Pdelta[1] * weights[3][0]);
|
||||
scan0Q[2] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[2] + scan0Pdelta[2] * weights[3][0]);
|
||||
scan0Q[3] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[3] + scan0Pdelta[3] * weights[3][0]);
|
||||
Normalize4(scan0Q);
|
||||
QMult(allScans[0]->get_rPosQuat(), scan0Q, scan0Pdelta);
|
||||
|
||||
double rPos[3], rPosQuat[4], tmpquat[4];
|
||||
for(int i = 1; i < n; i++) {
|
||||
rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]);
|
||||
rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]);
|
||||
rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]);
|
||||
QMult(deltaQ, allScans[i]->get_rPosQuat(), rPosQuat);
|
||||
tmpquat[0] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[0] + rPosQuat[0] * weights[3][i];
|
||||
tmpquat[1] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[1] + rPosQuat[1] * weights[3][i];
|
||||
tmpquat[2] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[2] + rPosQuat[2] * weights[3][i];
|
||||
tmpquat[3] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[3] + rPosQuat[3] * weights[3][i];
|
||||
Normalize4(tmpquat);
|
||||
QMult(scan0Pdelta, tmpquat, rPosQuat);
|
||||
|
||||
Normalize4(rPosQuat);
|
||||
allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1);
|
||||
}
|
||||
|
||||
for(int i = 0; i < 4; i++) {
|
||||
delete [] weights[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
//$$ controlw.h Control word class
|
||||
|
||||
#ifndef CONTROL_WORD_LIB
|
||||
#define CONTROL_WORD_LIB 0
|
||||
|
||||
// for organising an int as a series of bits which indicate whether an
|
||||
// option is on or off.
|
||||
|
||||
class ControlWord
|
||||
{
|
||||
protected:
|
||||
int cw; // the control word
|
||||
public:
|
||||
ControlWord() : cw(0) {} // do nothing
|
||||
ControlWord(int i) : cw(i) {} // load an integer
|
||||
|
||||
// select specific bits (for testing at least one set)
|
||||
ControlWord operator*(ControlWord i) const
|
||||
{ return ControlWord(cw & i.cw); }
|
||||
void operator*=(ControlWord i) { cw &= i.cw; }
|
||||
|
||||
// set bits
|
||||
ControlWord operator+(ControlWord i) const
|
||||
{ return ControlWord(cw | i.cw); }
|
||||
void operator+=(ControlWord i) { cw |= i.cw; }
|
||||
|
||||
// reset bits
|
||||
ControlWord operator-(ControlWord i) const
|
||||
{ return ControlWord(cw - (cw & i.cw)); }
|
||||
void operator-=(ControlWord i) { cw -= (cw & i.cw); }
|
||||
|
||||
// check if all of selected bits set or reset
|
||||
bool operator>=(ControlWord i) const { return (cw & i.cw) == i.cw; }
|
||||
bool operator<=(ControlWord i) const { return (cw & i.cw) == cw; }
|
||||
|
||||
// flip selected bits
|
||||
ControlWord operator^(ControlWord i) const
|
||||
{ return ControlWord(cw ^ i.cw); }
|
||||
ControlWord operator~() const { return ControlWord(~cw); }
|
||||
|
||||
// convert to integer
|
||||
int operator+() const { return cw; }
|
||||
int operator!() const { return cw==0; }
|
||||
FREE_CHECK(ControlWord)
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,328 @@
|
|||
///////////////////////////////////////////////////////////////////////////////
|
||||
// Name: range.h
|
||||
// Purpose: Simple min-max range class and associated selection array class
|
||||
// Author: John Labenski
|
||||
// Created: 12/01/2000
|
||||
// Copyright: (c) John Labenski 2004
|
||||
// Licence: wxWidgets
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef __WX_RANGE_H__
|
||||
#define __WX_RANGE_H__
|
||||
|
||||
#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA)
|
||||
#pragma interface "range.h"
|
||||
#endif
|
||||
|
||||
#include "wx/things/thingdef.h"
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxRangeInt;
|
||||
class WXDLLIMPEXP_THINGS wxRangeDouble;
|
||||
class WXDLLIMPEXP_THINGS wxRangeIntSelection;
|
||||
class WXDLLIMPEXP_THINGS wxRangeDoubleSelection;
|
||||
|
||||
#include "wx/dynarray.h"
|
||||
WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeInt, wxArrayRangeInt, class WXDLLIMPEXP_THINGS);
|
||||
WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeDouble, wxArrayRangeDouble, class WXDLLIMPEXP_THINGS);
|
||||
WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeIntSelection, wxArrayRangeIntSelection, class WXDLLIMPEXP_THINGS);
|
||||
WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeDoubleSelection, wxArrayRangeDoubleSelection, class WXDLLIMPEXP_THINGS);
|
||||
|
||||
// Empty versions of ranges (0, -1)
|
||||
WXDLLIMPEXP_DATA_THINGS(extern const wxRangeInt) wxEmptyRangeInt;
|
||||
WXDLLIMPEXP_DATA_THINGS(extern const wxRangeDouble) wxEmptyRangeDouble;
|
||||
|
||||
//=============================================================================
|
||||
// wxRangeInt
|
||||
//=============================================================================
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxRangeInt
|
||||
{
|
||||
public:
|
||||
inline wxRangeInt(int min_=0, int max_=0) : m_min(min_), m_max(max_) { }
|
||||
|
||||
// Get the width of the range
|
||||
inline int GetRange() const { return m_max - m_min + 1; }
|
||||
// Get/Set the min/max values of the range
|
||||
inline int GetMin() const { return m_min; }
|
||||
inline int GetMax() const { return m_max; }
|
||||
inline void SetMin(int min_) { m_min = min_; }
|
||||
inline void SetMax(int max_) { m_max = max_; }
|
||||
inline void Set(int min_, int max_) { m_min = min_, m_max = max_; }
|
||||
|
||||
// Shift the range by i
|
||||
void Shift(int i) { m_min += i; m_max += i; }
|
||||
|
||||
// Is the range empty, min < max
|
||||
inline bool IsEmpty() const { return m_min > m_max; }
|
||||
|
||||
// Swap the min and max values
|
||||
inline void SwapMinMax() { register int temp=m_min; m_min=m_max; m_max=temp; }
|
||||
|
||||
// returns -1 for i < min, 0 for in range, +1 for i > m_max
|
||||
inline int Position(int i) const { return i < m_min ? -1 : (i > m_max ? 1 : 0); }
|
||||
|
||||
// Is this point or the range within this range
|
||||
inline bool Contains( int i ) const { return (i >= m_min) && (i <= m_max); }
|
||||
inline bool Contains( const wxRangeInt &r ) const
|
||||
{ return (r.m_min >= m_min) && (r.m_max <= m_max); }
|
||||
|
||||
// returns if the range intersects the given range
|
||||
inline bool Intersects(const wxRangeInt& r) const
|
||||
{ return Intersect(r).IsEmpty(); }
|
||||
// returns the intersection of the range with the other
|
||||
inline wxRangeInt Intersect(const wxRangeInt& r) const
|
||||
{ return wxRangeInt(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); }
|
||||
// returns the union of the range with the other
|
||||
inline wxRangeInt Union(const wxRangeInt& r) const
|
||||
{ return wxRangeInt(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); }
|
||||
|
||||
// Is this point inside or touches +/- 1 of the range
|
||||
inline bool Touches( int i ) const
|
||||
{ return !IsEmpty() && wxRangeInt(m_min-1, m_max+1).Contains(i); }
|
||||
// Is the range adjoining this range
|
||||
inline bool Touches( const wxRangeInt &r ) const
|
||||
{ if (IsEmpty() || r.IsEmpty()) return false;
|
||||
wxRangeInt rExp(m_min-1, m_max+1);
|
||||
return rExp.Contains(r.m_min) || rExp.Contains(r.m_max); }
|
||||
// combine this single point with the range by expanding the m_min/m_max to contain it
|
||||
// if only_if_touching then only combine if i is just outside the range by +/-1
|
||||
// returns true if the range has been changed at all, false if not
|
||||
bool Combine(int i, bool only_if_touching = false);
|
||||
bool Combine(const wxRangeInt &r, bool only_if_touching = false);
|
||||
|
||||
// delete range r from this, return true is anything was done
|
||||
// if r spans this then this and right become wxEmptyRangeInt
|
||||
// else if r is inside of this then this is the left side and right is the right
|
||||
// else if r.m_min > m_min then this is the left side
|
||||
// else if r.m_min < m_min this is the right side
|
||||
bool Delete( const wxRangeInt &r, wxRangeInt *right=NULL );
|
||||
|
||||
// operators
|
||||
// no copy ctor or assignment operator - the defaults are ok
|
||||
|
||||
// comparison
|
||||
inline bool operator==(const wxRangeInt& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); }
|
||||
inline bool operator!=(const wxRangeInt& r) const { return !(*this == r); }
|
||||
|
||||
// Adding ranges unions them to create the largest range
|
||||
inline wxRangeInt operator+(const wxRangeInt& r) const { return Union(r); }
|
||||
inline wxRangeInt& operator+=(const wxRangeInt& r) { if(r.m_min<m_min) m_min=r.m_min; if(r.m_max>m_max) m_max=r.m_max; return *this; }
|
||||
// Subtracting ranges intersects them to get the smallest range
|
||||
inline wxRangeInt operator-(const wxRangeInt& r) const { return Intersect(r); }
|
||||
inline wxRangeInt& operator-=(const wxRangeInt& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max<m_max) m_max=r.m_max; return *this; }
|
||||
|
||||
// Adding/Subtracting with an int shifts the range
|
||||
inline wxRangeInt operator+(const int i) const { return wxRangeInt(m_min+i, m_max+i); }
|
||||
inline wxRangeInt operator-(const int i) const { return wxRangeInt(m_min-i, m_max-i); }
|
||||
inline wxRangeInt& operator+=(const int i) { Shift( i); return *this; }
|
||||
inline wxRangeInt& operator-=(const int i) { Shift(-i); return *this; }
|
||||
|
||||
int m_min, m_max;
|
||||
};
|
||||
|
||||
//=============================================================================
|
||||
// wxRangeIntSelection - ordered 1D array of wxRangeInts, combines to minimze size
|
||||
//=============================================================================
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxRangeIntSelection
|
||||
{
|
||||
public :
|
||||
wxRangeIntSelection() {}
|
||||
wxRangeIntSelection(const wxRangeInt& range) { if (!range.IsEmpty()) m_ranges.Add(range); }
|
||||
wxRangeIntSelection(const wxRangeIntSelection &ranges) { Copy(ranges); }
|
||||
|
||||
// Make a full copy of the source
|
||||
void Copy(const wxRangeIntSelection &source)
|
||||
{
|
||||
m_ranges.Clear();
|
||||
WX_APPEND_ARRAY(m_ranges, source.GetRangeArray());
|
||||
}
|
||||
|
||||
// Get the number of individual ranges
|
||||
inline int GetCount() const { return m_ranges.GetCount(); }
|
||||
// Get total number of items selected in all ranges, ie. sum of all wxRange::GetWidths
|
||||
int GetItemCount() const;
|
||||
// Get the ranges themselves to iterate though for example
|
||||
const wxArrayRangeInt& GetRangeArray() const { return m_ranges; }
|
||||
// Get a single range
|
||||
const wxRangeInt& GetRange( int index ) const;
|
||||
inline const wxRangeInt& Item( int index ) const { return GetRange(index); }
|
||||
// Get a range of the min range value and max range value
|
||||
wxRangeInt GetBoundingRange() const;
|
||||
// Clear all the ranges
|
||||
void Clear() { m_ranges.Clear(); }
|
||||
|
||||
// Is this point or range contained in the selection
|
||||
inline bool Contains( int i ) const { return Index(i) != wxNOT_FOUND; }
|
||||
inline bool Contains( const wxRangeInt &range ) const { return Index(range) != wxNOT_FOUND; }
|
||||
// Get the index of the range that contains this, or wxNOT_FOUND
|
||||
int Index( int i ) const;
|
||||
int Index( const wxRangeInt &range ) const;
|
||||
|
||||
// Get the nearest index of a range, index returned contains i or is the one just below
|
||||
// returns -1 if it's below all the selected ones, or no ranges
|
||||
// returns GetCount() if it's above all the selected ones
|
||||
int NearestIndex( int i ) const;
|
||||
|
||||
// Add the range to the selection, returning if anything was done, false if already selected
|
||||
bool SelectRange( const wxRangeInt &range );
|
||||
|
||||
// Remove the range to the selection, returning if anything was done, false if not already selected
|
||||
bool DeselectRange( const wxRangeInt &range );
|
||||
|
||||
// Set the min and max bounds of the ranges, returns true if anything was done
|
||||
bool BoundRanges( const wxRangeInt &range );
|
||||
|
||||
// operators
|
||||
inline const wxRangeInt& operator[](int index) const { return GetRange(index); }
|
||||
|
||||
wxRangeIntSelection& operator = (const wxRangeIntSelection& other) { Copy(other); return *this; }
|
||||
|
||||
protected :
|
||||
wxArrayRangeInt m_ranges;
|
||||
};
|
||||
|
||||
//=============================================================================
|
||||
// wxRangeDouble
|
||||
//=============================================================================
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxRangeDouble
|
||||
{
|
||||
public:
|
||||
inline wxRangeDouble(wxDouble min_=0, wxDouble max_=0) : m_min(min_), m_max(max_) {}
|
||||
|
||||
// Get the width of the range
|
||||
inline wxDouble GetRange() const { return m_max - m_min; }
|
||||
// Get/Set the min/max values of the range
|
||||
inline wxDouble GetMin() const { return m_min; }
|
||||
inline wxDouble GetMax() const { return m_max; }
|
||||
inline void SetMin(wxDouble min_) { m_min = min_; }
|
||||
inline void SetMax(wxDouble max_) { m_max = max_; }
|
||||
inline void Set(wxDouble min_, wxDouble max_) { m_min = min_, m_max = max_; }
|
||||
|
||||
// Shift the range by i
|
||||
void Shift(wxDouble i) { m_min += i; m_max += i; }
|
||||
|
||||
// Is the range empty, min < max
|
||||
inline bool IsEmpty() const { return m_min > m_max; }
|
||||
|
||||
// Swap the min and max values
|
||||
inline void SwapMinMax() { register wxDouble temp = m_min; m_min = m_max; m_max = temp; }
|
||||
|
||||
// returns -1 for i < min, 0 for in range, +1 for i > m_max
|
||||
inline int Position(wxDouble i) const { return i < m_min ? -1 : i > m_max ? 1 : 0; }
|
||||
|
||||
// Is this point or the range within this range
|
||||
inline bool Contains( wxDouble i ) const { return (i>=m_min)&&(i<=m_max); }
|
||||
inline bool Contains( const wxRangeDouble &r ) const
|
||||
{ return (r.m_min>=m_min)&&(r.m_max<=m_max); }
|
||||
|
||||
// returns if the range intersects the given range
|
||||
inline bool Intersects(const wxRangeDouble& r) const
|
||||
{ return Intersect(r).IsEmpty(); }
|
||||
// returns the intersection of the range with the other
|
||||
inline wxRangeDouble Intersect(const wxRangeDouble& r) const
|
||||
{ return wxRangeDouble(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); }
|
||||
// returns the union of the range with the other
|
||||
inline wxRangeDouble Union(const wxRangeDouble& r) const
|
||||
{ return wxRangeDouble(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); }
|
||||
|
||||
// no touches for double since what would be a good eps value?
|
||||
|
||||
// combine this single point with the range by expanding the m_min/m_max to contain it
|
||||
// if only_if_touching then only combine if there is overlap
|
||||
// returns true if the range has been changed at all, false if not
|
||||
bool Combine(wxDouble i);
|
||||
bool Combine( const wxRangeDouble &r, bool only_if_touching = false );
|
||||
|
||||
// delete range r from this, return true is anything was done
|
||||
// if r spans this then this and right become wxEmptyRangeInt
|
||||
// else if r is inside of this then this is the left side and right is the right
|
||||
// else if r.m_min > m_min then this is the left side
|
||||
// else if r.m_min < m_min this is the right side
|
||||
bool Delete( const wxRangeDouble &r, wxRangeDouble *right=NULL );
|
||||
|
||||
// operators
|
||||
// no copy ctor or assignment operator - the defaults are ok
|
||||
|
||||
// comparison
|
||||
inline bool operator==(const wxRangeDouble& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); }
|
||||
inline bool operator!=(const wxRangeDouble& r) const { return !(*this == r); }
|
||||
|
||||
// Adding ranges unions them to create the largest range
|
||||
inline wxRangeDouble operator+(const wxRangeDouble& r) const { return Union(r); }
|
||||
inline wxRangeDouble& operator+=(const wxRangeDouble& r) { if(r.m_min<m_min) m_min=r.m_min; if(r.m_max>m_max) m_max=r.m_max; return *this; }
|
||||
// Subtracting ranges intersects them to get the smallest range
|
||||
inline wxRangeDouble operator-(const wxRangeDouble& r) const { return Intersect(r); }
|
||||
inline wxRangeDouble& operator-=(const wxRangeDouble& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max<m_max) m_max=r.m_max; return *this; }
|
||||
|
||||
// Adding/Subtracting with a double shifts the range
|
||||
inline wxRangeDouble operator+(const wxDouble i) const { return wxRangeDouble(m_min+i, m_max+i); }
|
||||
inline wxRangeDouble operator-(const wxDouble i) const { return wxRangeDouble(m_min-i, m_max-i); }
|
||||
inline wxRangeDouble& operator+=(const wxDouble i) { Shift( i); return *this; }
|
||||
inline wxRangeDouble& operator-=(const wxDouble i) { Shift(-i); return *this; }
|
||||
|
||||
wxDouble m_min, m_max;
|
||||
};
|
||||
|
||||
//=============================================================================
|
||||
// wxRangeDoubleSelection - ordered 1D array of wxRangeDoubles, combines to minimze size
|
||||
//=============================================================================
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxRangeDoubleSelection
|
||||
{
|
||||
public :
|
||||
wxRangeDoubleSelection() {}
|
||||
wxRangeDoubleSelection(const wxRangeDouble& range) { if (!range.IsEmpty()) m_ranges.Add(range); }
|
||||
wxRangeDoubleSelection(const wxRangeDoubleSelection &ranges) { Copy(ranges); }
|
||||
|
||||
// Make a full copy of the source
|
||||
void Copy(const wxRangeDoubleSelection &source)
|
||||
{
|
||||
m_ranges.Clear();
|
||||
WX_APPEND_ARRAY(m_ranges, source.GetRangeArray());
|
||||
}
|
||||
|
||||
// Get the number of individual ranges
|
||||
inline int GetCount() const { return m_ranges.GetCount(); }
|
||||
// Get the ranges themselves to iterate though for example
|
||||
const wxArrayRangeDouble& GetRangeArray() const { return m_ranges; }
|
||||
// Get a single range
|
||||
const wxRangeDouble& GetRange( int index ) const;
|
||||
inline const wxRangeDouble& Item( int index ) const { return GetRange(index); }
|
||||
// Get a range of the min range value and max range value
|
||||
wxRangeDouble GetBoundingRange() const;
|
||||
// Clear all the ranges
|
||||
void Clear() { m_ranges.Clear(); }
|
||||
|
||||
// Is this point or range contained in the selection
|
||||
inline bool Contains( wxDouble i ) const { return Index(i) != wxNOT_FOUND; }
|
||||
inline bool Contains( const wxRangeDouble &range ) const { return Index(range) != wxNOT_FOUND; }
|
||||
// Get the index of the range that contains this, or wxNOT_FOUND
|
||||
int Index( wxDouble i ) const;
|
||||
int Index( const wxRangeDouble &range ) const;
|
||||
|
||||
// Get the nearest index of a range, index returned contains i or is the one just below
|
||||
// returns -1 if it's below all the selected ones, or no ranges
|
||||
// returns GetCount() if it's above all the selected ones
|
||||
int NearestIndex( wxDouble i ) const;
|
||||
|
||||
// Add the range to the selection, returning if anything was done, false if already selected
|
||||
bool SelectRange( const wxRangeDouble &range);
|
||||
// Remove the range to the selection, returning if anything was done, false if not already selected
|
||||
bool DeselectRange( const wxRangeDouble &range);
|
||||
|
||||
// Set the min and max bounds of the ranges, returns true if anything was done
|
||||
bool BoundRanges( const wxRangeDouble &range );
|
||||
|
||||
// operators
|
||||
inline const wxRangeDouble& operator[](int index) const { return GetRange(index); }
|
||||
|
||||
wxRangeDoubleSelection& operator = (const wxRangeDoubleSelection& other) { Copy(other); return *this; }
|
||||
|
||||
protected :
|
||||
wxArrayRangeDouble m_ranges;
|
||||
};
|
||||
|
||||
|
||||
#endif // __WX_RANGE_H__
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
#ifndef __THERMO_H__
|
||||
#define __THERMO_H__
|
||||
|
||||
#include <opencv/cv.h>
|
||||
#include <opencv/highgui.h>
|
||||
#include <string>
|
||||
#include <slam6d/scan.h>
|
||||
using namespace std;
|
||||
typedef vector<vector<float> > Float2D[1200][1600];
|
||||
|
||||
void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc);
|
||||
void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet);
|
||||
IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]);
|
||||
void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color=false);
|
||||
IplImage* resizeImage(IplImage *source, int scale);
|
||||
IplImage* detectCorners(IplImage *orgimage, int corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale=1);
|
||||
void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1);
|
||||
void writeCalibParam(int images, int corner_exp, int board_w, CvMat* image_points, CvSize size, string dir);
|
||||
|
||||
void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir,
|
||||
IOType type, int scale, double rot_angle, double minDist, double maxDist,
|
||||
bool correction, int neighborhood, int method=0);
|
||||
|
||||
bool readPoints(string filename, CvPoint3D32f *corners, int size) ;
|
||||
void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors);
|
||||
void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat *
|
||||
points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat
|
||||
* distortions, CvMat * instrinsics, int corners, int successes, string dir, bool quiet=true, string substring = "") ;
|
||||
void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet=true, string substring = "") ;
|
||||
void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size);
|
||||
void clusterSearch(float ** points, int size, double thresh1, double thresh2, fstream &outfile);
|
||||
void sortDistances(float ** points, int size);
|
||||
void ExtrCalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1);
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief IO of 3D scans in Riegl file format
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __SCAN_IO_RIEGL_PROJECT_H
|
||||
#define __SCAN_IO_RIEGL_PROJECT_H
|
||||
|
||||
#include <string>
|
||||
using std::string;
|
||||
#include <vector>
|
||||
using std::vector;
|
||||
|
||||
#include "scan_io.h"
|
||||
|
||||
/**
|
||||
* @brief 3D scan loader for Riegl scans in the binary rxp format
|
||||
*
|
||||
* The compiled class is available as shared object file
|
||||
*/
|
||||
class ScanIO_riegl_project : public ScanIO {
|
||||
public:
|
||||
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
|
||||
double *euler, vector<Point> &ptss);
|
||||
};
|
||||
|
||||
// Since this shared object file is loaded on the fly, we
|
||||
// need class factories
|
||||
|
||||
// the types of the class factories
|
||||
typedef ScanIO* create_sio();
|
||||
typedef void destroy_sio(ScanIO*);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
/**
|
||||
* @file ELCH implementation using unit Quaternions
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __ELCH6D_UINTQUAT_H__
|
||||
#define __ELCH6D_UNITQUAT_H__
|
||||
|
||||
#include "elch6D.h"
|
||||
|
||||
class elch6DunitQuat : public elch6D {
|
||||
|
||||
public:
|
||||
elch6DunitQuat(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations,
|
||||
int rnd, bool eP, int anim, double epsilonICP, int nns_method)
|
||||
: elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {}
|
||||
|
||||
virtual void close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
/*
|
||||
* grabVideoAnd3D implementation
|
||||
*
|
||||
* Copyright (C) Stanislav Serebryakov
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <cv.h>
|
||||
#include <highgui.h>
|
||||
|
||||
#include "pmdsdk2.h"
|
||||
#include "cvpmd.h"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
int totalFrames = 0;
|
||||
int ui = 1;
|
||||
printf("%i\n", argc);
|
||||
if(argc > 1) {
|
||||
totalFrames = atoi(argv[1]);
|
||||
ui = 0;
|
||||
}
|
||||
if(argc > 2) ui = 1;
|
||||
|
||||
//FIXME: here is lots of old code, should be removed
|
||||
|
||||
|
||||
PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69");
|
||||
|
||||
CvCapture *capture = cvCaptureFromCAM(1); //FIXME: should be passed via argc
|
||||
|
||||
CvSize pmdSz = pmdGetSize(pmd);
|
||||
printf("pmd sz: %i x %i\n", pmdSz.width, pmdSz.height);
|
||||
IplImage *imgCamColor = cvQueryFrame(capture);
|
||||
IplImage *imgPMD = cvCreateImage(pmdGetSize(pmd), 8, 1);
|
||||
IplImage *imgPMDA = cvCreateImage(cvGetSize(imgPMD), 8, 1);
|
||||
IplImage *imgCam = cvCreateImage(cvGetSize(imgCamColor), 8, 1);
|
||||
CvPoint3D32f **pmdPts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*));
|
||||
for(int i = 0; i < pmdSz.height; i++) pmdPts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f));
|
||||
|
||||
CvMat *intrinsicCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml");
|
||||
CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml");
|
||||
CvMat *intrinsicPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml");
|
||||
CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml");
|
||||
if(!intrinsicCam || !distortionCam|| !intrinsicPMD || !distortionPMD) {
|
||||
fprintf(stderr, "ERROR: can't load intrinsic and/or distortion xml files!\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
// FILE *vPMDA = fopen("./s001.arv", "wb"); // ala dot Amplitudes Raw Video NOTE: i'm not sure it is amplitude :P
|
||||
// FILE *vPMDAf = fopen("./s001.farv", "wb"); // same but Floating
|
||||
FILE *vPMDI = fopen("./s001.irv", "wb"); // same but Intensities
|
||||
FILE *vPMDIf = fopen("./s001.firv", "wb");
|
||||
FILE *headers = fopen("./s001.head", "wb");
|
||||
CvVideoWriter *vCam = cvCreateVideoWriter( "./s001.avi"
|
||||
, CV_FOURCC('D', 'I', 'V', 'X')
|
||||
, 25, cvGetSize(imgCam), 1);
|
||||
|
||||
FILE *pmdPtsFile = fopen("./s001.3dp", "w");
|
||||
|
||||
if(ui) {
|
||||
cvNamedWindow("Cam", 0);
|
||||
cvNamedWindow("PMD", 1);
|
||||
}
|
||||
|
||||
printf("DEBUG: init done, going to grab %i frames.\n", totalFrames);
|
||||
|
||||
int frames = 0;
|
||||
while(1) {
|
||||
frames++;
|
||||
if(0 == frames % 100) printf("%i frames grabbed...\n", frames);
|
||||
// Image retriving
|
||||
pmdUpdate(pmd->hnd);
|
||||
imgCamColor = cvQueryFrame(capture);
|
||||
|
||||
pmdQueryImageAsync(pmd, imgPMD);
|
||||
fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDIf);
|
||||
|
||||
//pmdQueryAmplitudesAsync(pmd, imgPMDA);
|
||||
//fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDAf);
|
||||
|
||||
|
||||
pmdRetriveDistancesAsync(pmd);
|
||||
pmdProjectArrayToCartesian(pmd, intrinsicPMD, pmdPts);
|
||||
|
||||
ImageHeaderInformation *header = retriveHeader();
|
||||
|
||||
|
||||
if(ui) {
|
||||
cvShowImage("Cam", imgCamColor);
|
||||
cvShowImage("PMD", imgPMD);
|
||||
}
|
||||
|
||||
//FIXME: order col/str
|
||||
for(int i = 0; i < pmdSz.height; i++)
|
||||
fwrite(pmdPts[i], sizeof(CvPoint3D32f), pmdSz.width, pmdPtsFile);
|
||||
|
||||
fwrite(imgPMD->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDI);
|
||||
//fwrite(imgPMDA->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDA);
|
||||
fwrite(header, sizeof(ImageHeaderInformation), 1, headers);
|
||||
|
||||
cvWriteFrame(vCam, imgCamColor);
|
||||
|
||||
if(totalFrames && (frames >= totalFrames)) break;
|
||||
if(ui) if(27 == cvWaitKey(5)) break;
|
||||
}
|
||||
// fclose(vPMDA);
|
||||
// fclose(vPMDAf);
|
||||
fclose(vPMDI);
|
||||
fclose(vPMDIf);
|
||||
fclose(pmdPtsFile);
|
||||
fclose(headers);
|
||||
printf("grabbed %i frames.\n", frames);
|
||||
printf("See s001* files (you want to rename them).\n");
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief IO of a 3D scan in rts file format
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef __SCAN_IO_UOS_H__
|
||||
#define __SCAN_IO_UOS_H__
|
||||
|
||||
#include "scan_io.h"
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief 3D scan loader for RTS scans
|
||||
*
|
||||
* The compiled class is available as shared object file
|
||||
*/
|
||||
class ScanIO_rts : public ScanIO {
|
||||
public:
|
||||
virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
|
||||
virtual void readPose(const char* dir_path, const char* identifier, double* pose);
|
||||
virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
|
||||
virtual bool supports(IODataType type);
|
||||
private:
|
||||
std::string cached_dir;
|
||||
std::vector<double> cached_poses;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
/** @file
|
||||
* @brief Definition of the ICP error function minimization
|
||||
* @author Peter Schneider. Institute of Computer Science, University of Koblenz and Landau, Germany.
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
||||
*/
|
||||
|
||||
#ifndef __ICP6DHELIX_H__
|
||||
#define __ICP6DHELIX_H__
|
||||
|
||||
#include "icp6Dminimizer.h"
|
||||
#include "newmat/newmatio.h"
|
||||
using namespace NEWMAT;
|
||||
|
||||
/**
|
||||
* @brief Implementation of the ICP error function minimization via helix-translation
|
||||
*/
|
||||
class icp6D_HELIX : public icp6Dminimizer
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
icp6D_HELIX(bool quiet = false) : icp6Dminimizer(quiet) {};
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
virtual ~icp6D_HELIX() {};
|
||||
|
||||
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
|
||||
const double centroid_m[3], const double centroid_d[3]);
|
||||
|
||||
static void computeRt(const ColumnVector* ccs, const int vectorOffset, double *alignxf);
|
||||
|
||||
inline int getAlgorithmID() { return 5; };
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,180 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH
|
||||
* @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_riegl_txt.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#include <algorithm>
|
||||
using std::swap;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Reads specified scans from given directory in
|
||||
* the file format Riegl Laser Measurement GmbH
|
||||
* uses. It will be compiled as shared lib.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function. Initial pose estimation works
|
||||
* only with the -p switch, i.e., trusting the initial
|
||||
* estimations by Riegl.
|
||||
*
|
||||
* The scans have to be exported from the Riegl software
|
||||
* as follows:
|
||||
* 1. Export point cloud data to ASCII
|
||||
* Use Scanners own Coordinate System (SOCS)
|
||||
* X Y Z Range Theta Phi Reflectance
|
||||
* 2. Export acqusition location (after you have registered
|
||||
* with the Riegl software)
|
||||
* Export SOP
|
||||
* Write out as .dat file
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_riegl_txt::readScans(int start, int end, string &dir, int maxDist, int minDist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
static int fileCounter = start;
|
||||
string scanFileName;
|
||||
string poseFileName;
|
||||
double maxDist2 = sqr(maxDist);
|
||||
double minDist2 = sqr(minDist);
|
||||
ifstream scan_in, pose_in;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
|
||||
|
||||
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat";
|
||||
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".txt";
|
||||
|
||||
scan_in.open(scanFileName.c_str());
|
||||
pose_in.open(poseFileName.c_str());
|
||||
// read 3D scan
|
||||
|
||||
if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
||||
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing Scan " << scanFileName;
|
||||
cout.flush();
|
||||
|
||||
double rPos[3], rPosTheta[16];
|
||||
double inMatrix[16], tMatrix[16];
|
||||
for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
|
||||
|
||||
// transform input pose
|
||||
tMatrix[0] = inMatrix[5];
|
||||
tMatrix[1] = -inMatrix[9];
|
||||
tMatrix[2] = -inMatrix[1];
|
||||
tMatrix[3] = -inMatrix[13];
|
||||
tMatrix[4] = -inMatrix[6];
|
||||
tMatrix[5] = inMatrix[10];
|
||||
tMatrix[6] = inMatrix[2];
|
||||
tMatrix[7] = inMatrix[14];
|
||||
tMatrix[8] = -inMatrix[4];
|
||||
tMatrix[9] = inMatrix[8];
|
||||
tMatrix[10] = inMatrix[0];
|
||||
tMatrix[11] = inMatrix[12];
|
||||
tMatrix[12] = -inMatrix[7];
|
||||
tMatrix[13] = inMatrix[11];
|
||||
tMatrix[14] = inMatrix[3];
|
||||
tMatrix[15] = inMatrix[15];
|
||||
|
||||
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
|
||||
|
||||
euler[0] = 100*rPos[0];
|
||||
euler[1] = 100*rPos[1];
|
||||
euler[2] = 100*rPos[2];
|
||||
euler[3] = rPosTheta[0];
|
||||
euler[4] = rPosTheta[1];
|
||||
euler[5] = rPosTheta[2];
|
||||
|
||||
long num_pts = 0;
|
||||
|
||||
if (scan_in.good()) {
|
||||
scan_in >> num_pts;
|
||||
cout << " with " << num_pts << " Points";
|
||||
cout.flush();
|
||||
ptss.reserve(num_pts);
|
||||
}
|
||||
|
||||
// read point data and transform into slam6D coordinate system
|
||||
while (scan_in.good()) {
|
||||
Point p;
|
||||
double range, theta, phi, reflectance;
|
||||
scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance;
|
||||
|
||||
p.x *= -100;
|
||||
p.y *= 100;
|
||||
p.z *= 100;
|
||||
|
||||
p.reflectance = reflectance;
|
||||
|
||||
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
|
||||
if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
|
||||
ptss.push_back(p);
|
||||
}
|
||||
|
||||
cout << " done" << endl;
|
||||
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return fileCounter-1;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_riegl_txt;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
|
||||
inline void D2Tree::calcDivide(double x_size, double y_size, double z_size,
|
||||
double center[3],
|
||||
double &x_sizeNew, double &y_sizeNew, double &z_sizeNew,
|
||||
double newcenter[8][3])
|
||||
{
|
||||
x_sizeNew = x_size * 0.5;
|
||||
y_sizeNew = y_size * 0.5;
|
||||
z_sizeNew = z_size * 0.5;
|
||||
|
||||
newcenter[0][0] = center[0] - x_sizeNew;
|
||||
newcenter[0][1] = center[1] - y_sizeNew;
|
||||
newcenter[0][2] = center[2] - z_sizeNew;
|
||||
|
||||
newcenter[1][0] = center[0] + x_sizeNew;
|
||||
newcenter[1][1] = center[1] - y_sizeNew;
|
||||
newcenter[1][2] = center[2] - z_sizeNew;
|
||||
|
||||
newcenter[2][0] = center[0] - x_sizeNew;
|
||||
newcenter[2][1] = center[1] + y_sizeNew;
|
||||
newcenter[2][2] = center[2] - z_sizeNew;
|
||||
|
||||
newcenter[3][0] = center[0] - x_sizeNew;
|
||||
newcenter[3][1] = center[1] - y_sizeNew;
|
||||
newcenter[3][2] = center[2] + z_sizeNew;
|
||||
|
||||
newcenter[4][0] = center[0] + x_sizeNew;
|
||||
newcenter[4][1] = center[1] + y_sizeNew;
|
||||
newcenter[4][2] = center[2] - z_sizeNew;
|
||||
|
||||
newcenter[5][0] = center[0] + x_sizeNew;
|
||||
newcenter[5][1] = center[1] - y_sizeNew;
|
||||
newcenter[5][2] = center[2] + z_sizeNew;
|
||||
|
||||
newcenter[6][0] = center[0] - x_sizeNew;
|
||||
newcenter[6][1] = center[1] + y_sizeNew;
|
||||
newcenter[6][2] = center[2] + z_sizeNew;
|
||||
|
||||
newcenter[7][0] = center[0] + x_sizeNew;
|
||||
newcenter[7][1] = center[1] + y_sizeNew;
|
||||
newcenter[7][2] = center[2] + z_sizeNew;
|
||||
}
|
||||
|
|
@ -0,0 +1,77 @@
|
|||
/***************By yuanjun**************************/
|
||||
#pragma once
|
||||
|
||||
#include "veloslam/veloscan.h"
|
||||
#include "veloslam/matrix.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
typedef struct _X_state
|
||||
{
|
||||
float x_position;
|
||||
float z_positon;
|
||||
float x_speed;
|
||||
float z_speed;
|
||||
|
||||
}ObjectState;
|
||||
|
||||
typedef struct _Z_measurement
|
||||
{
|
||||
float x_measurement;
|
||||
float z_measurement;
|
||||
}Measurement;
|
||||
|
||||
class KalmanFilter
|
||||
{
|
||||
public:
|
||||
KalmanFilter();
|
||||
KalmanFilter(clusterFeature &glu,double rollAngle);
|
||||
~KalmanFilter(void);
|
||||
|
||||
void InitialKalmanFilter(clusterFeature &glu);
|
||||
|
||||
void timeUpdate();
|
||||
|
||||
void stateUpdate(clusterFeature &glu,double rollAngle,double *pos);
|
||||
|
||||
ObjectState GetCurrentState();
|
||||
|
||||
ObjectState GetPredictState();
|
||||
|
||||
Measurement GetPredictMeasurement(double rollAngle,double *pos);
|
||||
|
||||
CMatrix CalMeasureDeviation();
|
||||
|
||||
KalmanFilter& operator = (const KalmanFilter& anotherKF);
|
||||
|
||||
void CalCoorRoll(double angle);
|
||||
|
||||
public:
|
||||
|
||||
CMatrix A;
|
||||
|
||||
CMatrix H;
|
||||
|
||||
CMatrix X1;
|
||||
|
||||
CMatrix X2;
|
||||
|
||||
CMatrix Z;
|
||||
|
||||
CMatrix K;
|
||||
|
||||
CMatrix Q;
|
||||
|
||||
CMatrix R;
|
||||
|
||||
CMatrix P1;
|
||||
|
||||
CMatrix P2;
|
||||
|
||||
CMatrix CoordinateRoll;
|
||||
|
||||
double angle;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
/**
|
||||
* @file ELCH implementation using Euler angles
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __ELCH6D_EULER_H__
|
||||
#define __ELCH6D_EULER_H__
|
||||
|
||||
#include "elch6D.h"
|
||||
|
||||
class elch6Deuler : public elch6D {
|
||||
|
||||
public:
|
||||
elch6Deuler(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations,
|
||||
int rnd, bool eP, int anim, double epsilonICP, int nns_method)
|
||||
: elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {}
|
||||
|
||||
virtual void close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_wrl.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
#include <cstring>
|
||||
|
||||
/**
|
||||
* Reads specified scans from given directory in
|
||||
* the PLY file format. It will be compiled as
|
||||
* shared lib.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function.
|
||||
*
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_wrl::readScans(int start, int end, string &dir, int maxDist, int mindist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
static int fileCounter = start;
|
||||
string scanFileName;
|
||||
string poseFileName;
|
||||
int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist));
|
||||
|
||||
int my_fileNr = fileCounter;
|
||||
|
||||
ifstream scan_in, pose_in;
|
||||
|
||||
for (int i = 0; i < 6; i++) euler[i] = 0;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1;
|
||||
poseFileName = dir + to_string(fileCounter,3) + "/position.dat";
|
||||
|
||||
pose_in.open(poseFileName.c_str());
|
||||
// read 3D scan
|
||||
|
||||
if (!pose_in.good()) return -1; // no more files in the directory
|
||||
cout << "Processing Scan " << dir << to_string(fileCounter, 3);
|
||||
|
||||
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
|
||||
|
||||
// convert mm to cm
|
||||
for (unsigned int i = 0; i < 3; i++) euler[i] = euler[i] * 0.1;
|
||||
|
||||
// convert angles from deg to rad
|
||||
for (unsigned int i = 3; i <= 5; i++) {
|
||||
euler[i] *= 0.01;
|
||||
// if (euler[i] < 0.0) euler[i] += 360;
|
||||
euler[i] = rad(euler[i]);
|
||||
}
|
||||
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
||||
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
|
||||
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
|
||||
scanFileName = dir + to_string(fileCounter,3) + ".wrl";
|
||||
scan_in.open(scanFileName.c_str());
|
||||
|
||||
// read 3D scan
|
||||
if (!scan_in.good()) return -1; // no more scans to read
|
||||
|
||||
// overread the first 7 tokes / 4 lines - don't care here
|
||||
char dummy[255];
|
||||
for (int i = 0; i < 4; i++) {
|
||||
scan_in.getline(dummy, 255);
|
||||
}
|
||||
|
||||
do {
|
||||
char cx[25], cy[25], cz[25];
|
||||
double xyz[3];
|
||||
scan_in >> cx >> cy >> cz;
|
||||
if (!scan_in.good()) break;
|
||||
// remove the "," from the z coordinate
|
||||
cz[strlen(cz)-1] = 0;
|
||||
xyz[0] = atof(cx);
|
||||
xyz[1] = atof(cy);
|
||||
xyz[2] = atof(cz);
|
||||
Point p(xyz);
|
||||
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
|
||||
ptss.push_back(p);
|
||||
} while (scan_in.good());
|
||||
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return my_fileNr;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_wrl;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
Microsoft Visual Studio Solution File, Format Version 9.00
|
||||
# Visual Studio 2005
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "dll", "dll\dll.vcproj", "{A7D00B21-CB9C-4BBB-8DEE-51025104F867}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "sample", "sample\sample.vcproj", "{C76F5A10-7A4A-4546-9414-296DB38BE825}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "test", "test\test.vcproj", "{6AC673C7-7B3F-4520-A761-647B212A4BEF}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ann2fig", "ann2fig\ann2fig.vcproj", "{622DD7D8-0C0A-4303-9176-C9A8AF467E70}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.Build.0 = Release|Win32
|
||||
{C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.Build.0 = Release|Win32
|
||||
{6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.Build.0 = Release|Win32
|
||||
{622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
P6
|
||||
# Created by Paint Shop Pro
|
||||
11 17
|
||||
255
|
||||
¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿüÿÿÿ¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿þþþ¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿þþþ¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿þþþ¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿ÿÿÿ¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿¿
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
IF (WITH_SHAPE_DETECTION)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/include)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/include/shapes/)
|
||||
|
||||
# # Compile gocr library
|
||||
# SET(GOCR_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src/)
|
||||
# add_library(Pgm2asc SHARED ${GOCR_DIR}gocr.c ${GOCR_DIR}pgm2asc.c ${GOCR_DIR}box.c ${GOCR_DIR}database.c
|
||||
# ${GOCR_DIR}detect.c ${GOCR_DIR}barcode.c ${GOCR_DIR}lines.c ${GOCR_DIR}list.c
|
||||
# ${GOCR_DIR}ocr0.c ${GOCR_DIR}ocr0n.c ${GOCR_DIR}ocr1.c ${GOCR_DIR}otsu.c
|
||||
# ${GOCR_DIR}output.c ${GOCR_DIR}pixel.c ${GOCR_DIR}unicode.c ${GOCR_DIR}remove.c
|
||||
# ${GOCR_DIR}pnm.c ${GOCR_DIR}pcx.c ${GOCR_DIR}progress.c ${GOCR_DIR}job.c)
|
||||
|
||||
# add_executable(shapes shapes.cc geom_math.cc numberrec.cc scan_ransac.cc )
|
||||
#
|
||||
# IF(WIN32)
|
||||
# target_link_libraries(shapes scan XGetopt netpbm Pgm2asc)
|
||||
# ENDIF(WIN32)
|
||||
#
|
||||
# IF (UNIX)
|
||||
# target_link_libraries(shapes scan newmat dl netpbm Pgm2asc )
|
||||
# ENDIF(UNIX)
|
||||
#
|
||||
|
||||
add_executable(planes plane.cc)
|
||||
# add_executable(image toImage.cc image.cc hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc )
|
||||
# add_executable(matchMarker matchMarker.cc)
|
||||
|
||||
IF(UNIX)
|
||||
target_link_libraries(planes scan shape newmat dl ANN)
|
||||
# target_link_libraries(image scan newmat sparse dl ANN )
|
||||
# target_link_libraries(matchMarker scan newmat sparse dl ANN )
|
||||
ENDIF(UNIX)
|
||||
|
||||
IF (WIN32)
|
||||
target_link_libraries(planes scan newmat XGetopt shape ANN)
|
||||
# target_link_libraries(image scan newmat sparse ANN XGetopt)
|
||||
ENDIF(WIN32)
|
||||
|
||||
SET(SHAPELIB_SRCS
|
||||
hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc )
|
||||
|
||||
add_library(shape STATIC ${SHAPELIB_SRCS})
|
||||
|
||||
#target_link_libraries(shapelib)
|
||||
IF(EXPORT_SHARED_LIBS)
|
||||
add_library(shape_s SHARED ${SHAPELIB_SRCS})
|
||||
#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat)
|
||||
ENDIF(EXPORT_SHARED_LIBS)
|
||||
|
||||
ENDIF(WITH_SHAPE_DETECTION)
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
/** @file
|
||||
* @brief Definition of the ICP error function minimization
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __ICP6DAPX_H__
|
||||
#define __ICP6DAPX_H__
|
||||
|
||||
#include "icp6Dminimizer.h"
|
||||
|
||||
/**
|
||||
* @brief Implementation of the ICP error function minimization via approximation
|
||||
*/
|
||||
class icp6D_APX : public icp6Dminimizer
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
icp6D_APX(bool quiet = false) : icp6Dminimizer(quiet) {};
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
virtual ~icp6D_APX() {};
|
||||
|
||||
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
|
||||
const double centroid_m[3], const double centroid_d[3]);
|
||||
double Point_Point_Align_Parallel(const int openmp_num_threads,
|
||||
const unsigned int n[OPENMP_NUM_THREADS],
|
||||
const double sum[OPENMP_NUM_THREADS],
|
||||
const double centroid_m[OPENMP_NUM_THREADS][3],
|
||||
const double centroid_d[OPENMP_NUM_THREADS][3],
|
||||
const vector<PtPair> pairs[OPENMP_NUM_THREADS],
|
||||
double *alignxf);
|
||||
|
||||
static void computeRt(const double *x, const double *dx, double *alignxf);
|
||||
|
||||
inline int getAlgorithmID() { return 6; };
|
||||
};
|
||||
|
||||
#endif
|
||||
Binary file not shown.
|
|
@ -0,0 +1,19 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Server/Client wide definitions.
|
||||
*
|
||||
* If running multiple instances of the scanserver, one can change these shared memory names individually.
|
||||
*
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef SCANSERVER_DEFINES_H
|
||||
#define SCANSERVER_DEFINES_H
|
||||
|
||||
//! shared memory for SharedScans, Frames and communications
|
||||
#define SHM_NAME_DATA "3dtk_scanserver_data"
|
||||
|
||||
//! CacheManager/CacheObject only shared memory
|
||||
#define SHM_NAME_CACHE "3dtk_scanserver_cache"
|
||||
|
||||
#endif //SCANSERVER_DEFINES_H
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
#ifndef __SCANGRID_H_
|
||||
#define __SCANGRID_H_
|
||||
|
||||
#include "grid/grid.h"
|
||||
|
||||
/**
|
||||
* The class represents a 2D section of a scan.
|
||||
* It inherrits from grid -> the internal representation is an array
|
||||
*
|
||||
* @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat
|
||||
*
|
||||
* @date 14.02.2008
|
||||
*/
|
||||
class scanGrid : public grid
|
||||
{
|
||||
/** The position of the robot (X) */
|
||||
long viewpointX;
|
||||
|
||||
/** The position of the robot (Z) */
|
||||
long viewpointZ;
|
||||
|
||||
public:
|
||||
/** @brief CTor */
|
||||
scanGrid(long viewX, long viewZ, long offsetX, long offsetZ,
|
||||
long sizeX, long sizeZ);
|
||||
|
||||
/** @brief DTor */
|
||||
virtual ~scanGrid();
|
||||
|
||||
/**
|
||||
* Getter for the x position of the robot when the scan was made
|
||||
* @return x position
|
||||
*/
|
||||
inline long getViewpointX() const {
|
||||
return this->viewpointX;
|
||||
}
|
||||
|
||||
/**
|
||||
* Getter for the z position of the robot when the scan was made
|
||||
* @return z position
|
||||
*/
|
||||
inline long getViewpointZ() const {
|
||||
return this->viewpointZ;
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,100 @@
|
|||
#ifndef NRRANSAC_OCTREE_H
|
||||
#define NRRANSAC_OCTREE_H
|
||||
|
||||
#include "shapes/geom_math.h"
|
||||
#include "shapes/ransac_Boctree.h"
|
||||
#include "slam6d/Boctree.h"
|
||||
|
||||
|
||||
|
||||
template <class T=double>
|
||||
class NumberRecOctTree : public RansacOctTree<T> {
|
||||
|
||||
public:
|
||||
// NumberRecOctTree(vector<T *> &pts, T voxelSize, PointType<T> _pointtype = PointType<T>() ) : RansacOctTree<T>(pts, voxelSize, _pointtype) {}
|
||||
NumberRecOctTree(vector<const T *> &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree<T>(pts, voxelSize, _pointtype) {}
|
||||
|
||||
long PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius) {
|
||||
setNumber(plane, _center, radius, maxdist);
|
||||
return PointsOnNumber(*BOctTree<T>::root, BOctTree<T>::center, BOctTree<T>::size);
|
||||
}
|
||||
|
||||
void PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius, vector<T *> &n) {
|
||||
setNumber(plane, _center, radius, maxdist);
|
||||
PointsOnNumber(*BOctTree<T>::root, BOctTree<T>::center, BOctTree<T>::size, n);
|
||||
}
|
||||
|
||||
|
||||
protected:
|
||||
long PointsOnNumber(bitoct &node, T *center, T size) {
|
||||
if (!SphereInAABB(center[0], center[1], center[2], size)) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
T ccenter[3];
|
||||
bitunion<T> *children;
|
||||
bitoct::getChildren(node, children);
|
||||
|
||||
long result = 0;
|
||||
|
||||
for (short i = 0; i < 8; i++) {
|
||||
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||||
childcenter(center, ccenter, size, i); // childrens center
|
||||
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
|
||||
// check if leaf contains plane
|
||||
if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) {
|
||||
pointrep *points = children->points;
|
||||
unsigned int length = points[0].length;
|
||||
T *point = &(points[1].v); // first point
|
||||
for(unsigned int iterator = 0; iterator < length; iterator++ ) {
|
||||
if( closeToPlane(point) )
|
||||
result++;
|
||||
point += BOctTree<T>::POINTDIM;
|
||||
}
|
||||
}
|
||||
} else { // recurse
|
||||
result += PointsOnNumber( children->node, ccenter, size/2.0);
|
||||
}
|
||||
++children; // next child
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
void PointsOnNumber(bitoct &node, T *center, T size, vector<T*> &n) {
|
||||
if (!SphereInAABB(center[0], center[1], center[2], size)) {
|
||||
return ;
|
||||
}
|
||||
|
||||
T ccenter[3];
|
||||
bitunion<T> *children;
|
||||
bitoct::getChildren(node, children);
|
||||
|
||||
for (short i = 0; i < 8; i++) {
|
||||
if ( ( 1 << i ) & node.valid ) { // if ith node exists
|
||||
childcenter(center, ccenter, size, i); // childrens center
|
||||
if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center
|
||||
// check if leaf contains plane
|
||||
if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) {
|
||||
pointrep *points = children->points;
|
||||
unsigned int length = points[0].length;
|
||||
T *point = &(points[1].v); // first point
|
||||
for(unsigned int iterator = 0; iterator < length; iterator++ ) {
|
||||
if( closeToPlane(point) )
|
||||
n.push_back(point);
|
||||
point+=BOctTree<T>::POINTDIM;
|
||||
}
|
||||
}
|
||||
} else { // recurse
|
||||
PointsOnNumber( children->node, ccenter, size/2.0, n);
|
||||
}
|
||||
++children; // next child
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,165 @@
|
|||
GOCR (JOCR at SF.net)
|
||||
|
||||
GOCR is an optical character recognition program, released under the
|
||||
GNU General Public License. It reads images in many formats and outputs
|
||||
a text file. Possible image formats are pnm, pbm, pgm, ppm, some pcx and
|
||||
tga image files. Other formats like pnm.gz, pnm.bz2, png, jpg, tiff, gif,
|
||||
bmp will be automatically converted using the netpbm-progs, gzip and bzip2
|
||||
via unix pipe.
|
||||
A simple graphical frontend written in tcl/tk and some
|
||||
sample files are included.
|
||||
Gocr is also able to recognize and translate barcodes.
|
||||
You do not have to train the program or store large font bases.
|
||||
Simply call gocr from the command line and get your results.
|
||||
|
||||
To see installation instructions, see the INSTALL file.
|
||||
|
||||
How to start? (QUICK START)
|
||||
---------------------------
|
||||
Some examples of how you can use gocr:
|
||||
|
||||
gocr -h # help
|
||||
gocr file.pbm # minimum options
|
||||
gocr -v 1 file.pbm >out.txt 2>out.log # generate text- and log file
|
||||
djpeg -pnm -gray text.jpg | gocr - # using JPEG-files
|
||||
gzip -cd text.pbm.gz | gocr - # using gzipped PBM-files
|
||||
giftopnm text.gif | gocr - # using GIF-files
|
||||
gocr -v 1 -v 32 -m 4 file.pbm # zoning and out30.bmp output
|
||||
xli -geometry 400x400 out30.bmp # see details using xli (recommanded viewer)
|
||||
wish gocr.tcl # X11-tcl/tk-frontend (development version)
|
||||
# see manual pages for more details
|
||||
|
||||
|
||||
How to get image files?
|
||||
-----------------------
|
||||
Scan text pages and save it as PGM/PBM/PNM file. Use a program such as
|
||||
The GIMP or Sane. You can also use netpbm-progs to convert several image
|
||||
formats into PGM/PBM/PNM. The tool djpeg can be used to convert jpeg into pgm.
|
||||
If you have a POSIX compatible system like linux and PNM-tools, gzip and bzip2
|
||||
are installed, you are lucky and gocr will do conversion
|
||||
from [.pnm.gz, .pnm.bz2, .jpg, .jpeg, .bmp, .tiff, .png, .ps, .eps]
|
||||
to [.pgm] for you. This list can easily be extended editing src/pnm.c.
|
||||
|
||||
Gocr also comes with some examples, try: make examples.
|
||||
|
||||
Memory limitations
|
||||
------------------
|
||||
WARNING!!!
|
||||
|
||||
If you use a 300dpi scan of A4 letter, the image is about 2500x3500 pixels and
|
||||
gocr requires 8.75MB for storing the picture into the memory. Not only that,
|
||||
but gocr may create a 2nd copy, using a total of 17MB. This is independent
|
||||
of using b/w or gray-scale images. Be sure that you have enough RAM installed
|
||||
in your machine! Alternatively you can cut the picture into small pieces.
|
||||
You can use the pnmcut, from the netpbm package to cut the file. Example:
|
||||
|
||||
pnmcut -left 0 -right 2500 -top 0 -height 1000 bigfile.pnm > smallfile.pnm
|
||||
|
||||
And then use gocr in the cropped image as usual. Take care: if you chopp the
|
||||
characters, gocr won't be able to understand that line.
|
||||
|
||||
Future versions will take care of this issue automatically.
|
||||
|
||||
Limitations
|
||||
-----------
|
||||
gocr is still in its early stages. Your images should fit in these requirements
|
||||
if you want a good output:
|
||||
|
||||
- good scans (all chars well seperated, one column, no tables etc, 12pt 300dpi)
|
||||
should work well
|
||||
- fonts 20-60 pixels ( 5pt * 1in/72pt * 300 dpi = 20 dots )
|
||||
- output of image file for controlling detection
|
||||
|
||||
And note that speed is very slow (this will be changed when recognition works
|
||||
well)
|
||||
12pt 300dpi 1700x950 16lines 700chars 22x28 P90=40s..90s v0.2.3 (gcc -O0)
|
||||
|
||||
You can try to optimize the results:
|
||||
- make good scans/treat image
|
||||
- try to change the critical gray level (option -l <n>)
|
||||
- control the result on out10.png, out30.png (option -v 32)
|
||||
example: ./gocr -v 32 -m 4 -m 256 -m 56 ~/aac.jpg # only check layout
|
||||
- enlarge option -d <n> for high resolution images which are noisy
|
||||
- try different combinations for option -m <n>
|
||||
- for thousends of documents with same font
|
||||
you can use/create a database (-m 2/-m 130)
|
||||
- use options -d 0 -m 8 on screen shots (font8x12)
|
||||
- use filter option -C to through out wrong recognized chars (ex: gothic)
|
||||
|
||||
What does >> NOT << work at the moment:
|
||||
- complex layouts (try option -m 4)
|
||||
- bad scans, noisy/snowy images, FAX-quality images
|
||||
- serif fonts, italic fonts, slanted fonts
|
||||
- handwritten texts (this is valid for the next ten years I guess)
|
||||
the exisctence of autotrace can shorten this
|
||||
- rotated images (but slightly rotated images should be no problem)
|
||||
- small fonts (fax like) or mix of different font size
|
||||
- colored images (use gray or black/white)
|
||||
- Chinese, Arabian, Egyptian, Cyrillic or Klingon fonts
|
||||
|
||||
How it works or how it should work?
|
||||
- put the entire file into RAM (300dpi grayscale recommended)
|
||||
- remove dust and snow
|
||||
- detect small angle (lines which are not horizontal)
|
||||
- detect text boxes (option -m 4)
|
||||
- detect text-lines
|
||||
- detect characters
|
||||
- first step recognition (every character has its own empirical procedure)
|
||||
- no neural network or similar general algorithms
|
||||
- analyze not detected chars by comparison with detected ones
|
||||
- try to divide overlapping chars
|
||||
- testwise: compare all letters (like compression of pictures)
|
||||
- for more details look to the gocr.html documentation
|
||||
|
||||
Why the result of the new version are worse compared to the old version?
|
||||
- the algorithms of gocr are sometimes evolutionary, a fine tuned old
|
||||
algorithm will be replased by a completly new algorithm which is more
|
||||
general but a bit worse for your problem.
|
||||
Please send your sample and give the new algo the chance to become
|
||||
better as the old one.
|
||||
|
||||
Security
|
||||
--------
|
||||
Because gocr only reads and writes files it is quite sure, except the
|
||||
popen-function which allows you to call gocr with non-pnm-image formats
|
||||
directly. The popen function can be misused to start other probably
|
||||
dangerous programs.
|
||||
If you care about conversion to pnm format, you can safely disable
|
||||
popen-function by removing "#define HAVE_POPEN 1" from config.h before
|
||||
compiling the gocr package.
|
||||
|
||||
|
||||
How can you help gocr?
|
||||
----------------------
|
||||
- Send comments, ideas and patches (diff -ru gocr_original/ gocr_changed/).
|
||||
- If you have a lot of money, spend a bit (paypal). Ok, paypal has changed,
|
||||
so please forget about it. Also the importand problem is now the missing
|
||||
spare time for coding.
|
||||
- I always need example files (.pbm.gz or jpeg <100kB) for testing
|
||||
the behavior of the ocr engine under different conditions,
|
||||
because scanning does take a lot of time which I do not have.
|
||||
But do not send files which are not convertable by commercial ocr programs
|
||||
or which are protected from copying and electronic processing by copyright.
|
||||
That will help, to get the world's best OCR open source program. :) Thanks!
|
||||
- Please dont send captchas.
|
||||
- Send me your results (errors,num_chars,dpi) and if possible results
|
||||
and name of professional OCR programs for statistics.
|
||||
- Read OCR literature, extract the essentials and send a short report
|
||||
to me ;).
|
||||
- If you have a good idea, how to manage some OCR-tasks, tell me!
|
||||
- Tell your friends about gocr. Tell me about your success. Be happy.
|
||||
|
||||
|
||||
After all, is it gocr or jocr?
|
||||
------------------------------
|
||||
The original name of this project is gocr, from GNU Optical Character
|
||||
Recognition. Another project is using the same name, however; so the
|
||||
name was changed to jocr. If you have a good idea for a name, please
|
||||
send it.
|
||||
|
||||
|
||||
Latest news
|
||||
------------
|
||||
http://jocr.sourceforge.net
|
||||
|
||||
Authors: (see AUTHORS)
|
||||
|
|
@ -0,0 +1,76 @@
|
|||
/****************************************************************************
|
||||
|
||||
GLUI User Interface Toolkit
|
||||
---------------------------
|
||||
|
||||
glui_column.cpp - GLUI_Column control class
|
||||
|
||||
|
||||
--------------------------------------------------
|
||||
|
||||
Copyright (c) 1998 Paul Rademacher
|
||||
|
||||
This program is freely distributable without licensing fees and is
|
||||
provided without guarantee or warrantee expressed or implied. This
|
||||
program is -not- in the public domain.
|
||||
|
||||
*****************************************************************************/
|
||||
|
||||
#include "glui.h"
|
||||
#include "stdinc.h"
|
||||
|
||||
/**************************************** GLUI_Column::draw() ************/
|
||||
|
||||
void GLUI_Column::draw( int x, int y )
|
||||
{
|
||||
int orig;
|
||||
int panel_x, panel_y, panel_w, panel_h, panel_x_off, panel_y_off;
|
||||
int y_diff;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
if ( int_val == 1 ) { /* Draw a vertical bar */
|
||||
orig = set_to_glut_window();
|
||||
|
||||
if ( parent() != NULL ) {
|
||||
get_this_column_dims(&panel_x, &panel_y, &panel_w, &panel_h,
|
||||
&panel_x_off, &panel_y_off);
|
||||
|
||||
y_diff = y_abs - panel_y;
|
||||
|
||||
if ( 0 ) {
|
||||
glLineWidth(1.0);
|
||||
glBegin( GL_LINES );
|
||||
glColor3f( .5, .5, .5 );
|
||||
glVertex2i( -GLUI_XOFF+1, -y_diff + GLUI_SEPARATOR_HEIGHT/2 );
|
||||
glVertex2i( -GLUI_XOFF+1, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2);
|
||||
|
||||
glColor3f( 1.0, 1.0, 1.0 );
|
||||
glVertex2i( -GLUI_XOFF+2, -y_diff + GLUI_SEPARATOR_HEIGHT/2 );
|
||||
glVertex2i( -GLUI_XOFF+2, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2);
|
||||
glEnd();
|
||||
}
|
||||
else {
|
||||
glLineWidth(1.0);
|
||||
glBegin( GL_LINES );
|
||||
glColor3f( .5, .5, .5 );
|
||||
glVertex2i( -2, 0 );
|
||||
glVertex2i( -2, h );
|
||||
/*glVertex2i( 0, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); */
|
||||
/*glVertex2i( 0, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); */
|
||||
|
||||
glColor3f( 1.0, 1.0, 1.0 );
|
||||
glVertex2i( -1, 0 );
|
||||
glVertex2i( -1, h );
|
||||
/*glVertex2i( 1, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); */
|
||||
/*glVertex2i( 1, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); */
|
||||
glEnd();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,289 @@
|
|||
/*
|
||||
This is a Optical-Character-Recognition program
|
||||
Copyright (C) 2000-2009 Joerg Schulenburg
|
||||
|
||||
This program is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU General Public License
|
||||
as published by the Free Software Foundation; either version 2
|
||||
of the License, or (at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
see README for EMAIL-address
|
||||
|
||||
the following code was send by Ryan Dibble <dibbler@umich.edu>
|
||||
|
||||
The algorithm is very simple but works good hopefully.
|
||||
|
||||
Compare the grayscale histogram with a mass density diagram:
|
||||
I think the algorithm is a kind of
|
||||
divide a body into two parts in a way that the mass
|
||||
centers have the largest distance from each other,
|
||||
the function is weighted in a way that same masses have a advantage
|
||||
|
||||
- otsu algorithm is failing on diskrete multi color images
|
||||
|
||||
TODO:
|
||||
RGB: do the same with all colors (CMYG?) seperately
|
||||
|
||||
test: hardest case = two colors
|
||||
bbg: test done, using a two color gray file. Output:
|
||||
# threshold: Value = 43 gmin=43 gmax=188
|
||||
|
||||
my changes:
|
||||
- float -> double
|
||||
- debug option added (vvv & 1..2)
|
||||
- **image => *image, &image[i][1] => &image[i*cols+1]
|
||||
- do only count pixels near contrast regions
|
||||
this makes otsu much better for shadowed fonts or multi colored text
|
||||
on white background
|
||||
|
||||
(m) Joerg Schulenburg (see README for email address)
|
||||
|
||||
ToDo:
|
||||
- measure contrast
|
||||
- detect low-contrast regions
|
||||
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
#define Abs(x) ((x<0)?-(x):x)
|
||||
|
||||
/*======================================================================*
|
||||
* global thresholding routine *
|
||||
* takes a 2D unsigned char array pointer, number of rows, and *
|
||||
* number of cols in the array. returns the value of the threshold *
|
||||
* x0,y0,x0+dx,y0+dy are the edgepoints of the interesting region *
|
||||
* vvv is the verbosity for debugging purpose *
|
||||
*======================================================================*/
|
||||
int
|
||||
otsu (unsigned char *image, int rows, int cols,
|
||||
int x0, int y0, int dx, int dy, int vvv) {
|
||||
|
||||
unsigned char *np; // pointer to position in the image we are working with
|
||||
unsigned char op1, op2; // predecessor of pixel *np (start value)
|
||||
int maxc=0; // maximum contrast (start value)
|
||||
int thresholdValue=1; // value we will threshold at
|
||||
int ihist[256]; // image histogram
|
||||
int chist[256]; // contrast histogram
|
||||
|
||||
int i, j, k; // various counters
|
||||
int is, i1, i2, ns, n1, n2, gmin, gmax;
|
||||
double m1, m2, sum, csum, fmax, sb;
|
||||
|
||||
// zero out histogram ...
|
||||
memset(ihist, 0, sizeof(ihist));
|
||||
memset(chist, 0, sizeof(chist));
|
||||
op1=op2=0;
|
||||
|
||||
gmin=255; gmax=0; k=dy/512+1;
|
||||
// v0.43 first get max contrast, dont do it together with next step
|
||||
// because it failes if we have pattern as background (on top)
|
||||
for (i = 0; i < dy ; i+=k) {
|
||||
np = &image[(y0+i)*cols+x0];
|
||||
for (j = 0; j < dx ; j++) {
|
||||
ihist[*np]++;
|
||||
if(*np > gmax) gmax=*np;
|
||||
if(*np < gmin) gmin=*np;
|
||||
if (Abs(*np-op1)>maxc) maxc=Abs(*np-op1); /* new maximum contrast */
|
||||
if (Abs(*np-op2)>maxc) maxc=Abs(*np-op2); /* new maximum contrast */
|
||||
/* we hope that maxc will be find its maximum very fast */
|
||||
op2=op1; /* shift old pixel to next older */
|
||||
op1=*np; /* store old pixel for contrast check */
|
||||
np++; /* next pixel */
|
||||
}
|
||||
}
|
||||
|
||||
// generate the histogram
|
||||
// Aug06 images with large white or black homogeneous
|
||||
// areas give bad results, so we only add pixels on contrast edges
|
||||
for (i = 0; i < dy ; i+=k) {
|
||||
np = &image[(y0+i)*cols+x0];
|
||||
for (j = 0; j < dx ; j++) {
|
||||
if (Abs(*np-op1)>maxc/4
|
||||
|| Abs(*np-op2)>maxc/4)
|
||||
chist[*np]++; // count only relevant pixels
|
||||
op2=op1; /* shift old pixel to next older */
|
||||
op1=*np; /* store old pixel for contrast check */
|
||||
np++; /* next pixel */
|
||||
}
|
||||
}
|
||||
|
||||
// set up everything
|
||||
sum = csum = 0.0;
|
||||
ns = 0;
|
||||
is = 0;
|
||||
|
||||
for (k = 0; k <= 255; k++) {
|
||||
sum += (double) k * (double) chist[k]; /* x*f(x) cmass moment */
|
||||
ns += chist[k]; /* f(x) cmass */
|
||||
is += ihist[k]; /* f(x) imass */
|
||||
// Debug: output to out_hist.dat?
|
||||
// fprintf(stderr,"\chistogram %3d %6d (brightness weight)", k, ihist[k]);
|
||||
}
|
||||
|
||||
if (!ns) {
|
||||
// if n has no value we have problems...
|
||||
fprintf (stderr, "NOT NORMAL, thresholdValue = 160\n");
|
||||
return (160);
|
||||
}
|
||||
|
||||
// ToDo: only care about extremas in a 3 pixel environment
|
||||
// check if there are more than 2 mass centers (more colors)
|
||||
// return object colors and color radius instead of threshold value
|
||||
// also the reagion, where colored objects are found
|
||||
// what if more than one background color? no otsu at all?
|
||||
// whats background? box with lot of other boxes in it
|
||||
// threshold each box (examples/invers.png,colors.png)
|
||||
// get maximum white and minimum black pixel color (possible range)
|
||||
// check range between them for low..high contrast ???
|
||||
// typical scenes (which must be covered):
|
||||
// - white page with text of different colors (gray values)
|
||||
// - binear page: background (gray=1) + black text (gray=0)
|
||||
// - text mixed with big (dark) images
|
||||
// ToDo: recursive clustering for maximum multipol moments?
|
||||
// idea: normalize ihist to max=1024 before otsu?
|
||||
|
||||
// do the otsu global thresholding method
|
||||
|
||||
if ((vvv&1)) // Debug
|
||||
fprintf(stderr,"# threshold: value ihist chist mass_dipol_moment\n");
|
||||
fmax = -1.0;
|
||||
n1 = 0;
|
||||
for (k = 0; k < 255; k++) {
|
||||
n1 += chist[k]; // left mass (integration)
|
||||
if (!n1) continue; // we need at least one foreground pixel
|
||||
n2 = ns - n1; // right mass (num pixels - left mass)
|
||||
if (n2 == 0) break; // we need at least one background pixel
|
||||
csum += (double) k *chist[k]; // left mass moment
|
||||
m1 = csum / n1; // left mass center (black chars)
|
||||
m2 = (sum - csum) / n2; // right mass center (white background)
|
||||
// max. dipol moment?
|
||||
// orig: sb = (double) n1 *(double) n2 * (m1 - m2) * (m1 - m2);
|
||||
sb = (double) n1 *(double) n2 * (m2 - m1); // seems to be better Aug06
|
||||
/* bbg: note: can be optimized. */
|
||||
if (sb > fmax) {
|
||||
fmax = sb;
|
||||
thresholdValue = k + 1;
|
||||
// thresholdValue = (m1 + 3 * m2) / 4;
|
||||
}
|
||||
if ((vvv&1) && ihist[k]) // Debug
|
||||
fprintf(stderr,"# threshold: %3d %6d %6d %8.2f\n",
|
||||
k, ihist[k], chist[k],
|
||||
sb/(dx*dy)); /* normalized dipol moment */
|
||||
}
|
||||
// ToDo: error = left/right point where sb is 90% of maximum?
|
||||
// now we count all pixels for background detection
|
||||
i1 = 0;
|
||||
for (k = 0; k < thresholdValue; k++) {
|
||||
i1 += ihist[k]; // left mass (integration)
|
||||
}
|
||||
i2 = is - i1; // right mass (num pixels - left mass)
|
||||
|
||||
// at this point we have our thresholding value
|
||||
// black_char: value<cs, white_background: value>=cs
|
||||
|
||||
// can it happen? check for sureness
|
||||
if (thresholdValue > gmax) {
|
||||
fprintf(stderr,"# threshold: Value >gmax\n");
|
||||
thresholdValue = gmax;
|
||||
}
|
||||
if (thresholdValue <= gmin) {
|
||||
fprintf(stderr,"# threshold: Value<=gmin\n");
|
||||
thresholdValue = gmin+1;
|
||||
}
|
||||
|
||||
// debug code to display thresholding values
|
||||
if ( vvv & 1 )
|
||||
fprintf(stderr,"# threshold: Value = %d gmin=%d gmax=%d cmax=%d"
|
||||
" b/w= %d %d\n",
|
||||
thresholdValue, gmin, gmax, maxc, i1, i2);
|
||||
|
||||
// this is a primitive criteria for inversion and should be improved
|
||||
// old: i1 >= 4*i2, but 0811qemu1.png has a bit above 1/4
|
||||
if (2*i1 > 7*i2) { // more black than white, obviously black is background
|
||||
if ( vvv & 1 )
|
||||
fprintf(stderr,"# threshold: invert the image\n");
|
||||
// we do inversion here (no data lost)
|
||||
for (i = 0; i < dy ; i++) {
|
||||
np = &image[(y0+i)*cols+x0];
|
||||
for (j = 0; j < dx ; j++) {
|
||||
*np=255-*np;
|
||||
np++; /* next pixel */
|
||||
}
|
||||
}
|
||||
thresholdValue=255-thresholdValue+1;
|
||||
}
|
||||
|
||||
return(thresholdValue);
|
||||
/* range: 0 < thresholdValue <= 255, example: 1 on b/w images */
|
||||
/* 0..threshold-1 is foreground */
|
||||
/* threshold..255 is background */
|
||||
/* ToDo: min=blackmasscenter/2,thresh,max=(whitemasscenter+255)/2 */
|
||||
}
|
||||
|
||||
/*======================================================================*/
|
||||
/* thresholding the image (set threshold to 128+32=160=0xA0) */
|
||||
/* now we have a fixed thresholdValue good to recognize on gray image */
|
||||
/* - so lower bits can used for other things (bad design?) */
|
||||
/* ToDo: different foreground colors, gray on black/white background */
|
||||
/*======================================================================*/
|
||||
int
|
||||
thresholding (unsigned char *image, int rows, int cols,
|
||||
int x0, int y0, int dx, int dy, int thresholdValue) {
|
||||
|
||||
unsigned char *np; // pointer to position in the image we are working with
|
||||
|
||||
int i, j; // various counters
|
||||
int gmin=255,gmax=0;
|
||||
int nmin=255,nmax=0;
|
||||
|
||||
// calculate min/max (twice?)
|
||||
for (i = y0 + 1; i < y0 + dy - 1; i++) {
|
||||
np = &image[i*cols+x0+1];
|
||||
for (j = x0 + 1; j < x0 + dx - 1; j++) {
|
||||
if(*np > gmax) gmax=*np;
|
||||
if(*np < gmin) gmin=*np;
|
||||
np++; /* next pixel */
|
||||
}
|
||||
}
|
||||
|
||||
/* allowed_threshold=gmin+1..gmax v0.43 */
|
||||
if (thresholdValue<=gmin || thresholdValue>gmax){
|
||||
thresholdValue=(gmin+gmax+1)/2; /* range=0..1 -> threshold=1 */
|
||||
fprintf(stderr,"# thresholdValue out of range %d..%d, reset to %d\n",
|
||||
gmin, gmax, thresholdValue);
|
||||
}
|
||||
|
||||
/* b/w: min=0,tresh=1,max=1 v0.43 */
|
||||
// actually performs the thresholding of the image...
|
||||
// later: grayvalues should also be used, only rescaling threshold=160=0xA0
|
||||
// sometimes images have no contrast (thresholdValue == gmin)
|
||||
for (i = y0; i < y0+dy; i++) {
|
||||
np = &image[i*cols+x0];
|
||||
for (j = x0; j < x0+dx; j++) {
|
||||
*np = (unsigned char) (*np >= thresholdValue || thresholdValue == gmin ?
|
||||
(255-(gmax - *np)* 80/(gmax - thresholdValue + 1)) :
|
||||
( 0+(*np - gmin)*150/(thresholdValue - gmin )) );
|
||||
if(*np > nmax) nmax=*np;
|
||||
if(*np < nmin) nmin=*np;
|
||||
np++;
|
||||
}
|
||||
}
|
||||
|
||||
// fprintf(stderr,"# thresholding: nmin=%d nmax=%d\n", nmin, nmax);
|
||||
|
||||
return(128+32); // return the new normalized threshold value
|
||||
/* 0..159 is foreground */
|
||||
/* 160..255 is background */
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,136 @@
|
|||
/*
|
||||
* elch6Dquat implementation
|
||||
*
|
||||
* Copyright (C) Jochen Sprickerhof
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file ELCH implementation using Quaternions
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/elch6Dquat.h"
|
||||
|
||||
#include "slam6d/metaScan.h"
|
||||
#include "slam6d/lum6Dquat.h"
|
||||
#include "slam6d/globals.icc"
|
||||
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#include <fstream>
|
||||
using std::ofstream;
|
||||
|
||||
#include <boost/graph/graph_traits.hpp>
|
||||
using boost::graph_traits;
|
||||
using namespace NEWMAT;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#define tie tr1::tie
|
||||
#endif
|
||||
|
||||
/**
|
||||
* ELCH loop closing function using Quaternions
|
||||
* matches first and last scan of a loop with ICP
|
||||
* distributes the error
|
||||
*
|
||||
* @param allScans all laser scans
|
||||
* @param first index of first laser scan in the loop
|
||||
* @param last indes of last laser scan in the loop
|
||||
* @param g graph for loop optimization
|
||||
*/
|
||||
void elch6Dquat::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
|
||||
{
|
||||
int n = num_vertices(g);
|
||||
graph_t grb[7];
|
||||
Matrix C(7, 7);
|
||||
graph_traits <graph_t>::edge_iterator ei, ei_end;
|
||||
for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) {
|
||||
int from = source(*ei, g);
|
||||
int to = target(*ei, g);
|
||||
lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C);
|
||||
C = C.i();
|
||||
for(int j = 0; j < 7; j++) {
|
||||
add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]);
|
||||
}
|
||||
}
|
||||
|
||||
double *weights[7];
|
||||
for(int i = 0; i < 7; i++) {
|
||||
weights[i] = new double[n];
|
||||
graph_balancer(grb[i], first, last, weights[i]);
|
||||
}
|
||||
|
||||
vector <Scan *> meta_start;
|
||||
meta_start.push_back(allScans[first]);
|
||||
meta_start.push_back(allScans[first + 1]);
|
||||
meta_start.push_back(allScans[first + 2]);
|
||||
MetaScan *start = new MetaScan(meta_start, false, false);
|
||||
vector <Scan *> meta_end;
|
||||
meta_end.push_back(allScans[last - 2]);
|
||||
meta_end.push_back(allScans[last - 1]);
|
||||
meta_end.push_back(allScans[last]);
|
||||
MetaScan *end = new MetaScan(meta_end, false, false);
|
||||
|
||||
for(int i = last - 2; i <= last; i++) {
|
||||
for(int j = 0; j < 7; j++) {
|
||||
weights[j][i] = 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
double delta[7];
|
||||
delta[0] = allScans[last]->get_rPos()[0];
|
||||
delta[1] = allScans[last]->get_rPos()[1];
|
||||
delta[2] = allScans[last]->get_rPos()[2];
|
||||
delta[3] = allScans[last]->get_rPosQuat()[0];
|
||||
delta[4] = allScans[last]->get_rPosQuat()[1];
|
||||
delta[5] = allScans[last]->get_rPosQuat()[2];
|
||||
delta[6] = allScans[last]->get_rPosQuat()[3];
|
||||
|
||||
my_icp6D->match(start, end);
|
||||
|
||||
delete start;
|
||||
delete end;
|
||||
|
||||
delta[0] = allScans[last]->get_rPos()[0] - delta[0];
|
||||
delta[1] = allScans[last]->get_rPos()[1] - delta[1];
|
||||
delta[2] = allScans[last]->get_rPos()[2] - delta[2];
|
||||
delta[3] = allScans[last]->get_rPosQuat()[0] - delta[3];
|
||||
delta[4] = allScans[last]->get_rPosQuat()[1] - delta[4];
|
||||
delta[5] = allScans[last]->get_rPosQuat()[2] - delta[5];
|
||||
delta[6] = allScans[last]->get_rPosQuat()[3] - delta[6];
|
||||
|
||||
if(!quiet) {
|
||||
double axisangle[4];
|
||||
axisangle[0] = delta[3];
|
||||
axisangle[1] = delta[4];
|
||||
axisangle[2] = delta[5];
|
||||
axisangle[3] = delta[6];
|
||||
QuatToAA(axisangle);
|
||||
cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl;
|
||||
}
|
||||
|
||||
double rPos[3], rPosQuat[4];
|
||||
for(int i = 1; i < n; i++) {
|
||||
rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]);
|
||||
rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]);
|
||||
rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]);
|
||||
rPosQuat[0] = allScans[i]->get_rPosQuat()[0] + delta[3] * (weights[3][i] - weights[3][0]);
|
||||
rPosQuat[1] = allScans[i]->get_rPosQuat()[1] + delta[4] * (weights[4][i] - weights[4][0]);
|
||||
rPosQuat[2] = allScans[i]->get_rPosQuat()[2] + delta[5] * (weights[5][i] - weights[5][0]);
|
||||
rPosQuat[3] = allScans[i]->get_rPosQuat()[3] + delta[6] * (weights[6][i] - weights[6][0]);
|
||||
|
||||
Normalize4(rPosQuat);
|
||||
allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1);
|
||||
}
|
||||
|
||||
for(int i = 0; i < 7; i++) {
|
||||
delete [] weights[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
//----------------------------------------------------------------------
|
||||
// File: kd_fix_rad_search.h
|
||||
// Programmer: Sunil Arya and David Mount
|
||||
// Description: Standard kd-tree fixed-radius kNN search
|
||||
// Last modified: 05/03/05 (Version 1.1)
|
||||
//----------------------------------------------------------------------
|
||||
// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and
|
||||
// David Mount. All Rights Reserved.
|
||||
//
|
||||
// This software and related documentation is part of the Approximate
|
||||
// Nearest Neighbor Library (ANN). This software is provided under
|
||||
// the provisions of the Lesser GNU Public License (LGPL). See the
|
||||
// file ../ReadMe.txt for further information.
|
||||
//
|
||||
// The University of Maryland (U.M.) and the authors make no
|
||||
// representations about the suitability or fitness of this software for
|
||||
// any purpose. It is provided "as is" without express or implied
|
||||
// warranty.
|
||||
//----------------------------------------------------------------------
|
||||
// History:
|
||||
// Revision 1.1 05/03/05
|
||||
// Initial release
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
#ifndef ANN_kd_fix_rad_search_H
|
||||
#define ANN_kd_fix_rad_search_H
|
||||
|
||||
#include "kd_tree.h" // kd-tree declarations
|
||||
#include "kd_util.h" // kd-tree utilities
|
||||
#include "pr_queue_k.h" // k-element priority queue
|
||||
|
||||
#include <ANN/ANNperf.h> // performance evaluation
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Global variables
|
||||
// These are active for the life of each call to
|
||||
// annRangeSearch(). They are set to save the number of
|
||||
// variables that need to be passed among the various search
|
||||
// procedures.
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
extern ANNpoint ANNkdFRQ; // query point (static copy)
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief
|
||||
*
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef SHARED_FRAME_H
|
||||
#define SHARED_FRAME_H
|
||||
|
||||
#include "slam6d/frame.h"
|
||||
|
||||
#include <boost/interprocess/managed_shared_memory.hpp>
|
||||
#include <boost/interprocess/containers/vector.hpp>
|
||||
|
||||
// hide the boost namespace and shorten others
|
||||
namespace
|
||||
{
|
||||
namespace ip = boost::interprocess;
|
||||
// the segment manager providing the allocations
|
||||
typedef ip::managed_shared_memory::segment_manager SegmentManager;
|
||||
}
|
||||
|
||||
typedef ip::allocator<Frame, SegmentManager> FrameAllocator;
|
||||
typedef ip::vector<Frame, FrameAllocator> FrameVector;
|
||||
|
||||
|
||||
#endif //SHARED_FRAME_H
|
||||
|
|
@ -0,0 +1,340 @@
|
|||
/*
|
||||
This is a Optical-Character-Recognition program
|
||||
Copyright (C) 2000-2009 Joerg Schulenburg
|
||||
|
||||
This program is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU General Public License
|
||||
as published by the Free Software Foundation; either version 2
|
||||
of the License, or (at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
see README for EMAIL-address
|
||||
|
||||
sometimes I have written comments in german language, sorry for that
|
||||
|
||||
This file was retrieved from pgm2asc.cc of Joerg, in order to have
|
||||
a library of the ocr-engine from Klaas Freitag
|
||||
|
||||
*/
|
||||
#include "config.h"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <assert.h>
|
||||
#include <string.h>
|
||||
#ifdef HAVE_GETTIMEOFDAY
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
#ifdef HAVE_UNISTD_H
|
||||
#include <unistd.h>
|
||||
#endif
|
||||
|
||||
#include "pnm.h"
|
||||
#include "pgm2asc.h"
|
||||
#include "pcx.h"
|
||||
#include "ocr0.h" /* only_numbers */
|
||||
#include "progress.h"
|
||||
#include "version.h"
|
||||
|
||||
static void out_version(int v) {
|
||||
fprintf(stderr, " Optical Character Recognition --- gocr "
|
||||
version_string " " release_string "\n"
|
||||
" Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n"
|
||||
" released under the GNU General Public License\n");
|
||||
/* as recommended, (c) and license should be part of the binary */
|
||||
/* no email because of SPAM, see README for contacting the author */
|
||||
if (v)
|
||||
fprintf(stderr, " use option -h for help\n");
|
||||
if (v & 2)
|
||||
exit(1);
|
||||
return;
|
||||
}
|
||||
|
||||
static void help(void) {
|
||||
out_version(0);
|
||||
/* output is shortened to essentials, see manual page for details */
|
||||
fprintf(stderr,
|
||||
" using: gocr [options] pnm_file_name # use - for stdin\n"
|
||||
" options (see gocr manual pages for more details):\n"
|
||||
" -h, --help\n"
|
||||
" -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n"
|
||||
" -o name - output file (redirection of stdout)\n"
|
||||
" -e name - logging file (redirection of stderr)\n"
|
||||
" -x name - progress output to fifo (see manual)\n"
|
||||
" -p name - database path including final slash (default is ./db/)\n");
|
||||
fprintf(stderr, /* string length less than 509 bytes for ISO C89 */
|
||||
" -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n"
|
||||
" -l num - threshold grey level 0<160<=255 (0 = autodetect)\n"
|
||||
" -d num - dust_size (remove small clusters, -1 = autodetect)\n"
|
||||
" -s num - spacewidth/dots (0 = autodetect)\n"
|
||||
" -v num - verbose (see manual page)\n"
|
||||
" -c string - list of chars (debugging, see manual)\n"
|
||||
" -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n"
|
||||
" -m num - operation modes (bitpattern, see manual)\n");
|
||||
fprintf(stderr, /* string length less than 509 bytes for ISO C89 */
|
||||
" -a num - value of certainty (in percent, 0..100, default=95)\n"
|
||||
" -u string - output this string for every unrecognized character\n");
|
||||
fprintf(stderr, /* string length less than 509 bytes for ISO C89 */
|
||||
" examples:\n"
|
||||
"\tgocr -m 4 text1.pbm # do layout analyzis\n"
|
||||
"\tgocr -m 130 -p ./database/ text1.pbm # extend database\n"
|
||||
"\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n"
|
||||
"\n");
|
||||
fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
#ifdef HAVE_GETTIMEOFDAY
|
||||
/* from the glibc documentation */
|
||||
static int timeval_subtract (struct timeval *result, struct timeval *x,
|
||||
struct timeval *y) {
|
||||
|
||||
/* Perform the carry for the later subtraction by updating Y. */
|
||||
if (x->tv_usec < y->tv_usec) {
|
||||
int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1;
|
||||
y->tv_usec -= 1000000 * nsec;
|
||||
y->tv_sec += nsec;
|
||||
}
|
||||
if (x->tv_usec - y->tv_usec > 1000000) {
|
||||
int nsec = (x->tv_usec - y->tv_usec) / 1000000;
|
||||
y->tv_usec += 1000000 * nsec;
|
||||
y->tv_sec -= nsec;
|
||||
}
|
||||
|
||||
/* Compute the time remaining to wait.
|
||||
`tv_usec' is certainly positive. */
|
||||
result->tv_sec = x->tv_sec - y->tv_sec;
|
||||
result->tv_usec = x->tv_usec - y->tv_usec;
|
||||
|
||||
/* Return 1 if result is negative. */
|
||||
return x->tv_sec < y->tv_sec;
|
||||
}
|
||||
#endif
|
||||
|
||||
static void process_arguments(job_t *job, int argn, char *argv[])
|
||||
{
|
||||
int i;
|
||||
char *s1;
|
||||
|
||||
assert(job);
|
||||
|
||||
if (argn <= 1) {
|
||||
out_version(1);
|
||||
exit(0);
|
||||
}
|
||||
#ifdef HAVE_PGM_H
|
||||
pnm_init(&argn, &argv);
|
||||
#endif
|
||||
|
||||
/* process arguments */
|
||||
for (i = 1; i < argn; i++) {
|
||||
if (strcmp(argv[i], "--help") == 0)
|
||||
help(); /* and quits */
|
||||
if (argv[i][0] == '-' && argv[i][1] != 0) {
|
||||
s1 = "";
|
||||
if (i + 1 < argn)
|
||||
s1 = argv[i + 1];
|
||||
switch (argv[i][1]) {
|
||||
case 'h': /* help */
|
||||
help();
|
||||
break;
|
||||
case 'i': /* input image file */
|
||||
job->src.fname = s1;
|
||||
i++;
|
||||
break;
|
||||
case 'e': /* logging file */
|
||||
if (s1[0] == '-' && s1[1] == '\0') {
|
||||
#ifdef HAVE_UNISTD_H
|
||||
dup2(STDOUT_FILENO, STDERR_FILENO); /* -e /dev/stdout works */
|
||||
#else
|
||||
fprintf(stderr, "stderr redirection not possible without unistd.h\n");
|
||||
#endif
|
||||
}
|
||||
else if (!freopen(s1, "w", stderr)) {
|
||||
fprintf(stderr, "stderr redirection to %s failed\n", s1);
|
||||
}
|
||||
i++;
|
||||
break;
|
||||
case 'p': /* database path */
|
||||
job->cfg.db_path=s1;
|
||||
i++;
|
||||
break;
|
||||
case 'o': /* output file */
|
||||
if (s1[0] == '-' && s1[1] == '\0') { /* default */
|
||||
}
|
||||
else if (!freopen(s1, "w", stdout)) {
|
||||
fprintf(stderr, "stdout redirection to %s failed\n", s1);
|
||||
};
|
||||
i++;
|
||||
break;
|
||||
case 'f': /* output format */
|
||||
if (strcmp(s1, "ISO8859_1") == 0) job->cfg.out_format=ISO8859_1; else
|
||||
if (strcmp(s1, "TeX") == 0) job->cfg.out_format=TeX; else
|
||||
if (strcmp(s1, "HTML") == 0) job->cfg.out_format=HTML; else
|
||||
if (strcmp(s1, "XML") == 0) job->cfg.out_format=XML; else
|
||||
if (strcmp(s1, "SGML") == 0) job->cfg.out_format=SGML; else
|
||||
if (strcmp(s1, "UTF8") == 0) job->cfg.out_format=UTF8; else
|
||||
if (strcmp(s1, "ASCII") == 0) job->cfg.out_format=ASCII; else
|
||||
fprintf(stderr,"Warning: unknown format (-f %s)\n",s1);
|
||||
i++;
|
||||
break;
|
||||
case 'c': /* list of chars (_ = not recognized chars) */
|
||||
job->cfg.lc = s1;
|
||||
i++;
|
||||
break;
|
||||
case 'C': /* char filter, default: NULL (all chars) */
|
||||
/* ToDo: UTF8 input, wchar */
|
||||
job->cfg.cfilter = s1;
|
||||
i++;
|
||||
break;
|
||||
case 'd': /* dust size */
|
||||
job->cfg.dust_size = atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'l': /* grey level 0<160<=255, 0 for autodetect */
|
||||
job->cfg.cs = atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 's': /* spacewidth/dots (0 = autodetect) */
|
||||
job->cfg.spc = atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'v': /* verbose mode */
|
||||
job->cfg.verbose |= atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'm': /* operation modes */
|
||||
job->cfg.mode |= atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'n': /* numbers only */
|
||||
job->cfg.only_numbers = atoi(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'x': /* initialize progress output s1=fname */
|
||||
ini_progress(s1);
|
||||
i++;
|
||||
break;
|
||||
case 'a': /* set certainty */
|
||||
job->cfg.certainty = atoi(s1);;
|
||||
i++;
|
||||
break;
|
||||
case 'u': /* output marker for unrecognized chars */
|
||||
job->cfg.unrec_marker = s1;
|
||||
i++;
|
||||
break;
|
||||
default:
|
||||
fprintf(stderr, "# unknown option use -h for help\n");
|
||||
}
|
||||
continue;
|
||||
}
|
||||
else /* argument can be filename v0.2.5 */ if (argv[i][0] != '-'
|
||||
|| argv[i][1] == '\0' ) {
|
||||
job->src.fname = argv[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void mark_start(job_t *job) {
|
||||
assert(job);
|
||||
|
||||
if (job->cfg.verbose) {
|
||||
out_version(0);
|
||||
/* insert some helpful info for support */
|
||||
fprintf(stderr, "# compiled: " __DATE__ );
|
||||
#if defined(__GNUC__)
|
||||
fprintf(stderr, " GNUC-%d", __GNUC__ );
|
||||
#endif
|
||||
#ifdef __GNUC_MINOR__
|
||||
fprintf(stderr, ".%d", __GNUC_MINOR__ );
|
||||
#endif
|
||||
#if defined(__linux)
|
||||
fprintf(stderr, " linux");
|
||||
#elif defined(__unix)
|
||||
fprintf(stderr, " unix");
|
||||
#endif
|
||||
#if defined(__WIN32) || defined(__WIN32__)
|
||||
fprintf(stderr, " WIN32");
|
||||
#endif
|
||||
#if defined(__WIN64) || defined(__WIN64__)
|
||||
fprintf(stderr, " WIN64");
|
||||
#endif
|
||||
#if defined(__VERSION__)
|
||||
fprintf(stderr, " version " __VERSION__ );
|
||||
#endif
|
||||
fprintf(stderr, "\n");
|
||||
fprintf(stderr,
|
||||
"# options are: -l %d -s %d -v %d -c %s -m %d -d %d -n %d -a %d -C \"%s\"\n",
|
||||
job->cfg.cs, job->cfg.spc, job->cfg.verbose, job->cfg.lc, job->cfg.mode,
|
||||
job->cfg.dust_size, job->cfg.only_numbers, job->cfg.certainty,
|
||||
job->cfg.cfilter);
|
||||
fprintf(stderr, "# file: %s\n", job->src.fname);
|
||||
#ifdef USE_UNICODE
|
||||
fprintf(stderr,"# using unicode\n");
|
||||
#endif
|
||||
#ifdef HAVE_GETTIMEOFDAY
|
||||
gettimeofday(&job->tmp.init_time, NULL);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
static void mark_end(job_t *job) {
|
||||
assert(job);
|
||||
|
||||
#ifdef HAVE_GETTIMEOFDAY
|
||||
/* show elapsed time */
|
||||
if (job->cfg.verbose) {
|
||||
struct timeval end, result;
|
||||
gettimeofday(&end, NULL);
|
||||
timeval_subtract(&result, &end, &job->tmp.init_time);
|
||||
fprintf(stderr,"Elapsed time: %d:%02d:%3.3f.\n", (int)result.tv_sec/60,
|
||||
(int)result.tv_sec%60, (float)result.tv_usec/1000);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
static int read_picture(job_t *job) {
|
||||
int rc=0;
|
||||
assert(job);
|
||||
|
||||
if (strstr(job->src.fname, ".pcx"))
|
||||
readpcx(job->src.fname, &job->src.p, job->cfg.verbose);
|
||||
else
|
||||
rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose);
|
||||
return rc; /* 1 for multiple images, 0 else */
|
||||
}
|
||||
|
||||
/* subject of change, we need more output for XML (ToDo) */
|
||||
void print_output(job_t *job) {
|
||||
int linecounter = 0;
|
||||
const char *line;
|
||||
|
||||
assert(job);
|
||||
|
||||
linecounter = 0;
|
||||
line = getTextLine(linecounter++);
|
||||
while (line) {
|
||||
/* notice: decode() is shiftet to getTextLine since 0.38 */
|
||||
fputs(line, stdout);
|
||||
if (job->cfg.out_format==HTML) fputs("<br />",stdout);
|
||||
if (job->cfg.out_format!=XML) fputc('\n', stdout);
|
||||
line = getTextLine(linecounter++);
|
||||
}
|
||||
free_textlines();
|
||||
}
|
||||
|
||||
/* FIXME jb: remove JOB; */
|
||||
job_t *JOB;
|
||||
|
||||
|
||||
/* -------------------------------------------------------------
|
||||
// ------ MAIN - replace this by your own aplication!
|
||||
// ------------------------------------------------------------- */
|
||||
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
// Copyright (C) 2007 by Cristóbal Carnero Liñán
|
||||
// grendel.ccl@gmail.com
|
||||
//
|
||||
// This file is part of cvBlob.
|
||||
//
|
||||
// cvBlob is free software: you can redistribute it and/or modify
|
||||
// it under the terms of the Lesser GNU General Public License as published by
|
||||
// the Free Software Foundation, either version 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// cvBlob is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
// Lesser GNU General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the Lesser GNU General Public License
|
||||
// along with cvBlob. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
|
||||
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|
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|
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|
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|
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|
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|
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|
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namespace cvb
|
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{
|
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
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// http://www.topcoder.com/tc?module=Static&d1=tutorials&d2=geometry1
|
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|
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double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c)
|
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{
|
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double abx = b.x-a.x;
|
||||
double aby = b.y-a.y;
|
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double bcx = c.x-b.x;
|
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double bcy = c.y-b.y;
|
||||
|
||||
return abx*bcx + aby*bcy;
|
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|
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|
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double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c)
|
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{
|
||||
double abx = b.x-a.x;
|
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|
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|
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|
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|
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|
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|
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|
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double cvDistancePointPoint(CvPoint const &a, CvPoint const &b)
|
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{
|
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double abx = a.x-b.x;
|
||||
double aby = a.y-b.y;
|
||||
|
||||
return sqrt(abx*abx + aby*aby);
|
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}
|
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|
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double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment)
|
||||
{
|
||||
if (isSegment)
|
||||
{
|
||||
double dot1 = cvDotProductPoints(a, b, c);
|
||||
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|
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|
||||
double dot2 = cvDotProductPoints(b, a, c);
|
||||
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|
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|
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|
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|
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|
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
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|
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}
|
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|
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@ -0,0 +1,24 @@
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GLUI User Interface Toolkit
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||||
---------------------------
|
||||
|
||||
glui_add_controls.cpp - Routines for adding controls to a GLUI window
|
||||
|
||||
|
||||
--------------------------------------------------
|
||||
|
||||
Copyright (c) 1998 Paul Rademacher
|
||||
|
||||
This program is freely distributable without licensing fees and is
|
||||
provided without guarantee or warrantee expressed or implied. This
|
||||
program is -not- in the public domain.
|
||||
|
||||
*****************************************************************************/
|
||||
|
||||
#include "glui.h"
|
||||
#include "stdinc.h"
|
||||
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_checkbox() ************/
|
||||
|
||||
GLUI_Checkbox *GLUI:: add_checkbox( char *name, int *value_ptr,
|
||||
int id, GLUI_Update_CB callback )
|
||||
{
|
||||
return add_checkbox_to_panel( main_panel,
|
||||
name, value_ptr, id, callback );
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_checkbox_to_panel() **********/
|
||||
|
||||
GLUI_Checkbox *GLUI::add_checkbox_to_panel( GLUI_Panel *panel,
|
||||
char *name, int *value_ptr,
|
||||
int id,
|
||||
GLUI_Update_CB callback )
|
||||
{
|
||||
GLUI_Checkbox *control;
|
||||
|
||||
control = new GLUI_Checkbox;
|
||||
|
||||
if ( control ) {
|
||||
control->set_ptr_val( value_ptr );
|
||||
control->user_id = id;
|
||||
control->set_name( name );
|
||||
control->callback = callback;
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
control->init_live();
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/************************************ GLUI_Main::add_control() **************/
|
||||
|
||||
int GLUI_Main::add_control( GLUI_Node *parent, GLUI_Control *control )
|
||||
{
|
||||
GLUI_Control *parent_control;
|
||||
|
||||
/*** Collapsible nodes have to be handled differently, b/c the first and
|
||||
last children are swapped in and out ***/
|
||||
parent_control = ((GLUI_Control*)parent);
|
||||
if ( parent_control->collapsible == true ) {
|
||||
if ( NOT parent_control->is_open ) {
|
||||
/** Swap in the original first and last children **/
|
||||
parent_control->child_head = parent_control->collapsed_node.child_head;
|
||||
parent_control->child_tail = parent_control->collapsed_node.child_tail;
|
||||
|
||||
/*** Link this control ***/
|
||||
control->link_this_to_parent_last( parent );
|
||||
|
||||
/** Swap the children back out ***/
|
||||
parent_control->collapsed_node.child_head = parent_control->child_head;
|
||||
parent_control->collapsed_node.child_tail = parent_control->child_tail;
|
||||
parent_control->child_head = NULL;
|
||||
parent_control->child_tail = NULL;
|
||||
}
|
||||
else {
|
||||
control->link_this_to_parent_last( parent );
|
||||
}
|
||||
}
|
||||
else {
|
||||
control->link_this_to_parent_last( parent );
|
||||
}
|
||||
control->glui = (GLUI*) this;
|
||||
control->update_size();
|
||||
control->enabled = ((GLUI_Control*) parent)->enabled;
|
||||
control->glui->refresh();
|
||||
|
||||
/** Now set the 'hidden' var based on the parent **/
|
||||
if ( parent_control->hidden OR
|
||||
(parent_control->collapsible AND NOT parent_control->is_open ) )
|
||||
{
|
||||
control->hidden = true;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/********************************************* GLUI::add_panel() *************/
|
||||
|
||||
GLUI_Panel *GLUI::add_panel( char *name, int type )
|
||||
{
|
||||
return add_panel_to_panel( main_panel, name, type );
|
||||
}
|
||||
|
||||
|
||||
/**************************************** GLUI::add_panel_to_panel() *********/
|
||||
|
||||
GLUI_Panel *GLUI::add_panel_to_panel( GLUI_Panel *parent_panel,
|
||||
char *name, int type )
|
||||
{
|
||||
GLUI_Panel *panel;
|
||||
|
||||
panel = new GLUI_Panel;
|
||||
|
||||
if ( panel ) {
|
||||
panel->set_name( name );
|
||||
panel->user_id = -1;
|
||||
panel->int_val = type;
|
||||
|
||||
add_control( parent_panel, panel );
|
||||
|
||||
return panel;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/***************************** GLUI::add_radiogroup() ***************/
|
||||
|
||||
GLUI_RadioGroup *GLUI::add_radiogroup( int *value_ptr,
|
||||
int user_id, GLUI_Update_CB callback)
|
||||
{
|
||||
return add_radiogroup_to_panel( main_panel, value_ptr,
|
||||
user_id, callback );
|
||||
}
|
||||
|
||||
|
||||
/***************************** GLUI::add_radiogroup_to_panel() ***************/
|
||||
|
||||
GLUI_RadioGroup *GLUI::add_radiogroup_to_panel( GLUI_Panel *panel,
|
||||
int *value_ptr,
|
||||
int user_id, GLUI_Update_CB callback)
|
||||
{
|
||||
GLUI_RadioGroup *control;
|
||||
GLUI_String buf;
|
||||
|
||||
control = new GLUI_RadioGroup;
|
||||
|
||||
if ( control ) {
|
||||
control->set_ptr_val( value_ptr );
|
||||
if ( value_ptr ) {
|
||||
control->int_val = *value_ptr; /** Can't call set_int_val(), b/c that
|
||||
function will try to call the
|
||||
callback, etc */
|
||||
/** Actually, maybe not **/
|
||||
control->last_live_int = *value_ptr;
|
||||
}
|
||||
|
||||
control->user_id = user_id;
|
||||
sprintf( buf, "RadioGroup: %p", control );
|
||||
control->set_name( buf );
|
||||
control->callback = callback;
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
control->init_live();
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/***************************** GLUI::add_radiobutton_to_group() *************/
|
||||
|
||||
GLUI_RadioButton *GLUI::add_radiobutton_to_group( GLUI_RadioGroup *group,
|
||||
char *name )
|
||||
{
|
||||
GLUI_RadioButton *control;
|
||||
|
||||
if ( group->type != GLUI_CONTROL_RADIOGROUP ) {
|
||||
/*fprintf( stderr, "ERROR: Trying to add radiobutton to non-radiogroup\n" ); */
|
||||
/*fflush( stderr ); */
|
||||
return NULL;
|
||||
}
|
||||
|
||||
control = new GLUI_RadioButton;
|
||||
|
||||
if ( control ) {
|
||||
control->set_int_val( 0 );
|
||||
/*int_val = 0; */
|
||||
|
||||
/** A radio button's user id is always its ordinal number (zero-indexed)
|
||||
within the group */
|
||||
control->user_id = group->num_buttons;
|
||||
group->num_buttons++; /* Increments radiogroup's button count */
|
||||
control->set_name( name );
|
||||
control->group = group;
|
||||
|
||||
add_control( group, control );
|
||||
|
||||
/*** Now update button states ***/
|
||||
group->set_int_val( group->int_val ); /* This tells the group to
|
||||
reset itself to its
|
||||
current value, thereby
|
||||
updating all its buttons */
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/********************************** GLUI::add_statictext() ************/
|
||||
|
||||
GLUI_StaticText *GLUI::add_statictext( char *name )
|
||||
{
|
||||
return add_statictext_to_panel( main_panel, name );
|
||||
}
|
||||
|
||||
|
||||
/******************************* GLUI::add_statictext_to_panel() **********/
|
||||
|
||||
GLUI_StaticText *GLUI::
|
||||
add_statictext_to_panel( GLUI_Panel *panel, char *name )
|
||||
{
|
||||
GLUI_StaticText *control;
|
||||
|
||||
control = new GLUI_StaticText;
|
||||
|
||||
if ( control ) {
|
||||
control->set_name( name );
|
||||
add_control( panel, control );
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/***************************************** GLUI:: add_button() ************/
|
||||
|
||||
GLUI_Button *GLUI:: add_button( char *name,
|
||||
int id, GLUI_Update_CB callback )
|
||||
{
|
||||
return add_button_to_panel( main_panel,
|
||||
name, id, callback );
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_button_to_panel() **********/
|
||||
|
||||
GLUI_Button *GLUI::add_button_to_panel( GLUI_Panel *panel,
|
||||
char *name,
|
||||
int id,
|
||||
GLUI_Update_CB callback )
|
||||
{
|
||||
GLUI_Button *control;
|
||||
|
||||
control = new GLUI_Button;
|
||||
|
||||
if ( control ) {
|
||||
/* control->set_ptr_val( value_ptr );
|
||||
if ( value_ptr ) {
|
||||
control->set_int_val( *value_ptr );
|
||||
}*/
|
||||
|
||||
control->user_id = id;
|
||||
control->callback = callback;
|
||||
control->set_name( name );
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/********************************** GLUI::add_separator() ************/
|
||||
|
||||
void GLUI::add_separator( void )
|
||||
{
|
||||
add_separator_to_panel( main_panel );
|
||||
}
|
||||
|
||||
|
||||
/******************************* GLUI::add_separator_to_panel() **********/
|
||||
|
||||
void GLUI::add_separator_to_panel( GLUI_Panel *panel )
|
||||
{
|
||||
GLUI_Separator *control = new GLUI_Separator;
|
||||
|
||||
if ( control ) {
|
||||
add_control( panel, control );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/********************************** GLUI::add_edittext() ************/
|
||||
|
||||
GLUI_EditText *GLUI::add_edittext( char *name,
|
||||
int data_type, void *data,
|
||||
int id, GLUI_Update_CB callback)
|
||||
{
|
||||
return add_edittext_to_panel( main_panel, name, data_type, data,
|
||||
id, callback );
|
||||
}
|
||||
|
||||
|
||||
/******************************* GLUI::add_edittext_to_panel() **********/
|
||||
|
||||
GLUI_EditText *GLUI::
|
||||
add_edittext_to_panel( GLUI_Panel *panel, char *name,
|
||||
int data_type, void *data,
|
||||
int id, GLUI_Update_CB callback)
|
||||
{
|
||||
GLUI_EditText *control;
|
||||
|
||||
control = new GLUI_EditText;
|
||||
|
||||
if ( control ) {
|
||||
control->set_name( name );
|
||||
|
||||
control->data_type = data_type;
|
||||
control->ptr_val = data;
|
||||
control->user_id = id;
|
||||
control->callback = callback;
|
||||
|
||||
if ( data_type == GLUI_EDITTEXT_TEXT ) {
|
||||
control->live_type = GLUI_LIVE_TEXT;
|
||||
}
|
||||
else if ( data_type == GLUI_EDITTEXT_INT ) {
|
||||
control->live_type = GLUI_LIVE_INT;
|
||||
if ( data == NULL )
|
||||
control->set_int_val(control->int_val); /** Set to some default, in case of no live var **/
|
||||
}
|
||||
else if ( data_type == GLUI_EDITTEXT_FLOAT ) {
|
||||
control->live_type = GLUI_LIVE_FLOAT;
|
||||
control->num_periods = 1;
|
||||
if ( data == NULL )
|
||||
control->set_float_val(control->float_val); /** Set to some default, in case of no live var **/
|
||||
}
|
||||
else {
|
||||
return NULL; /* Did not pass in a valid data type */
|
||||
}
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
control->init_live();
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/********************************** GLUI::add_spinner() ************/
|
||||
|
||||
GLUI_Spinner *GLUI::add_spinner( char *name,
|
||||
int data_type, void *data,
|
||||
int id, GLUI_Update_CB callback)
|
||||
{
|
||||
return add_spinner_to_panel( main_panel, name, data_type, data,
|
||||
id, callback );
|
||||
}
|
||||
|
||||
|
||||
/******************************* GLUI::add_spinner_to_panel() **********/
|
||||
|
||||
GLUI_Spinner *GLUI::
|
||||
add_spinner_to_panel( GLUI_Panel *panel, char *name,
|
||||
int data_type, void *data,
|
||||
int id, GLUI_Update_CB callback)
|
||||
{
|
||||
GLUI_Spinner *control;
|
||||
int text_type;
|
||||
|
||||
control = new GLUI_Spinner;
|
||||
|
||||
if ( NOT strcmp( name, "Spinner Test" ))
|
||||
id=id;
|
||||
|
||||
|
||||
if ( control ) {
|
||||
if ( data_type == GLUI_SPINNER_INT ) {
|
||||
text_type = GLUI_EDITTEXT_INT;
|
||||
/* control->live_type = GLUI_LIVE_INT; */
|
||||
}
|
||||
else if ( data_type == GLUI_SPINNER_FLOAT ) {
|
||||
text_type = GLUI_EDITTEXT_FLOAT;
|
||||
/* control->live_type = GLUI_LIVE_FLOAT; */
|
||||
}
|
||||
else {
|
||||
return NULL; /* Did not pass in a valid data type */
|
||||
}
|
||||
|
||||
GLUI_EditText *edittext =
|
||||
add_edittext_to_panel( (GLUI_Panel*) control, name, text_type, data,
|
||||
id, callback );
|
||||
|
||||
if ( edittext ) {
|
||||
control->set_name( name );
|
||||
control->edittext = edittext; /* Link the edittext to the spinner */
|
||||
/* control->ptr_val = data; */
|
||||
control->user_id = id;
|
||||
control->data_type = data_type;
|
||||
control->callback = callback;
|
||||
|
||||
edittext->spinner = control; /* Link the spinner to the edittext */
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/********************************** GLUI::add_column() ************/
|
||||
|
||||
void GLUI::add_column( int draw_bar )
|
||||
{
|
||||
add_column_to_panel( main_panel, draw_bar );
|
||||
}
|
||||
|
||||
|
||||
/******************************* GLUI::add_column_to_panel() **********/
|
||||
|
||||
void GLUI::add_column_to_panel( GLUI_Panel *panel, int draw_bar )
|
||||
{
|
||||
GLUI_Column *control = new GLUI_Column;
|
||||
|
||||
if ( control ) {
|
||||
control->int_val = draw_bar; /* Whether to draw vertical bar or not */
|
||||
|
||||
add_control( panel, control );
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_listbox() ************/
|
||||
|
||||
GLUI_Listbox *GLUI:: add_listbox( char *name, int *value_ptr,
|
||||
int id, GLUI_Update_CB callback )
|
||||
{
|
||||
return add_listbox_to_panel( main_panel,
|
||||
name, value_ptr, id, callback );
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_listbox_to_panel() **********/
|
||||
|
||||
GLUI_Listbox *GLUI::add_listbox_to_panel( GLUI_Panel *panel,
|
||||
char *name, int *value_ptr,
|
||||
int id,
|
||||
GLUI_Update_CB callback )
|
||||
{
|
||||
GLUI_Listbox *control;
|
||||
|
||||
control = new GLUI_Listbox;
|
||||
|
||||
if ( control ) {
|
||||
control->set_ptr_val( value_ptr );
|
||||
control->user_id = id;
|
||||
control->set_name( name );
|
||||
control->callback = callback;
|
||||
|
||||
add_control( panel, control );
|
||||
|
||||
control->init_live();
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_rotation() ************/
|
||||
|
||||
GLUI_Rotation *GLUI:: add_rotation( char *name, float *value_ptr,
|
||||
int id, GLUI_Update_CB callback )
|
||||
{
|
||||
return add_rotation_to_panel( main_panel,
|
||||
name, value_ptr, id, callback );
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_rotation_to_panel() **********/
|
||||
|
||||
GLUI_Rotation *GLUI::add_rotation_to_panel( GLUI_Panel *panel,
|
||||
char *name, float *value_ptr,
|
||||
int id,
|
||||
GLUI_Update_CB callback )
|
||||
{
|
||||
GLUI_Rotation *control;
|
||||
|
||||
control = new GLUI_Rotation;
|
||||
|
||||
if ( control ) {
|
||||
control->set_ptr_val( value_ptr );
|
||||
control->user_id = id;
|
||||
control->set_name( name );
|
||||
control->callback = callback;
|
||||
add_control( panel, control );
|
||||
control->init_live();
|
||||
|
||||
/*** Init the live 4x4 matrix. This is different than the standard
|
||||
live variable behavior, since the original value of the 4x4 matrix
|
||||
is ignored and reset to Identity ***/
|
||||
if ( value_ptr != NULL ) {
|
||||
int i, j, index;
|
||||
for( i=0; i<4; i++ ) {
|
||||
for( j=0; j<4; j++ ) {
|
||||
index = i*4+j;
|
||||
if ( i==j )
|
||||
value_ptr[index] = 1.0;
|
||||
else
|
||||
value_ptr[index] = 0.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*init_ball(); */
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_translation() ************/
|
||||
|
||||
GLUI_Translation
|
||||
*GLUI:: add_translation( char *name, int trans_type,
|
||||
float *value_ptr, int id, GLUI_Update_CB callback )
|
||||
{
|
||||
return add_translation_to_panel( main_panel,name,trans_type,
|
||||
value_ptr, id, callback );
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI:: add_translation_to_panel() **********/
|
||||
|
||||
GLUI_Translation
|
||||
*GLUI::add_translation_to_panel(
|
||||
GLUI_Panel *panel, char *name,
|
||||
int trans_type, float *value_ptr,
|
||||
int id, GLUI_Update_CB callback )
|
||||
{
|
||||
GLUI_Translation *control;
|
||||
|
||||
control = new GLUI_Translation;
|
||||
|
||||
if ( control ) {
|
||||
control->set_ptr_val( value_ptr );
|
||||
control->user_id = id;
|
||||
control->set_name( name );
|
||||
control->callback = callback;
|
||||
add_control( panel, control );
|
||||
control->init_live();
|
||||
|
||||
control->trans_type = trans_type;
|
||||
|
||||
if ( trans_type == GLUI_TRANSLATION_XY ) {
|
||||
control->float_array_size = 2;
|
||||
}
|
||||
else if ( trans_type == GLUI_TRANSLATION_X ) {
|
||||
control->float_array_size = 1;
|
||||
}
|
||||
else if ( trans_type == GLUI_TRANSLATION_Y ) {
|
||||
control->float_array_size = 1;
|
||||
}
|
||||
else if ( trans_type == GLUI_TRANSLATION_Z ) {
|
||||
control->float_array_size = 1;
|
||||
}
|
||||
|
||||
return control;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/********************************** GLUI::add_rollout() **************/
|
||||
|
||||
GLUI_Rollout *GLUI::add_rollout( char *name, int open )
|
||||
{
|
||||
return add_rollout_to_panel( main_panel, name, open );
|
||||
}
|
||||
|
||||
|
||||
/****************************** GLUI::add_rollout_to_panel() *********/
|
||||
|
||||
GLUI_Rollout *GLUI::add_rollout_to_panel(GLUI_Panel *panel,char *name,int open)
|
||||
{
|
||||
GLUI_Rollout *rollout;
|
||||
|
||||
rollout = new GLUI_Rollout;
|
||||
|
||||
if ( rollout ) {
|
||||
rollout->set_name( name );
|
||||
rollout->user_id = -1;
|
||||
rollout->int_val = GLUI_PANEL_EMBOSSED;
|
||||
|
||||
if ( NOT open ) {
|
||||
rollout->is_open = false;
|
||||
rollout->h = GLUI_DEFAULT_CONTROL_HEIGHT + 7;
|
||||
}
|
||||
|
||||
add_control( panel, rollout );
|
||||
|
||||
return rollout;
|
||||
}
|
||||
else {
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
1002
.svn/pristine/0d/0d67f495efc539ececc0b75b64b3030bf2b56ebd.svn-base
Normal file
1002
.svn/pristine/0d/0d67f495efc539ececc0b75b64b3030bf2b56ebd.svn-base
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,21 @@
|
|||
/**
|
||||
* @file HOG-Man wrapper
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __LOOP_HOG_MAN_H__
|
||||
#define __LOOP_HOG_MAN_H__
|
||||
|
||||
#include "loopSlam6D.h"
|
||||
|
||||
class loopHOGMan : public loopSlam6D {
|
||||
|
||||
public:
|
||||
loopHOGMan(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations,
|
||||
int rnd, bool eP, int anim, double epsilonICP, int nns_method)
|
||||
: loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {}
|
||||
|
||||
virtual void close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,447 @@
|
|||
/*
|
||||
* ghelix6DQ2 implementation
|
||||
*
|
||||
* Copyright (C) Peter Schneider, Jan Elseberg, Andreas Nuechter
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file
|
||||
* @brief The implementation of globally consistent scan matching algorithm by using helix correction
|
||||
* @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany.
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
||||
* @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany
|
||||
*/
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#if !defined _OPENMP && defined OPENMP
|
||||
#define _OPENMP
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#include "slam6d/ghelix6DQ2.h"
|
||||
#include "slam6d/icp6Dhelix.h"
|
||||
#include "sparse/csparse.h"
|
||||
|
||||
#include <cfloat>
|
||||
#include <fstream>
|
||||
using std::flush;
|
||||
#include <cstring>
|
||||
|
||||
#include "slam6d/globals.icc"
|
||||
|
||||
using std::ofstream;
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param my_icp6Dminimizer Pointer to ICP minimization functor
|
||||
* @param mdm Maximum PtoP distance to which point pairs are collected for ICP
|
||||
* @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM
|
||||
* @param max_num_iterations Maximal number of iterations for ICP
|
||||
* @param quiet Suspesses all output to std out
|
||||
* @param meta Indicates if metascan matching has to be used
|
||||
* @param rnd Indicates if randomization has to be used
|
||||
* @param eP Extrapolate odometry?
|
||||
* @param anim Animate which frames?
|
||||
* @param epsilonICP Termination criterion for ICP
|
||||
* @param nns_method Specifies which NNS method to use
|
||||
* @param epsilonLUM Termination criterion for LUM
|
||||
*/
|
||||
ghelix6DQ2::ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer,
|
||||
double mdm, double max_dist_match,
|
||||
int max_num_iterations, bool quiet, bool meta, int rnd,
|
||||
bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM)
|
||||
: graphSlam6D(my_icp6Dminimizer,
|
||||
mdm, max_dist_match,
|
||||
max_num_iterations, quiet, meta, rnd,
|
||||
eP, anim, epsilonICP, nns_method, epsilonLUM)
|
||||
{ }
|
||||
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
ghelix6DQ2::~ghelix6DQ2()
|
||||
{
|
||||
delete my_icp;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* This function generates the matrices B and Bd that are used for solving B * c = Bd.
|
||||
* This function has to be called once for every linked scan-pair.
|
||||
*
|
||||
* @param firstScanNum The number of the first scan of the linked scan-pair
|
||||
* @param secondScanNum The number of the second scan of the linked scan-pair
|
||||
* @param ptpairs Vector that holds all point-pairs for the actual scan-pair
|
||||
* @param B Matrix with dimension (6*(number of scans-1)) x (6 * (number of scans-1))
|
||||
* @param Bd Vector with dimension (6*(number of scans-1))
|
||||
* @return returns the sum of square distance
|
||||
*/
|
||||
double ghelix6DQ2::genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs,
|
||||
Matrix *B, ColumnVector *Bd )
|
||||
{
|
||||
double Btemp1[6][3];
|
||||
double Btemp2[6][3];
|
||||
memset(&Btemp1[0][0], 0, 18 * sizeof(double));
|
||||
memset(&Btemp2[0][0], 0, 18 * sizeof(double));
|
||||
double bd1[6];
|
||||
double bd2[6];
|
||||
memset(&bd1[0], 0, 6 * sizeof(double));
|
||||
memset(&bd2[0], 0, 6 * sizeof(double));
|
||||
|
||||
double p1x, p1y, p1z, p2x, p2y, p2z, pDistX, pDistY, pDistZ, px2Sq, py2Sq, pz2Sq;
|
||||
|
||||
int n = (*ptpairs).size();
|
||||
double sum = 0;
|
||||
|
||||
for (int i = 0; i < n; i++) {
|
||||
p1x = (*ptpairs)[i].p1.x;
|
||||
p1y = (*ptpairs)[i].p1.y;
|
||||
p1z = (*ptpairs)[i].p1.z;
|
||||
|
||||
p2x = (*ptpairs)[i].p2.x;
|
||||
p2y = (*ptpairs)[i].p2.y;
|
||||
p2z = (*ptpairs)[i].p2.z;
|
||||
|
||||
//px1Sq = p1x * p1x;
|
||||
//py1Sq = p1y * p1y;
|
||||
//pz1Sq = p1z * p1z;
|
||||
|
||||
px2Sq = p2x * p2x;
|
||||
py2Sq = p2y * p2y;
|
||||
pz2Sq = p2z * p2z;
|
||||
|
||||
Btemp1[4][0] += -p2z;
|
||||
// Btemp1[3][1] += p2z;
|
||||
Btemp1[5][0] += p2y;
|
||||
// Btemp1[3][2] += -p2y;
|
||||
Btemp1[4][2] += p2x;
|
||||
// Btemp1[5][1] += -p2x;
|
||||
Btemp1[0][0] += pz2Sq + py2Sq;
|
||||
Btemp1[1][0] += p2y*-p2x;
|
||||
Btemp1[2][0] += -p2z*p2x;
|
||||
Btemp1[1][1] += pz2Sq + px2Sq;
|
||||
Btemp1[2][1] += p2z*-p2y;
|
||||
Btemp1[2][2] += px2Sq + py2Sq;
|
||||
|
||||
pDistX = p1x - p2x;
|
||||
pDistY = p1y - p2y;
|
||||
pDistZ = p1z - p2z;
|
||||
|
||||
bd1[0] += -p1z*pDistY + p1y*pDistZ;
|
||||
bd1[1] += p1z*pDistX - p1x*pDistZ;
|
||||
bd1[2] += -p1y*pDistX + p1x*pDistY;
|
||||
bd1[3] += pDistX;
|
||||
bd1[4] += pDistY;
|
||||
bd1[5] += pDistZ;
|
||||
|
||||
bd2[0] += -p2z*-pDistY + p2y*-pDistZ;
|
||||
bd2[1] += p2z*-pDistX - p2x*-pDistZ;
|
||||
bd2[2] += -p2y*-pDistX + p2x*-pDistY;
|
||||
bd2[3] += -pDistX;
|
||||
bd2[4] += -pDistY;
|
||||
bd2[5] += -pDistZ;
|
||||
|
||||
sum += pDistX*pDistX + pDistY*pDistY + pDistZ*pDistZ;
|
||||
}
|
||||
|
||||
#ifdef _OPENMP
|
||||
#pragma omp critical (enterB)
|
||||
#endif
|
||||
{
|
||||
int matPlace1 = (firstScanNum-1) * 6;
|
||||
|
||||
if(firstScanNum != 0)
|
||||
{
|
||||
(*B)(matPlace1+4,matPlace1+4) += n;
|
||||
(*B)(matPlace1+5,matPlace1+5) += n;
|
||||
(*B)(matPlace1+6,matPlace1+6) += n;
|
||||
|
||||
(*B)(matPlace1+1,matPlace1+5) += Btemp1[4][0];
|
||||
(*B)(matPlace1+5,matPlace1+1) += Btemp1[4][0];
|
||||
(*B)(matPlace1+2,matPlace1+4) += -Btemp1[4][0];
|
||||
(*B)(matPlace1+4,matPlace1+2) += -Btemp1[4][0];
|
||||
(*B)(matPlace1+1,matPlace1+6) += Btemp1[5][0];
|
||||
(*B)(matPlace1+6,matPlace1+1) += Btemp1[5][0];
|
||||
(*B)(matPlace1+3,matPlace1+4) += -Btemp1[5][0];
|
||||
(*B)(matPlace1+4,matPlace1+3) += -Btemp1[5][0];
|
||||
(*B)(matPlace1+3,matPlace1+5) += Btemp1[4][2];
|
||||
(*B)(matPlace1+5,matPlace1+3) += Btemp1[4][2];
|
||||
(*B)(matPlace1+2,matPlace1+6) += -Btemp1[4][2];
|
||||
(*B)(matPlace1+6,matPlace1+2) += -Btemp1[4][2];
|
||||
(*B)(matPlace1+1,matPlace1+2) += Btemp1[1][0];
|
||||
(*B)(matPlace1+2,matPlace1+1) += Btemp1[1][0];
|
||||
(*B)(matPlace1+1,matPlace1+3) += Btemp1[2][0];
|
||||
(*B)(matPlace1+3,matPlace1+1) += Btemp1[2][0];
|
||||
(*B)(matPlace1+2,matPlace1+3) += Btemp1[2][1];
|
||||
(*B)(matPlace1+3,matPlace1+2) += Btemp1[2][1];
|
||||
(*B)(matPlace1+1,matPlace1+1) += Btemp1[0][0];
|
||||
(*B)(matPlace1+2,matPlace1+2) += Btemp1[1][1];
|
||||
(*B)(matPlace1+3,matPlace1+3) += Btemp1[2][2];
|
||||
|
||||
(*Bd)(matPlace1+1) += bd1[0];
|
||||
(*Bd)(matPlace1+2) += bd1[1];
|
||||
(*Bd)(matPlace1+3) += bd1[2];
|
||||
(*Bd)(matPlace1+4) += bd1[3];
|
||||
(*Bd)(matPlace1+5) += bd1[4];
|
||||
(*Bd)(matPlace1+6) += bd1[5];
|
||||
}
|
||||
//-------------------------------------------
|
||||
unsigned int matPlace2 = (secondScanNum-1) * 6;
|
||||
|
||||
(*B)(matPlace2+4,matPlace2+4) += n;
|
||||
(*B)(matPlace2+5,matPlace2+5) += n;
|
||||
(*B)(matPlace2+6,matPlace2+6) += n;
|
||||
|
||||
(*B)(matPlace2+1,matPlace2+5) += Btemp1[4][0];
|
||||
(*B)(matPlace2+5,matPlace2+1) += Btemp1[4][0];
|
||||
(*B)(matPlace2+2,matPlace2+4) += -Btemp1[4][0];
|
||||
(*B)(matPlace2+4,matPlace2+2) += -Btemp1[4][0];
|
||||
(*B)(matPlace2+1,matPlace2+6) += Btemp1[5][0];
|
||||
(*B)(matPlace2+6,matPlace2+1) += Btemp1[5][0];
|
||||
(*B)(matPlace2+3,matPlace2+4) += -Btemp1[5][0];
|
||||
(*B)(matPlace2+4,matPlace2+3) += -Btemp1[5][0];
|
||||
(*B)(matPlace2+3,matPlace2+5) += Btemp1[4][2];
|
||||
(*B)(matPlace2+5,matPlace2+3) += Btemp1[4][2];
|
||||
(*B)(matPlace2+2,matPlace2+6) += -Btemp1[4][2];
|
||||
(*B)(matPlace2+6,matPlace2+2) += -Btemp1[4][2];
|
||||
(*B)(matPlace2+1,matPlace2+2) += Btemp1[1][0];
|
||||
(*B)(matPlace2+2,matPlace2+1) += Btemp1[1][0];
|
||||
(*B)(matPlace2+1,matPlace2+3) += Btemp1[2][0];
|
||||
(*B)(matPlace2+3,matPlace2+1) += Btemp1[2][0];
|
||||
(*B)(matPlace2+2,matPlace2+3) += Btemp1[2][1];
|
||||
(*B)(matPlace2+3,matPlace2+2) += Btemp1[2][1];
|
||||
(*B)(matPlace2+1,matPlace2+1) += Btemp1[0][0];
|
||||
(*B)(matPlace2+2,matPlace2+2) += Btemp1[1][1];
|
||||
(*B)(matPlace2+3,matPlace2+3) += Btemp1[2][2];
|
||||
|
||||
|
||||
(*Bd)(matPlace2+1) += bd2[0];
|
||||
(*Bd)(matPlace2+2) += bd2[1];
|
||||
(*Bd)(matPlace2+3) += bd2[2];
|
||||
(*Bd)(matPlace2+4) += bd2[3];
|
||||
(*Bd)(matPlace2+5) += bd2[4];
|
||||
(*Bd)(matPlace2+6) += bd2[5];
|
||||
|
||||
//-------------------------------------------
|
||||
if( firstScanNum != 0)
|
||||
{
|
||||
(*B)(matPlace1+4,matPlace2+4) -= n;
|
||||
(*B)(matPlace1+5,matPlace2+5) -= n;
|
||||
(*B)(matPlace1+6,matPlace2+6) -= n;
|
||||
|
||||
(*B)(matPlace1+1,matPlace2+5) += -Btemp1[4][0];
|
||||
(*B)(matPlace1+5,matPlace2+1) += -Btemp1[4][0];
|
||||
(*B)(matPlace1+2,matPlace2+4) += Btemp1[4][0];
|
||||
(*B)(matPlace1+4,matPlace2+2) += Btemp1[4][0];
|
||||
(*B)(matPlace1+1,matPlace2+6) += -Btemp1[5][0];
|
||||
(*B)(matPlace1+6,matPlace2+1) += -Btemp1[5][0];
|
||||
(*B)(matPlace1+3,matPlace2+4) += Btemp1[5][0];
|
||||
(*B)(matPlace1+4,matPlace2+3) += Btemp1[5][0];
|
||||
(*B)(matPlace1+3,matPlace2+5) += -Btemp1[4][2];
|
||||
(*B)(matPlace1+5,matPlace2+3) += -Btemp1[4][2];
|
||||
(*B)(matPlace1+2,matPlace2+6) += Btemp1[4][2];
|
||||
(*B)(matPlace1+6,matPlace2+2) += Btemp1[4][2];
|
||||
(*B)(matPlace1+1,matPlace2+2) += -Btemp1[1][0];
|
||||
(*B)(matPlace1+2,matPlace2+1) += -Btemp1[1][0];
|
||||
(*B)(matPlace1+1,matPlace2+3) += -Btemp1[2][0];
|
||||
(*B)(matPlace1+3,matPlace2+1) += -Btemp1[2][0];
|
||||
(*B)(matPlace1+2,matPlace2+3) += -Btemp1[2][1];
|
||||
(*B)(matPlace1+3,matPlace2+2) += -Btemp1[2][1];
|
||||
(*B)(matPlace1+1,matPlace2+1) += -Btemp1[0][0];
|
||||
(*B)(matPlace1+2,matPlace2+2) += -Btemp1[1][1];
|
||||
(*B)(matPlace1+3,matPlace2+3) += -Btemp1[2][2];
|
||||
//----------------------------------------
|
||||
(*B)(matPlace2+4,matPlace1+4) -= n;
|
||||
(*B)(matPlace2+5,matPlace1+5) -= n;
|
||||
(*B)(matPlace2+6,matPlace1+6) -= n;
|
||||
|
||||
(*B)(matPlace2+1,matPlace1+5) += -Btemp1[4][0];
|
||||
(*B)(matPlace2+5,matPlace1+1) += -Btemp1[4][0];
|
||||
(*B)(matPlace2+2,matPlace1+4) += Btemp1[4][0];
|
||||
(*B)(matPlace2+4,matPlace1+2) += Btemp1[4][0];
|
||||
(*B)(matPlace2+1,matPlace1+6) += -Btemp1[5][0];
|
||||
(*B)(matPlace2+6,matPlace1+1) += -Btemp1[5][0];
|
||||
(*B)(matPlace2+3,matPlace1+4) += Btemp1[5][0];
|
||||
(*B)(matPlace2+4,matPlace1+3) += Btemp1[5][0];
|
||||
(*B)(matPlace2+3,matPlace1+5) += -Btemp1[4][2];
|
||||
(*B)(matPlace2+5,matPlace1+3) += -Btemp1[4][2];
|
||||
(*B)(matPlace2+2,matPlace1+6) += Btemp1[4][2];
|
||||
(*B)(matPlace2+6,matPlace1+2) += Btemp1[4][2];
|
||||
(*B)(matPlace2+1,matPlace1+2) += -Btemp1[1][0];
|
||||
(*B)(matPlace2+2,matPlace1+1) += -Btemp1[1][0];
|
||||
(*B)(matPlace2+1,matPlace1+3) += -Btemp1[2][0];
|
||||
(*B)(matPlace2+3,matPlace1+1) += -Btemp1[2][0];
|
||||
(*B)(matPlace2+2,matPlace1+3) += -Btemp1[2][1];
|
||||
(*B)(matPlace2+3,matPlace1+2) += -Btemp1[2][1];
|
||||
(*B)(matPlace2+1,matPlace1+1) += -Btemp1[0][0];
|
||||
(*B)(matPlace2+2,matPlace1+2) += -Btemp1[1][1];
|
||||
(*B)(matPlace2+3,matPlace1+3) += -Btemp1[2][2];
|
||||
}
|
||||
} // of pragma omp critical
|
||||
|
||||
return sqrt( sum / (double) n );
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* This function is used to match a set of laser scans with any minimally
|
||||
* connected Graph, using the globally consistent LUM-algorithm in 3D.
|
||||
*
|
||||
* @param gr Some Graph with no real subgraphs except for itself
|
||||
* @param allScans Contains all laser scans
|
||||
* @param nrIt The number of iterations the LUM-algorithm will run
|
||||
* @return Euclidian distance of all pose shifts
|
||||
*/
|
||||
double ghelix6DQ2::doGraphSlam6D(Graph gr, vector <Scan *> allScans, int nrIt)
|
||||
{
|
||||
|
||||
#ifdef WRITE_GRAPH_NET
|
||||
// for debug only:
|
||||
static int d = 0;
|
||||
cout << "writing graph.dat ....................................." << endl;
|
||||
d++;
|
||||
string gfilename = "graph_" + to_string(d, 3) + ".net";
|
||||
ofstream out(gfilename.c_str());
|
||||
for (int i=0; i < gr.getNrLinks(); i++) {
|
||||
int from = gr.getLink(i,0);
|
||||
int to = gr.getLink(i,1);
|
||||
// shouldn't be necessary, just in case a (out of date) graph file is loaded:
|
||||
if (from < (int)allScans.size() && to < (int)allScans.size()) {
|
||||
out << allScans[from]->get_rPos()[0] << " "
|
||||
<< allScans[from]->get_rPos()[1] << " "
|
||||
<< allScans[from]->get_rPos()[2] << endl
|
||||
<< allScans[to ]->get_rPos()[0] << " "
|
||||
<< allScans[to ]->get_rPos()[1] << " "
|
||||
<< allScans[to ]->get_rPos()[2] << endl << endl;
|
||||
}
|
||||
}
|
||||
out.close();
|
||||
out.clear();
|
||||
#endif
|
||||
|
||||
// the IdentityMatrix to transform some Scans with
|
||||
double id[16];
|
||||
M4identity(id);
|
||||
|
||||
vPtPair **ptpairs = 0; // Contains sets of point pairs for all links
|
||||
Matrix B ( 6 * (gr.getNrScans()-1), 6 * (gr.getNrScans()-1) );
|
||||
ColumnVector ccs( 6*(gr.getNrScans()-1) ), bd( 6*(gr.getNrScans()-1) );
|
||||
|
||||
B = 0.0;
|
||||
bd = 0.0;
|
||||
|
||||
double sum_position_diff = 0;
|
||||
double ret = DBL_MAX;
|
||||
|
||||
for(int iteration = 0;
|
||||
iteration < nrIt && ret > epsilonLUM;
|
||||
iteration++) {
|
||||
sum_position_diff = 0;
|
||||
|
||||
if (nrIt > 1) cout << "Iteration match " << iteration << endl;
|
||||
|
||||
if (ptpairs != 0) delete [] ptpairs;
|
||||
ptpairs = new vPtPair*[gr.getNrLinks()];
|
||||
|
||||
for (int i = 0; i < gr.getNrLinks(); i++) {
|
||||
ptpairs[i] = new vPtPair;
|
||||
}
|
||||
|
||||
// Get all point pairs after ICP
|
||||
int end_loop = gr.getNrLinks();
|
||||
#ifdef _OPENMP
|
||||
omp_set_num_threads(OPENMP_NUM_THREADS);
|
||||
#pragma omp parallel for schedule(dynamic)
|
||||
#endif
|
||||
|
||||
for ( int i = 0; i < end_loop; i++) {
|
||||
cout << "P" << i << flush;
|
||||
Scan * FirstScan = allScans[gr.getLink(i,0)];
|
||||
Scan * SecondScan = allScans[gr.getLink(i,1)];
|
||||
#ifdef _OPENMP
|
||||
int thread_num = omp_get_thread_num();
|
||||
#else
|
||||
int thread_num = 0;
|
||||
#endif
|
||||
double dummy_centroid_m[3];
|
||||
double dummy_centroid_d[3];
|
||||
double dummy_sum;
|
||||
|
||||
Scan::getPtPairs(ptpairs[i], FirstScan, SecondScan, thread_num,
|
||||
(int)my_icp->get_rnd(), (int)max_dist_match2_LUM, dummy_sum,
|
||||
dummy_centroid_m, dummy_centroid_d);
|
||||
|
||||
// faulty network
|
||||
if (ptpairs[i]->size() <= 1) {
|
||||
cout << "Error: Link (" << gr.getLink(i,0)
|
||||
<< " - " << gr.getLink(i, 1) << " ) is empty with "
|
||||
<< ptpairs[i]->size() << " Corr. points. iteration = "
|
||||
<< iteration << endl;
|
||||
// exit(1);
|
||||
|
||||
} else
|
||||
// build the matrix B and vector bd
|
||||
genBBdForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), ptpairs[i], &B, &bd );
|
||||
}
|
||||
cout <<" building matrices done! "<<endl;
|
||||
|
||||
ccs = solveSparseCholesky(B, bd);
|
||||
|
||||
// delete ptPairs
|
||||
for (int i = 0; i < gr.getNrLinks(); i++) {
|
||||
ptpairs[i]->clear();
|
||||
delete (ptpairs[i]);
|
||||
}
|
||||
|
||||
ColumnVector t0(3), t(3), tlast(3);
|
||||
int vectorOffset;
|
||||
|
||||
int loop_end = gr.getNrScans();
|
||||
double alignxfLum[16];
|
||||
for(int i = 1; i < loop_end; i++)
|
||||
{
|
||||
vectorOffset = (i-1) * 6;
|
||||
icp6D_HELIX::computeRt( &ccs, vectorOffset, alignxfLum);
|
||||
|
||||
// Update the Pose
|
||||
|
||||
cout << "Old pose estimate, Scan " << i << endl;
|
||||
cout << "x: " << allScans[i]->get_rPos()[0]
|
||||
<< " y: " << allScans[i]->get_rPos()[1]
|
||||
<< " z: " << allScans[i]->get_rPos()[2]
|
||||
<< " tx: " << allScans[i]->get_rPosTheta()[0]
|
||||
<< " ty: " << allScans[i]->get_rPosTheta()[1]
|
||||
<< " tz: " << allScans[i]->get_rPosTheta()[2]
|
||||
<< endl;
|
||||
|
||||
if (i < loop_end - 1) {
|
||||
allScans[i]->transform(alignxfLum, Scan::LUM, 1);
|
||||
} else {
|
||||
allScans[i]->transform(alignxfLum, Scan::LUM, 2);
|
||||
}
|
||||
|
||||
cout << "x: " << allScans[i]->get_rPos()[0]
|
||||
<< " y: " << allScans[i]->get_rPos()[1]
|
||||
<< " z: " << allScans[i]->get_rPos()[2]
|
||||
<< " tx: " << allScans[i]->get_rPosTheta()[0]
|
||||
<< " ty: " << allScans[i]->get_rPosTheta()[1]
|
||||
<< " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl;
|
||||
|
||||
sum_position_diff += sqrt( sqr(alignxfLum[12]) + sqr(alignxfLum[13]) + sqr(alignxfLum[14]));
|
||||
|
||||
}
|
||||
cout << "Sum of Position differences = " << sum_position_diff << endl << endl;
|
||||
ret = (sum_position_diff / (double)gr.getNrScans());
|
||||
}
|
||||
delete [] ptpairs;
|
||||
ptpairs = 0;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
Read 500 data points - begin fit
|
||||
|
||||
|
||||
-2247.993783 25945.58733
|
||||
-537.4533239
|
||||
-554.5885614
|
||||
-537.2164816 26.36266449
|
||||
-520.7034774
|
||||
-519.7069034 6.153112127
|
||||
-516.7045383
|
||||
-516.690955 1.394658892
|
||||
-516.396412
|
||||
-516.215149 0.1555724069
|
||||
-516.1509657
|
||||
-516.1486772 0.02342168856
|
||||
-516.1420803
|
||||
-516.1404735 0.002342030975
|
||||
-516.1395282
|
||||
-516.1394913 0.0003287516503
|
||||
-516.1393961
|
||||
-516.1393755 3.25631984e-05
|
||||
Converged
|
||||
|
||||
|
||||
estimates and standard errors
|
||||
1.56690 0.22311
|
||||
0.80046 0.20274
|
||||
0.45307 0.08428
|
||||
0.34655 0.09081
|
||||
|
||||
|
||||
correlation matrix
|
||||
1.00 0.00 -0.02 0.01
|
||||
0.00 1.00 0.21 -0.81
|
||||
-0.02 0.21 1.00 -0.63
|
||||
0.01 -0.81 -0.63 1.00
|
||||
|
||||
|
||||
inverse of correlation matrix
|
||||
1.00 0.03 0.04 0.04
|
||||
0.03 4.77 2.28 5.28
|
||||
0.04 2.28 2.73 3.55
|
||||
0.04 5.28 3.55 7.48
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
/** @file
|
||||
* @brief Definition of the ICP error function minimization
|
||||
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany
|
||||
*/
|
||||
|
||||
#ifndef __ICP6DLUMEULER_H__
|
||||
#define __ICP6DLUMEULER_H__
|
||||
|
||||
#include "icp6Dminimizer.h"
|
||||
|
||||
/**
|
||||
* @brief Implementation of the ICP error function minimization via singular value decomposition
|
||||
*/
|
||||
class icp6D_LUMEULER : public icp6Dminimizer
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
icp6D_LUMEULER(bool quiet = false) : icp6Dminimizer(quiet) {};
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
virtual ~icp6D_LUMEULER() {};
|
||||
|
||||
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
|
||||
const double centroid_m[3], const double centroid_d[3]);
|
||||
|
||||
inline int getAlgorithmID() { return 3; };
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief IO of 3D scans in Riegl file format
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __SCAN_IO_RIEGL_H__
|
||||
#define __SCAN_IO_RIEGL_H__
|
||||
|
||||
#include <string>
|
||||
using std::string;
|
||||
#include <vector>
|
||||
using std::vector;
|
||||
|
||||
#include "scan_io.h"
|
||||
|
||||
/**
|
||||
* @brief 3D scan loader for Riegl scans
|
||||
*
|
||||
* The compiled class is available as shared object file
|
||||
*/
|
||||
class ScanIO_riegl_bin : public ScanIO {
|
||||
public:
|
||||
virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
|
||||
double *euler, vector<Point> &ptss);
|
||||
};
|
||||
|
||||
// Since this shared object file is loaded on the fly, we
|
||||
// need class factories
|
||||
|
||||
// the types of the class factories
|
||||
typedef ScanIO* create_sio();
|
||||
typedef void destroy_sio(ScanIO*);
|
||||
|
||||
#endif
|
||||
1314
.svn/pristine/0f/0fd632e018c162265c30cb0ba3281fb015aa75f9.svn-base
Normal file
1314
.svn/pristine/0f/0fd632e018c162265c30cb0ba3281fb015aa75f9.svn-base
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,229 @@
|
|||
/***********************************************************************
|
||||
|
||||
quaternion.cpp
|
||||
|
||||
A quaternion class
|
||||
|
||||
-------------------------------------------------------------------
|
||||
|
||||
Feb 1998, Paul Rademacher (rademach@cs.unc.edu)
|
||||
|
||||
************************************************************************/
|
||||
|
||||
#include "quaternion.h"
|
||||
#include <math.h>
|
||||
#include "stdinc.h"
|
||||
|
||||
/******************************************* constructors **************/
|
||||
|
||||
quat::quat( void )
|
||||
{
|
||||
*this = quat_identity();
|
||||
}
|
||||
|
||||
quat::quat(const float x, const float y, const float z, const float w)
|
||||
{
|
||||
v.set( x, y, z );
|
||||
s = w;
|
||||
}
|
||||
|
||||
quat::quat( vec3 _v, float _s )
|
||||
{
|
||||
set( _v, _s );
|
||||
}
|
||||
|
||||
quat::quat( float _s, vec3 _v )
|
||||
{
|
||||
set( _v, _s );
|
||||
}
|
||||
|
||||
quat::quat( const float *d )
|
||||
{
|
||||
v[0] = d[0];
|
||||
v[1] = d[1];
|
||||
v[2] = d[2];
|
||||
s = d[3];
|
||||
}
|
||||
|
||||
quat::quat( const double *d )
|
||||
{
|
||||
v[0] = d[0];
|
||||
v[1] = d[1];
|
||||
v[2] = d[2];
|
||||
s = d[3];
|
||||
}
|
||||
|
||||
quat::quat( const quat &q )
|
||||
{
|
||||
v = q.v;
|
||||
s = q.s;
|
||||
}
|
||||
|
||||
void quat::set( vec3 _v, float _s )
|
||||
{
|
||||
v = _v;
|
||||
s = _s;
|
||||
}
|
||||
|
||||
quat& quat::operator = (const quat& q)
|
||||
{
|
||||
v = q.v; s = q.s; return *this;
|
||||
}
|
||||
|
||||
|
||||
/* ... */
|
||||
|
||||
|
||||
/******** quat friends ************/
|
||||
|
||||
quat operator + (const quat &a, const quat &b)
|
||||
{
|
||||
return quat( a.s+b.s, a.v+b.v );
|
||||
}
|
||||
|
||||
quat operator - (const quat &a, const quat &b)
|
||||
{
|
||||
return quat( a.s-b.s, a.v-b.v );
|
||||
}
|
||||
|
||||
quat operator - (const quat &a )
|
||||
{
|
||||
return quat( -a.s, -a.v );
|
||||
}
|
||||
|
||||
quat operator * ( const quat &a, const quat &b)
|
||||
{
|
||||
return quat( a.s*b.s - a.v*b.v, a.s*b.v + b.s*a.v + ((a.v)^(b.v)) );
|
||||
}
|
||||
|
||||
quat operator * ( const quat &a, const float t)
|
||||
{
|
||||
return quat( a.v * t, a.s * t );
|
||||
}
|
||||
|
||||
quat operator * ( const float t, const quat &a )
|
||||
{
|
||||
return quat( a.v * t, a.s * t );
|
||||
}
|
||||
|
||||
|
||||
mat4 quat::to_mat4( void )
|
||||
{
|
||||
float t, xs, ys, zs, wx, wy, wz, xx, xy, xz, yy, yz, zz;
|
||||
|
||||
t = 2.0 / (v*v + s*s);
|
||||
|
||||
xs = v[VX]*t; ys = v[VY]*t; zs = v[VZ]*t;
|
||||
wx = s*xs; wy = s*ys; wz = s*zs;
|
||||
xx = v[VX]*xs; xy = v[VX]*ys; xz = v[VX]*zs;
|
||||
yy = v[VY]*ys; yz = v[VY]*zs; zz = v[VZ]*zs;
|
||||
|
||||
mat4 matrix( 1.0-(yy+zz), xy+wz, xz-wy, 0.0,
|
||||
xy-wz, 1.0-(xx+zz), yz+wx, 0.0,
|
||||
xz+wy, yz-wx, 1.0-(xx+yy), 0.0,
|
||||
0.0, 0.0, 0.0, 1.0 );
|
||||
|
||||
return matrix;
|
||||
}
|
||||
|
||||
|
||||
/************************************************* quat_identity() *****/
|
||||
/* Returns quaternion identity element */
|
||||
|
||||
quat quat_identity( void )
|
||||
{
|
||||
return quat( vec3( 0.0, 0.0, 0.0 ), 1.0 );
|
||||
}
|
||||
|
||||
|
||||
/************************************************ quat_slerp() ********/
|
||||
/* Quaternion spherical interpolation */
|
||||
|
||||
quat quat_slerp( quat from, quat to, float t )
|
||||
{
|
||||
quat to1;
|
||||
double omega, cosom, sinom, scale0, scale1;
|
||||
|
||||
/* calculate cosine */
|
||||
cosom = from.v * to.v + from.s + to.s;
|
||||
|
||||
/* Adjust signs (if necessary) */
|
||||
if ( cosom < 0.0 ) {
|
||||
cosom = -cosom;
|
||||
to1 = -to;
|
||||
}
|
||||
else
|
||||
{
|
||||
to1 = to;
|
||||
}
|
||||
|
||||
/* Calculate coefficients */
|
||||
if ((1.0 - cosom) > FUDGE ) {
|
||||
/* standard case (slerp) */
|
||||
omega = acos( cosom );
|
||||
sinom = sin( omega );
|
||||
scale0 = sin((1.0 - t) * omega) / sinom;
|
||||
scale1 = sin(t * omega) / sinom;
|
||||
}
|
||||
else {
|
||||
/* 'from' and 'to' are very close - just do linear interpolation */
|
||||
scale0 = 1.0 - t;
|
||||
scale1 = t;
|
||||
}
|
||||
|
||||
return scale0 * from + scale1 * to1;
|
||||
}
|
||||
|
||||
|
||||
/********************************************** set_angle() ************/
|
||||
/* set rot angle (degrees) */
|
||||
|
||||
void quat::set_angle( float f )
|
||||
{
|
||||
vec3 axis = get_axis();
|
||||
|
||||
s = cos( DEG2RAD( f ) / 2.0 );
|
||||
|
||||
v = axis * sin(DEG2RAD(f) / 2.0);
|
||||
}
|
||||
|
||||
|
||||
/********************************************** scale_angle() ************/
|
||||
/* scale rot angle (degrees) */
|
||||
|
||||
void quat::scale_angle( float f )
|
||||
{
|
||||
set_angle( f * get_angle() );
|
||||
}
|
||||
|
||||
|
||||
/********************************************** get_angle() ************/
|
||||
/* get rot angle (degrees). Assumes s is between -1 and 1 */
|
||||
|
||||
float quat::get_angle( void )
|
||||
{
|
||||
return RAD2DEG( 2.0 * acos( s ) );
|
||||
}
|
||||
|
||||
|
||||
/********************************************* get_axis() **************/
|
||||
|
||||
vec3 quat::get_axis( void )
|
||||
{
|
||||
float scale;
|
||||
|
||||
scale = sin( acos( s ) );
|
||||
if ( scale < FUDGE AND scale > -FUDGE )
|
||||
return vec3( 0.0, 0.0, 0.0 );
|
||||
else
|
||||
return v / scale;
|
||||
}
|
||||
|
||||
|
||||
/******************************************* quat::print() ************/
|
||||
|
||||
void quat::print( FILE *dest, char *name )
|
||||
{
|
||||
fprintf( dest, "%s: v:<%3.2f %3.2f %3.2f> s:%3.2f\n", name,
|
||||
v[0], v[1], v[2], s );
|
||||
}
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief
|
||||
*
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef ACCESS_DATA_H
|
||||
#define ACCESS_DATA_H
|
||||
|
||||
/**
|
||||
* @brief Derivable class to store access informations in.
|
||||
*
|
||||
* Obviously a TODO
|
||||
*/
|
||||
class AccessData {
|
||||
|
||||
};
|
||||
|
||||
#endif //ACCESS_DATA_H
|
||||
|
|
@ -0,0 +1,269 @@
|
|||
/*
|
||||
* convergence implementation
|
||||
*
|
||||
* Copyright (C) Jochen Sprickerhof, Peter Schneider
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file
|
||||
* @brief Implementation for generating a convergence graph of a scanseries frame
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany.
|
||||
*/
|
||||
|
||||
#include <stdexcept>
|
||||
using std::exception;
|
||||
|
||||
#include "slam6d/scan.h"
|
||||
#include "slam6d/convergence.h"
|
||||
|
||||
/**
|
||||
* Storing the base directory
|
||||
*/
|
||||
string filepath;
|
||||
|
||||
/**
|
||||
* Explains the usage of this program's command line parameters
|
||||
* @param prog name of the program
|
||||
*/
|
||||
void usage(char* prog)
|
||||
{
|
||||
#ifndef _MSC_VER
|
||||
const string bold("\033[1m");
|
||||
const string normal("\033[m");
|
||||
#else
|
||||
const string bold("");
|
||||
const string normal("");
|
||||
#endif
|
||||
|
||||
cout << endl
|
||||
<< "Usage: " << prog << " [-s NR] filepath, [-z NR] convergence type" << endl << endl;
|
||||
|
||||
cout << " -s NR generate convergence-data for frame NR" << endl
|
||||
<< endl;
|
||||
|
||||
cout << " -z NR type of convergence (0 = global, 1 = local)" << endl
|
||||
<< endl;
|
||||
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* A function that parses the command-line arguments and sets the respective flags.
|
||||
*
|
||||
* @param argc the number of arguments
|
||||
* @param argv the arguments
|
||||
* @param dir parsing result - the directory
|
||||
* @param start parsing result - starting at scan number 'start'
|
||||
* @param type parsing result - the type of convergence that should be stored (lokal, global)
|
||||
* @return 0, if the parsing was successful, 1 otherwise
|
||||
*/
|
||||
int parseArgs(int argc,char **argv, string &dir, int &frame, int &type)
|
||||
{
|
||||
frame = 0;
|
||||
type = 0;
|
||||
int c;
|
||||
// from unistd.h
|
||||
extern char *optarg;
|
||||
extern int optind;
|
||||
|
||||
cout << endl;
|
||||
while ((c = getopt (argc, argv, "s:z:m:M:p:wt")) != -1)
|
||||
switch (c)
|
||||
{
|
||||
case 's':
|
||||
frame = atoi(optarg);
|
||||
if (frame < 0) { cerr << "Error: Cannot generate data of a negative frame number.\n"; exit(1); }
|
||||
break;
|
||||
case 'z':
|
||||
type = atoi(optarg);
|
||||
if (type > 2 || type < 0) { cerr << "Error: only global (0) or local (1) available.\n"; exit(1); }
|
||||
break;
|
||||
case '?':
|
||||
usage(argv[0]);
|
||||
return 1;
|
||||
default:
|
||||
abort ();
|
||||
}
|
||||
|
||||
if (optind != argc-1) {
|
||||
cerr << "\n*** Directory missing ***" << endl;
|
||||
usage(argv[0]);
|
||||
}
|
||||
dir = argv[optind];
|
||||
|
||||
#ifndef _MSC_VER
|
||||
if (dir[dir.length()-1] != '/') dir = dir + "/";
|
||||
#else
|
||||
if (dir[dir.length()-1] != '\\') dir = dir + "\\";
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void getLocalConvergence(ifstream *inputFile, ofstream *outputFile)
|
||||
{
|
||||
double transMat[16];
|
||||
int type;
|
||||
double rPos[3];
|
||||
double rPosTheta[3];
|
||||
cout<<"starting local convergence"<<endl;
|
||||
while ((*inputFile).good()) {
|
||||
try {
|
||||
(*inputFile) >> transMat >> type;
|
||||
if(type == Scan::ICP)
|
||||
{
|
||||
Matrix4ToEuler(transMat, rPosTheta, rPos);
|
||||
(*outputFile)<<rPos[0]<<" "<<rPos[1]<<" "<<rPos[2]<<endl;
|
||||
}
|
||||
}
|
||||
catch (const exception &e) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void getAllConvergence(ifstream *inputFile, ofstream *outputFile, int FrameNr)
|
||||
{
|
||||
double transMat[16];
|
||||
int type;
|
||||
double rPosOrg[3], rPosThetaOrg[3];
|
||||
double quatOrg[4];
|
||||
//108
|
||||
//double truth[16] = {-0.125888, 0.0122898, -0.991968, 0, 0.00384827, 0.999922, 0.0118999, 0, 0.992037, -0.00231931, -0.125925, 0, -1702.16, 34.255, 285.929, 1};
|
||||
//344
|
||||
//double truth[16] = {-0.548304, -0.00375733, 0.83627, 0, 0.0294523, 0.999283, 0.0238003, 0, -0.83576, 0.0376799, -0.5478, 0, 691.717, 55.8939, 216.401, 1};
|
||||
//556
|
||||
double truth[16] = {0.996696, 0.0336843, -0.073908, 0, -0.0325397, 0.999332, 0.016638, 0, 0.0744191, -0.0141781, 0.997126, 0, 6211.62, 364.291, -3468.65, 1};
|
||||
//708
|
||||
//double truth[16] = {0.000564156, -0.0283691, -0.999597, 0, 0.00348951, 0.999591, -0.0283669, 0, 0.999994, -0.0034721, 0.00066292, 0, 7591.08, -31.354, 6938.24, 1};
|
||||
Matrix4ToEuler(truth, rPosThetaOrg, rPosOrg);
|
||||
Matrix4ToQuat(truth, quatOrg);
|
||||
double quat[4];
|
||||
double rPos[3];
|
||||
double rPosTheta[3];
|
||||
bool initial = true;
|
||||
|
||||
cout<<"starting all convergence"<<endl;
|
||||
while ((*inputFile).good()) {
|
||||
try {
|
||||
(*inputFile) >> transMat >> type;
|
||||
Matrix4ToEuler(transMat, rPosTheta, rPos);
|
||||
Matrix4ToQuat(transMat, quat);
|
||||
if((initial || type != Scan::INVALID) && type != Scan::ICPINACTIVE) {
|
||||
initial = false;
|
||||
(*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl;
|
||||
}
|
||||
//(*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl;
|
||||
}
|
||||
catch (const exception &e) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void getGlobalConvergence(ifstream *inputFile, ofstream *outputFile)
|
||||
{
|
||||
double transMat[16];
|
||||
int type;
|
||||
bool lumYetFound = false;
|
||||
double rPos[3];
|
||||
double rPosTheta[3];
|
||||
cout<<"starting global convergence"<<endl;
|
||||
while ((*inputFile).good()) {
|
||||
try {
|
||||
(*inputFile) >> transMat >> type;
|
||||
if(type == Scan::LUM)
|
||||
{
|
||||
lumYetFound = true;
|
||||
Matrix4ToEuler(transMat, rPosTheta, rPos);
|
||||
(*outputFile)<<rPos[0]<<" "<<rPos[1]<<" "<<rPos[2]<<endl;
|
||||
} else
|
||||
{
|
||||
if(lumYetFound) //we only want to write the last lum-correction into the file
|
||||
{
|
||||
lumYetFound = false;
|
||||
outputFile->close();
|
||||
outputFile->open("xyz.con", ios::trunc);
|
||||
}
|
||||
}
|
||||
}
|
||||
catch (const exception &e) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* A function that read the .frame files created by slam6D
|
||||
*
|
||||
* @param dir the directory
|
||||
* @param frameNr frame number that should be read
|
||||
*/
|
||||
void readFrames(string dir, int frameNr, int convType)
|
||||
{
|
||||
ifstream frame_in;
|
||||
ofstream xyz_out;
|
||||
xyz_out.open("xyz.con");
|
||||
string frameFileName;
|
||||
frameFileName = dir + "scan" + to_string(frameNr,3) + ".frames";
|
||||
cout << "Reading Frame for convergence data " << frameFileName << "..."<<endl;
|
||||
frame_in.open(frameFileName.c_str());
|
||||
|
||||
// read frame
|
||||
if (!frame_in.good()) cout<<"could not open file!"<<endl; // no more files in the directory
|
||||
else
|
||||
{
|
||||
if(convType == CONV_LOCAL)
|
||||
{
|
||||
getLocalConvergence(&frame_in, &xyz_out);
|
||||
} else if (convType == CONV_GLOBAL)
|
||||
{
|
||||
getGlobalConvergence(&frame_in, &xyz_out);
|
||||
} else if (convType == CONV_ALL)
|
||||
{
|
||||
getAllConvergence(&frame_in, &xyz_out, frameNr);
|
||||
}
|
||||
|
||||
frame_in.close();
|
||||
frame_in.clear();
|
||||
}
|
||||
xyz_out.close();
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------------------
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Main function.
|
||||
* Reads a frames file (scan000.frames, ...) from the data directory.
|
||||
* The frame is used for generating the convergencedata of a scan.
|
||||
*/
|
||||
|
||||
int main(int argc, char **argv){
|
||||
|
||||
cout << "(c) University of Osnabrueck, 2008" << endl << endl
|
||||
<< "Restricted Usage" << endl
|
||||
<< "Don't use without permission" << endl;
|
||||
|
||||
if(argc <= 1){
|
||||
usage(argv[0]);
|
||||
}
|
||||
int convT;
|
||||
int frameNumber = 0;
|
||||
string dir;
|
||||
|
||||
parseArgs(argc, argv, dir, frameNumber, convT);
|
||||
// scandir = dir;
|
||||
|
||||
// Get frame-data
|
||||
readFrames(dir, frameNumber, convT);
|
||||
}
|
||||
|
||||
|
||||
1814
.svn/pristine/11/11dcafc843966e71835c5d31c43249ba922e70b8.svn-base
Normal file
1814
.svn/pristine/11/11dcafc843966e71835c5d31c43249ba922e70b8.svn-base
Normal file
File diff suppressed because it is too large
Load diff
15151
.svn/pristine/11/11fdcb75157aad1a8e87631e0ab988be90dae750.svn-base
Normal file
15151
.svn/pristine/11/11fdcb75157aad1a8e87631e0ab988be90dae750.svn-base
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,152 @@
|
|||
/*
|
||||
* graphToro implementation
|
||||
*
|
||||
* Copyright (C) Jochen Sprickerhof
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @file TORO wrapper
|
||||
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/graphToro.h"
|
||||
|
||||
#include "slam6d/metaScan.h"
|
||||
#include "slam6d/lum6Deuler.h"
|
||||
#include "slam6d/globals.icc"
|
||||
|
||||
#include <fstream>
|
||||
using std::ofstream;
|
||||
using std::ifstream;
|
||||
#include <cfloat>
|
||||
#include <cstring>
|
||||
using namespace NEWMAT;
|
||||
/**
|
||||
* This function is used to match a set of laser scans with any minimally
|
||||
* connected Graph.
|
||||
*
|
||||
* @param gr Some Graph with no real subgraphs except for itself
|
||||
* @param allScans Contains all laser scans
|
||||
* @param nrIt The number of iterations the LUM-algorithm will run
|
||||
* @return Euclidian distance of all pose shifts
|
||||
*/
|
||||
double graphToro::doGraphSlam6D(Graph gr, vector <Scan *> allScans, int nrIt)
|
||||
{
|
||||
Matrix C(6, 6);
|
||||
double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4];
|
||||
double Pl0[16];
|
||||
|
||||
ofstream outFile("toro.graph");
|
||||
int n = gr.getNrScans();
|
||||
for(int i = 0; i < n; i++) {
|
||||
QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta);
|
||||
outFile << "VERTEX3" << " " << i <<
|
||||
" " << (allScans[i]->get_rPos()[0]/100) <<
|
||||
" " << (allScans[i]->get_rPos()[1]/100) <<
|
||||
" " << (allScans[i]->get_rPos()[2]/100) <<
|
||||
" " << rPosTheta[0] <<
|
||||
" " << rPosTheta[1] <<
|
||||
" " << rPosTheta[2] << endl;
|
||||
}
|
||||
|
||||
for(int i = 0; i < gr.getNrLinks(); i++){
|
||||
int first = gr.getLink(i,0);
|
||||
int last = gr.getLink(i,1);
|
||||
|
||||
if(first != last-1) {
|
||||
vector <Scan *> meta_start;
|
||||
for(int i = first - 2; i <= first + 2; i++) {
|
||||
if(i >= 0) {
|
||||
meta_start.push_back(allScans[i]);
|
||||
}
|
||||
}
|
||||
MetaScan *start = new MetaScan(meta_start, false, false);
|
||||
|
||||
//static size of metascan
|
||||
int offset_last_start = 2;
|
||||
int offset_last_end = 0;
|
||||
|
||||
vector <Scan *> meta_end;
|
||||
for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) {
|
||||
if(i >= 0) {
|
||||
meta_end.push_back(allScans[i]);
|
||||
}
|
||||
}
|
||||
MetaScan *end = new MetaScan(meta_end, false, false);
|
||||
|
||||
memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double));
|
||||
my_icp->match(start, end);
|
||||
|
||||
delete start;
|
||||
delete end;
|
||||
}
|
||||
|
||||
M4inv(allScans[last]->get_transMat(), invers);
|
||||
MMult(invers, allScans[first]->get_transMat(), rela);
|
||||
Matrix4ToQuat(rela, rPosQuat, rPos);
|
||||
QuatRPYEuler(rPosQuat, rPosTheta);
|
||||
|
||||
lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp->get_nns_method(), my_icp->get_rnd(), my_icp->get_max_dist_match2(), &C);
|
||||
|
||||
outFile << "EDGE3" << " " << last << " " << first << " " <<
|
||||
(rPos[0]/100) << " " <<
|
||||
(rPos[1]/100) << " " <<
|
||||
(rPos[2]/100) << " " <<
|
||||
rPosTheta[0] << " " <<
|
||||
rPosTheta[1] << " " <<
|
||||
rPosTheta[2] << " ";
|
||||
for(int i = 1; i < 7; i++)
|
||||
for(int j = i; j < 7; j++)
|
||||
outFile << C(i, j) << " ";
|
||||
outFile << endl;
|
||||
|
||||
if(first != last-1) {
|
||||
allScans[last]->transformToMatrix(Pl0,Scan::INVALID);
|
||||
}
|
||||
}
|
||||
outFile.close();
|
||||
|
||||
system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d toro.graph");
|
||||
|
||||
ifstream inFile("toro-treeopt-final.graph");
|
||||
string tag;
|
||||
int id;
|
||||
double dd;
|
||||
double rPosN[3], rPosThetaN[3];
|
||||
while(inFile) {
|
||||
inFile >> tag;
|
||||
if(tag == "VERTEX3") {
|
||||
inFile >> id;
|
||||
if(id == n-1) {
|
||||
inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2];
|
||||
rPosN[0] *= 100;
|
||||
rPosN[1] *= 100;
|
||||
rPosN[2] *= 100;
|
||||
} else {
|
||||
inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2];
|
||||
rPos[0] *= 100;
|
||||
rPos[1] *= 100;
|
||||
rPos[2] *= 100;
|
||||
RPYEulerQuat(rPosTheta, rPosQuat);
|
||||
if(id != 0) {
|
||||
allScans[id]->transformToQuat(rPos, rPosQuat, Scan::GRAPHTORO, 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(tag == "EDGE3") {
|
||||
inFile >> id >> id;
|
||||
for(int i=0; i < 22; i++) {
|
||||
inFile >> dd;
|
||||
}
|
||||
}
|
||||
}
|
||||
RPYEulerQuat(rPosThetaN, rPosQuat);
|
||||
allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::GRAPHTORO, 2);
|
||||
inFile.close();
|
||||
|
||||
return DBL_MAX;
|
||||
}
|
||||
15151
.svn/pristine/12/126ee090cfad1e04a10316770a642770365ede16.svn-base
Normal file
15151
.svn/pristine/12/126ee090cfad1e04a10316770a642770365ede16.svn-base
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,22 @@
|
|||
inline char *ConfigFileHough::Get_CfgFileName(){return CfgFileName;}
|
||||
inline double ConfigFileHough::Get_MaxDist(){return MaxDist;}
|
||||
inline double ConfigFileHough::Get_MinDist(){return MinDist;}
|
||||
|
||||
inline unsigned int ConfigFileHough::Get_AccumulatorMax(){return AccumulatorMax;}
|
||||
inline unsigned int ConfigFileHough::Get_MinSizeAllPoints(){return MinSizeAllPoints;}
|
||||
inline unsigned int ConfigFileHough::Get_RhoNum(){return RhoNum;}
|
||||
inline unsigned int ConfigFileHough::Get_ThetaNum(){return ThetaNum;}
|
||||
inline unsigned int ConfigFileHough::Get_PhiNum(){return PhiNum;}
|
||||
inline unsigned int ConfigFileHough::Get_RhoMax(){return RhoMax;}
|
||||
inline double ConfigFileHough::Get_MaxPointPlaneDist(){return MaxPointPlaneDist;}
|
||||
inline unsigned int ConfigFileHough::Get_MaxPlanes(){return MaxPlanes;}
|
||||
|
||||
inline unsigned int ConfigFileHough::Get_MinPlaneSize(){return MinPlaneSize;}
|
||||
inline double ConfigFileHough::Get_MinPlanarity(){return MinPlanarity;}
|
||||
inline double ConfigFileHough::Get_PlaneRatio(){return PlaneRatio;}
|
||||
inline double ConfigFileHough::Get_PointDist(){return PointDist;}
|
||||
inline bool ConfigFileHough::Get_PeakWindow(){return PeakWindow;}
|
||||
inline unsigned int ConfigFileHough::Get_WindowSize(){return WindowSize;}
|
||||
inline unsigned int ConfigFileHough::Get_TrashMax(){return TrashMax;}
|
||||
inline unsigned int ConfigFileHough::Get_AccumulatorType(){return AccumulatorType;}
|
||||
inline char* ConfigFileHough::Get_PlaneDir(){return PlaneDir;}
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
Code for PMD camera.
|
||||
|
||||
pmdaccess2/* PMD-camera access lib
|
||||
cvpmd & pmdWrap libpmdaccess2 wrapper, PMD -> OpenCV marshalling and a bit of math.
|
||||
calibrate/* PMD calibration tool
|
||||
pose/* 3D Tracking, pose estimation
|
||||
offline/* Grab data for offline processing
|
||||
*xml cameras matrices
|
||||
|
||||
Depends on OpenCV (2.0), GLFW, FTGL, libconfig, xmlrpc-c
|
||||
|
||||
installing opencv on ubuntu: http://ivkin.net/2009/11/installing-opencv-2-0-on-ubuntu-9-10-karmic-koala/
|
||||
|
||||
to compile just run:
|
||||
$ make
|
||||
|
||||
Ubuntu issues:
|
||||
# fix GLFW /usr/lib/libglfw.so symlink
|
||||
# obtain libconfig somewhere (i.e. from debian repos or install from source)
|
||||
|
|
@ -0,0 +1,200 @@
|
|||
//$$ solution.cpp // solve routines
|
||||
|
||||
// Copyright (C) 1994: R B Davies
|
||||
|
||||
|
||||
#define WANT_STREAM // include.h will get stream fns
|
||||
#define WANT_MATH // include.h will get math fns
|
||||
|
||||
#include "include.h"
|
||||
#include "boolean.h"
|
||||
#include "myexcept.h"
|
||||
|
||||
#include "solution.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
namespace RBD_COMMON {
|
||||
#endif
|
||||
|
||||
|
||||
void R1_R1::Set(Real X)
|
||||
{
|
||||
if ((!minXinf && X <= minX) || (!maxXinf && X >= maxX))
|
||||
Throw(SolutionException("X value out of range"));
|
||||
x = X; xSet = true;
|
||||
}
|
||||
|
||||
R1_R1::operator Real()
|
||||
{
|
||||
if (!xSet) Throw(SolutionException("Value of X not set"));
|
||||
Real y = operator()();
|
||||
return y;
|
||||
}
|
||||
|
||||
unsigned long SolutionException::Select;
|
||||
|
||||
SolutionException::SolutionException(const char* a_what) : BaseException()
|
||||
{
|
||||
Select = BaseException::Select;
|
||||
AddMessage("Error detected by solution package\n");
|
||||
AddMessage(a_what); AddMessage("\n");
|
||||
if (a_what) Tracer::AddTrace();
|
||||
};
|
||||
|
||||
inline Real square(Real x) { return x*x; }
|
||||
|
||||
void OneDimSolve::LookAt(int V)
|
||||
{
|
||||
lim--;
|
||||
if (!lim) Throw(SolutionException("Does not converge"));
|
||||
Last = V;
|
||||
Real yy = function(x[V]) - YY;
|
||||
Finish = (fabs(yy) <= accY) || (Captured && fabs(x[L]-x[U]) <= accX );
|
||||
y[V] = vpol*yy;
|
||||
}
|
||||
|
||||
void OneDimSolve::HFlip() { hpol=-hpol; State(U,C,L); }
|
||||
|
||||
void OneDimSolve::VFlip()
|
||||
{ vpol = -vpol; y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2]; }
|
||||
|
||||
void OneDimSolve::Flip()
|
||||
{
|
||||
hpol=-hpol; vpol=-vpol; State(U,C,L);
|
||||
y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2];
|
||||
}
|
||||
|
||||
void OneDimSolve::State(int I, int J, int K) { L=I; C=J; U=K; }
|
||||
|
||||
void OneDimSolve::Linear(int I, int J, int K)
|
||||
{
|
||||
x[J] = (x[I]*y[K] - x[K]*y[I])/(y[K] - y[I]);
|
||||
// cout << "Linear\n";
|
||||
}
|
||||
|
||||
void OneDimSolve::Quadratic(int I, int J, int K)
|
||||
{
|
||||
// result to overwrite I
|
||||
Real YJK, YIK, YIJ, XKI, XKJ;
|
||||
YJK = y[J] - y[K]; YIK = y[I] - y[K]; YIJ = y[I] - y[J];
|
||||
XKI = (x[K] - x[I]);
|
||||
XKJ = (x[K]*y[J] - x[J]*y[K])/YJK;
|
||||
if ( square(YJK/YIK)>(x[K] - x[J])/XKI ||
|
||||
square(YIJ/YIK)>(x[J] - x[I])/XKI )
|
||||
{
|
||||
x[I] = XKJ;
|
||||
// cout << "Quadratic - exceptional\n";
|
||||
}
|
||||
else
|
||||
{
|
||||
XKI = (x[K]*y[I] - x[I]*y[K])/YIK;
|
||||
x[I] = (XKJ*y[I] - XKI*y[J])/YIJ;
|
||||
// cout << "Quadratic - normal\n";
|
||||
}
|
||||
}
|
||||
|
||||
Real OneDimSolve::Solve(Real Y, Real X, Real Dev, int Lim)
|
||||
{
|
||||
enum Loop { start, captured1, captured2, binary, finish };
|
||||
Tracer et("OneDimSolve::Solve");
|
||||
lim=Lim; Captured = false;
|
||||
if (Dev==0.0) Throw(SolutionException("Dev is zero"));
|
||||
L=0; C=1; U=2; vpol=1; hpol=1; y[C]=0.0; y[U]=0.0;
|
||||
if (Dev<0.0) { hpol=-1; Dev = -Dev; }
|
||||
YY=Y; // target value
|
||||
x[L] = X; // initial trial value
|
||||
if (!function.IsValid(X))
|
||||
Throw(SolutionException("Starting value is invalid"));
|
||||
Loop TheLoop = start;
|
||||
for (;;)
|
||||
{
|
||||
switch (TheLoop)
|
||||
{
|
||||
case start:
|
||||
LookAt(L); if (Finish) { TheLoop = finish; break; }
|
||||
if (y[L]>0.0) VFlip(); // so Y[L] < 0
|
||||
|
||||
x[U] = X + Dev * hpol;
|
||||
if (!function.maxXinf && x[U] > function.maxX)
|
||||
x[U] = (function.maxX + X) / 2.0;
|
||||
if (!function.minXinf && x[U] < function.minX)
|
||||
x[U] = (function.minX + X) / 2.0;
|
||||
|
||||
LookAt(U); if (Finish) { TheLoop = finish; break; }
|
||||
if (y[U] > 0.0) { TheLoop = captured1; Captured = true; break; }
|
||||
if (y[U] == y[L])
|
||||
Throw(SolutionException("Function is flat"));
|
||||
if (y[U] < y[L]) HFlip(); // Change direction
|
||||
State(L,U,C);
|
||||
for (i=0; i<20; i++)
|
||||
{
|
||||
// cout << "Searching for crossing point\n";
|
||||
// Have L C then crossing point, Y[L]<Y[C]<0
|
||||
x[U] = x[C] + Dev * hpol;
|
||||
if (!function.maxXinf && x[U] > function.maxX)
|
||||
x[U] = (function.maxX + x[C]) / 2.0;
|
||||
if (!function.minXinf && x[U] < function.minX)
|
||||
x[U] = (function.minX + x[C]) / 2.0;
|
||||
|
||||
LookAt(U); if (Finish) { TheLoop = finish; break; }
|
||||
if (y[U] > 0) { TheLoop = captured2; Captured = true; break; }
|
||||
if (y[U] < y[C])
|
||||
Throw(SolutionException("Function is not monotone"));
|
||||
Dev *= 2.0;
|
||||
State(C,U,L);
|
||||
}
|
||||
if (TheLoop != start ) break;
|
||||
Throw(SolutionException("Cannot locate a crossing point"));
|
||||
|
||||
case captured1:
|
||||
// cout << "Captured - 1\n";
|
||||
// We have 2 points L and U with crossing between them
|
||||
Linear(L,C,U); // linear interpolation
|
||||
// - result to C
|
||||
LookAt(C); if (Finish) { TheLoop = finish; break; }
|
||||
if (y[C] > 0.0) Flip(); // Want y[C] < 0
|
||||
if (y[C] < 0.5*y[L]) { State(C,L,U); TheLoop = binary; break; }
|
||||
|
||||
case captured2:
|
||||
// cout << "Captured - 2\n";
|
||||
// We have L,C before crossing, U after crossing
|
||||
Quadratic(L,C,U); // quad interpolation
|
||||
// - result to L
|
||||
State(C,L,U);
|
||||
if ((x[C] - x[L])*hpol <= 0.0 || (x[C] - x[U])*hpol >= 0.0)
|
||||
{ TheLoop = captured1; break; }
|
||||
LookAt(C); if (Finish) { TheLoop = finish; break; }
|
||||
// cout << "Through first stage\n";
|
||||
if (y[C] > 0.0) Flip();
|
||||
if (y[C] > 0.5*y[L]) { TheLoop = captured2; break; }
|
||||
else { State(C,L,U); TheLoop = captured1; break; }
|
||||
|
||||
case binary:
|
||||
// We have L, U around crossing - do binary search
|
||||
// cout << "Binary\n";
|
||||
for (i=3; i; i--)
|
||||
{
|
||||
x[C] = 0.5*(x[L]+x[U]);
|
||||
LookAt(C); if (Finish) { TheLoop = finish; break; }
|
||||
if (y[C]>0.0) State(L,U,C); else State(C,L,U);
|
||||
}
|
||||
if (TheLoop != binary) break;
|
||||
TheLoop = captured1; break;
|
||||
|
||||
case finish:
|
||||
return x[Last];
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool R1_R1::IsValid(Real X)
|
||||
{
|
||||
Set(X);
|
||||
return (minXinf || x > minX) && (maxXinf || x < maxX);
|
||||
}
|
||||
|
||||
#ifdef use_namespace
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,141 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#include "slam6d/scan_io_uos_rgb.h"
|
||||
#include "slam6d/globals.icc"
|
||||
#include <fstream>
|
||||
using std::ifstream;
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Reads specified scans from given directory.
|
||||
*
|
||||
* Scan poses will NOT be initialized after a call
|
||||
* to this function.
|
||||
*
|
||||
* This function actually implements loading of 3D scans
|
||||
* in UOS file format including color information and will be compiled as
|
||||
* shared lib.
|
||||
*
|
||||
* @param start Starts to read with this scan
|
||||
* @param end Stops with this scan
|
||||
* @param dir The directory from which to read
|
||||
* @param maxDist Reads only Points up to this Distance
|
||||
* @param minDist Reads only Points from this Distance
|
||||
* @param euler Initital pose estimates (will not be applied to the points
|
||||
* @param ptss Vector containing the read points
|
||||
*/
|
||||
int ScanIO_uos_rgb::readScans(int start, int end, string &dir, int maxDist, int minDist,
|
||||
double *euler, vector<Point> &ptss)
|
||||
{
|
||||
static int fileCounter = start;
|
||||
string scanFileName;
|
||||
string poseFileName;
|
||||
|
||||
ifstream scan_in, pose_in;
|
||||
|
||||
double maxDist2 = sqr(maxDist);
|
||||
double minDist2 = sqr(minDist);
|
||||
|
||||
int my_fileNr = fileCounter;
|
||||
|
||||
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
||||
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
|
||||
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
|
||||
|
||||
scan_in.open(scanFileName.c_str());
|
||||
pose_in.open(poseFileName.c_str());
|
||||
|
||||
// read 3D scan
|
||||
if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
||||
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
|
||||
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
||||
cout << "Processing Scan " << scanFileName;
|
||||
|
||||
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
|
||||
|
||||
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
||||
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
|
||||
|
||||
// convert angles from deg to rad
|
||||
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
|
||||
|
||||
// overread the first line
|
||||
char dummy[255];
|
||||
scan_in.getline(dummy, 255);
|
||||
|
||||
int r, g, b;
|
||||
while (scan_in.good()) {
|
||||
Point p;
|
||||
try {
|
||||
scan_in >> p;
|
||||
scan_in >> r >> g >> b;
|
||||
p.rgb[0] = (char)r;
|
||||
p.rgb[1] = (char)g;
|
||||
p.rgb[2] = (char)b;
|
||||
|
||||
} catch (...) {
|
||||
break;
|
||||
}
|
||||
// load points up to a certain distance only
|
||||
// maxDist2 = -1 indicates no limitation
|
||||
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
|
||||
if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
|
||||
ptss.push_back(p);
|
||||
}
|
||||
scan_in.close();
|
||||
scan_in.clear();
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
fileCounter++;
|
||||
|
||||
return my_fileNr;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_uos_rgb;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
/*
|
||||
* PMD implementation
|
||||
*
|
||||
* Copyright (C) Stanislav Serebryakov
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <cv.h> /* IplImage, cvCreateImage */
|
||||
|
||||
#include "pmdsdk2.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "cvpmd.h"
|
||||
#include <inttypes.h>
|
||||
|
||||
/** TODO
|
||||
* inten max amplitude
|
||||
* error handling
|
||||
*/
|
||||
|
||||
PMD *initPMD(const char* plugin, const char *ip) {
|
||||
PMD *io = (PMD*)malloc(sizeof(PMD));
|
||||
|
||||
if(0 != pmdOpen (&io->hnd, plugin, ip, plugin, "")) {
|
||||
fprintf(stderr, "ERROR: could not connect!\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
//pmdUpdate(io->hnd);
|
||||
//pmdGetSourceDataDescription(io->hnd, &io->dd);
|
||||
io->dd.std.numColumns = 64;
|
||||
io->dd.std.numRows = 50; //FIXME!
|
||||
|
||||
io->data = (float*)malloc(io->dd.std.numColumns * io->dd.std.numRows * sizeof(float));
|
||||
|
||||
return io;
|
||||
}
|
||||
|
||||
float *pmdDataPtr(PMD *p) {
|
||||
return p->data;
|
||||
}
|
||||
|
||||
void releasePMD(PMD **pmd) {
|
||||
pmdClose((*pmd)->hnd);
|
||||
free((*pmd)->data);
|
||||
free(*pmd);
|
||||
*pmd = 0;
|
||||
}
|
||||
|
||||
|
||||
static float max(const PMD *p) {
|
||||
float max = 0.0f;
|
||||
for(unsigned int k = 0; k < p->dd.std.numRows*p->dd.std.numColumns; k++) {
|
||||
if(p->data[k] > max) max = p->data[k];
|
||||
}
|
||||
//printf("max = %f\n", max);
|
||||
return max;
|
||||
}
|
||||
|
||||
//static inline void setPix(const IplImage *m, const int c, const int r, const char v) { m->imageData[r*m->width + c] = v; }
|
||||
|
||||
|
||||
CvSize pmdGetSize(const PMD *p) {
|
||||
return cvSize(p->dd.std.numColumns, p->dd.std.numRows);
|
||||
}
|
||||
|
||||
|
||||
IplImage *toIplImage(const PMD *p, IplImage *img = 0) {
|
||||
int cols = p->dd.std.numColumns;
|
||||
int rows = p->dd.std.numRows;
|
||||
|
||||
IplImage *imgp;
|
||||
if(!img) imgp = cvCreateImage(pmdGetSize(p), 8, 1);
|
||||
else imgp = img;
|
||||
|
||||
//FIXME: scaled!
|
||||
float m = max(p);
|
||||
for(int r = 0; r < rows; r++) {
|
||||
for(int c = 0; c < cols; c++) {
|
||||
//FIXME: mess with the rows and colums
|
||||
CV_IMAGE_ELEM(imgp, uint8_t, r, c) = (uint8_t) 255.0f * p->data[r*cols + c] / m;
|
||||
}
|
||||
}
|
||||
|
||||
return imgp;
|
||||
}
|
||||
|
||||
/*CvPoint3D32f unionVec(const CvPoint uv, const CvMat *intrinsic) {
|
||||
//TODO: not defined yet
|
||||
// with this function pmdProjectToCartesian would look like:
|
||||
// pmdProjectToCartesian pt depth mat = depth * unionVec pt mat
|
||||
|
||||
return cvPoint3D32f(0,0,0);
|
||||
}*/
|
||||
|
||||
|
||||
static inline CvPoint3D32f pmdProjectToCartesian(const CvMat *intrinsicMatrix, const CvPoint2D32f uv, const float dist) {
|
||||
/* Lukas Dierks and Jan Wuelfing's projectToCartesian */
|
||||
float fx = cvmGet(intrinsicMatrix, 0, 0);
|
||||
float cx = cvmGet(intrinsicMatrix, 0, 2);
|
||||
float fy = cvmGet(intrinsicMatrix, 1, 1);
|
||||
float cy = cvmGet(intrinsicMatrix, 1, 2);
|
||||
|
||||
float u = uv.x;
|
||||
float v = uv.y;
|
||||
float r = dist;
|
||||
float u2 = u*u;
|
||||
float v2 = v*v;
|
||||
|
||||
float cx2 = cx*cx;
|
||||
float cy2 = cy*cy;
|
||||
float fx2 = fx*fx;
|
||||
float fy2 = fy*fy;
|
||||
|
||||
// Reverse Projection
|
||||
float squareroot = sqrt(
|
||||
cy2 * fx2 +
|
||||
cx2 * fy2 +
|
||||
fx2 * fy2 -
|
||||
2 * cx * fy2 * u +
|
||||
fy2 * u2 -
|
||||
2 * cy * fx2 * v +
|
||||
fx2 * v2
|
||||
);
|
||||
|
||||
return cvPoint3D32f((fy * r * (cx - u)) / squareroot,
|
||||
(fx * r * (cy - v)) / squareroot,
|
||||
(fx * fy * r) / squareroot);
|
||||
}
|
||||
|
||||
CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix
|
||||
, const CvPoint2D32f *pts, const int ptsCnt
|
||||
, CvPoint3D32f *unitVs) {
|
||||
|
||||
for(int i = 0; i < ptsCnt; i++)
|
||||
unitVs[i] = pmdProjectToCartesian(intrinsicMatrix, pts[i], 1.0);
|
||||
return unitVs;
|
||||
}
|
||||
|
||||
|
||||
CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts) {
|
||||
for(unsigned int i = 0; i < p->dd.std.numRows; i++)
|
||||
for(unsigned int j = 0; j < p->dd.std.numColumns; j++)
|
||||
pts[i][j] = pmdProjectToCartesian(intrinsicMatrix, cvPoint2D32f(i,j), p->data[j*p->dd.std.numColumns + i]);
|
||||
return pts;
|
||||
}
|
||||
|
||||
|
||||
|
||||
IplImage *pmdQueryImage(PMD *p, IplImage *img = 0) {
|
||||
pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
}
|
||||
|
||||
IplImage *pmdQueryImageAsync(PMD *p, IplImage *img = 0) {
|
||||
pmdGetIntensitiesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
}
|
||||
|
||||
|
||||
void pmdRetriveDistances(PMD *p) {
|
||||
pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return;
|
||||
}
|
||||
void pmdRetriveDistancesAsync(PMD *p) {
|
||||
pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return;
|
||||
}
|
||||
|
||||
IplImage *pmdQueryDistances(PMD *p, IplImage *img = 0) {
|
||||
pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
|
||||
}
|
||||
|
||||
IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img = 0) {
|
||||
pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
|
||||
}
|
||||
|
||||
IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img = 0) {
|
||||
pmdGetAmplitudesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
}
|
||||
|
||||
IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img = 0) {
|
||||
pmdGetAmplitudes(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float));
|
||||
return toIplImage(p, img);
|
||||
}
|
||||
1124
.svn/pristine/14/1444ace525ba44a3506ee11bff6bf73c58add2df.svn-base
Normal file
1124
.svn/pristine/14/1444ace525ba44a3506ee11bff6bf73c58add2df.svn-base
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,96 @@
|
|||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include "show/viewcull.h"
|
||||
#include "show/scancolormanager.h"
|
||||
//#include "show/colormanager.h"
|
||||
/*
|
||||
#include "limits.h"
|
||||
#include <vector>
|
||||
using std::vector;
|
||||
#include <string>
|
||||
#include <string.h>
|
||||
using std::string;
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <glut.h>
|
||||
#include <GL/glut.h>
|
||||
#include <glu.h>
|
||||
*/
|
||||
#ifndef __DISPLAY_H__
|
||||
#define __DISPLAY_H__
|
||||
|
||||
using namespace std;
|
||||
|
||||
class SDisplay {
|
||||
public:
|
||||
//inline void setColorManager(ColorManager *_cm) { cm = _cm; }
|
||||
|
||||
|
||||
//virtual SDisplay* readFromFile(string &filename) = 0;
|
||||
virtual const char *getName() { return "Unnamed display"; }
|
||||
virtual void display(double detail) { displayAll(); }
|
||||
virtual void displayAll();
|
||||
|
||||
virtual void displayObject() = 0;
|
||||
|
||||
static void readDisplays(string &filename, vector<SDisplay*> &displays);
|
||||
|
||||
|
||||
protected:
|
||||
static double mirror[16];
|
||||
//ColorManager *cm;
|
||||
};
|
||||
|
||||
class PointDisplay : public SDisplay {
|
||||
|
||||
public:
|
||||
static SDisplay* readFromFile(string &filename);
|
||||
virtual void displayObject();
|
||||
|
||||
private:
|
||||
|
||||
PointDisplay(vector<float*> &p, vector<string> &l);
|
||||
|
||||
vector<float *> points;
|
||||
vector<string> labels;
|
||||
};
|
||||
|
||||
class LineDisplay : public SDisplay {
|
||||
|
||||
public:
|
||||
static SDisplay* readFromFile(string &filename);
|
||||
virtual void displayObject();
|
||||
|
||||
private:
|
||||
|
||||
LineDisplay(vector<float*> &l);
|
||||
|
||||
vector<float *> lines;
|
||||
};
|
||||
|
||||
class PlaneDisplay : public SDisplay {
|
||||
public:
|
||||
static SDisplay* readFromFile(string &filename, float* color);
|
||||
virtual void displayObject();
|
||||
|
||||
private:
|
||||
|
||||
PlaneDisplay(vector<float*> &p, float* c);
|
||||
vector<float *> points;
|
||||
float * color;
|
||||
|
||||
};
|
||||
|
||||
class GroupPlaneDisplay : public SDisplay {
|
||||
public:
|
||||
static SDisplay* readFromFile(string &filename);
|
||||
virtual void displayObject();
|
||||
|
||||
private:
|
||||
|
||||
GroupPlaneDisplay(vector<PlaneDisplay*> &p);
|
||||
vector<PlaneDisplay*> planes;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,76 @@
|
|||
//$$ newmat9.cpp Input and output
|
||||
|
||||
// Copyright (C) 1991,2,3,4: R B Davies
|
||||
|
||||
|
||||
#define WANT_FSTREAM
|
||||
|
||||
#include "include.h"
|
||||
|
||||
#include "newmat.h"
|
||||
#include "newmatio.h"
|
||||
#include "newmatrc.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
namespace NEWMAT {
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef DO_REPORT
|
||||
#define REPORT { static ExeCounter ExeCount(__LINE__,9); ++ExeCount; }
|
||||
#else
|
||||
#define REPORT {}
|
||||
#endif
|
||||
|
||||
// for G++ 3.01
|
||||
#ifndef ios_format_flags
|
||||
#define ios_format_flags long
|
||||
#endif
|
||||
|
||||
ostream& operator<<(ostream& s, const BaseMatrix& X)
|
||||
{
|
||||
GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); operator<<(s, *gm);
|
||||
gm->tDelete(); return s;
|
||||
}
|
||||
|
||||
|
||||
ostream& operator<<(ostream& s, const GeneralMatrix& X)
|
||||
{
|
||||
MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry);
|
||||
int w = s.width(); int nr = X.Nrows(); ios_format_flags f = s.flags();
|
||||
s.setf(ios::fixed, ios::floatfield);
|
||||
for (int i=1; i<=nr; i++)
|
||||
{
|
||||
int skip = mr.skip; int storage = mr.storage;
|
||||
Real* store = mr.data; skip *= w+1;
|
||||
while (skip--) s << " ";
|
||||
while (storage--) { s.width(w); s << *store++ << " "; }
|
||||
// while (storage--) s << setw(w) << *store++ << " ";
|
||||
mr.Next(); s << "\n";
|
||||
}
|
||||
s << flush; s.flags(f); return s;
|
||||
}
|
||||
|
||||
// include this stuff if you are using an old version of G++
|
||||
// with an incomplete io library
|
||||
|
||||
/*
|
||||
|
||||
ostream& operator<<(ostream& os, Omanip_precision i)
|
||||
{ os.precision(i.x); return os; }
|
||||
|
||||
Omanip_precision setprecision(int i) { return Omanip_precision(i); }
|
||||
|
||||
ostream& operator<<(ostream& os, Omanip_width i)
|
||||
{ os.width(i.x); return os; }
|
||||
|
||||
Omanip_width setw(int i) { return Omanip_width(i); }
|
||||
|
||||
*/
|
||||
|
||||
#ifdef use_namespace
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,98 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Implementation of 3D scan matching with ICP
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* Will return the maximal number of randomization
|
||||
*
|
||||
* @return the maximal number of iterations
|
||||
*/
|
||||
inline int icp6D::get_rnd()
|
||||
{
|
||||
return rnd;
|
||||
}
|
||||
|
||||
/**
|
||||
* Will return weather to use the meta scan
|
||||
*
|
||||
* @return the maximal number of iterations
|
||||
*/
|
||||
inline bool icp6D::get_meta()
|
||||
{
|
||||
return meta;
|
||||
}
|
||||
|
||||
/**
|
||||
* Will return the anim flag
|
||||
*
|
||||
* @return the anim flag
|
||||
*/
|
||||
inline int icp6D::get_anim() {
|
||||
return anim;
|
||||
}
|
||||
|
||||
/**
|
||||
* Will return the used nearest neigbor search method
|
||||
*
|
||||
* @return the nns_method number
|
||||
*/
|
||||
inline int icp6D::get_nns_method()
|
||||
{
|
||||
return nns_method;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the anim flag
|
||||
*
|
||||
* @param anim Animate which frames?
|
||||
*/
|
||||
inline void icp6D::set_anim(int anim) {
|
||||
this->anim = anim;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the maximal distance for matching
|
||||
*
|
||||
* @return the maximal distance for matching
|
||||
*/
|
||||
inline double icp6D::get_max_dist_match2() {
|
||||
return max_dist_match2;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the maximal distance for matching
|
||||
*
|
||||
* @param max_dist_match2 the maximal distance (^2 !!!) for matching
|
||||
*/
|
||||
inline void icp6D::set_max_dist_match2(double max_dist_match2) {
|
||||
this->max_dist_match2 = max_dist_match2;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the Maximum number of iterations
|
||||
*
|
||||
* @param max_num_iterations Maximum number of iterations
|
||||
*/
|
||||
inline void icp6D::set_max_num_iterations(int max_num_iterations) {
|
||||
this->max_num_iterations = max_num_iterations;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enable / Disable CAD matching (i.e. matching only against first scan)
|
||||
*
|
||||
* @param cad_matching The new value to determine if CAD matching should
|
||||
* be done
|
||||
*/
|
||||
inline void icp6D::set_cad_matching (bool cad_matching)
|
||||
{
|
||||
this->cad_matching = cad_matching;
|
||||
}
|
||||
|
||||
inline bool icp6D::get_cad_matching (void)
|
||||
{
|
||||
return this->cad_matching;
|
||||
}
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
modified by Deyuan Qiu:
|
||||
.../include/ANN.h line779
|
||||
.../src/kd_tree.h line87 line155
|
||||
.../MAKEFILE line94
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
//----------------------------------------------------------------------
|
||||
// File: rand.h
|
||||
// Programmer: Sunil Arya and David Mount
|
||||
// Description: Basic include file for random point generators
|
||||
// Last modified: 08/04/06 (Version 1.1.1)
|
||||
//----------------------------------------------------------------------
|
||||
// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and
|
||||
// David Mount. All Rights Reserved.
|
||||
//
|
||||
// This software and related documentation is part of the Approximate
|
||||
// Nearest Neighbor Library (ANN). This software is provided under
|
||||
// the provisions of the Lesser GNU Public License (LGPL). See the
|
||||
// file ../ReadMe.txt for further information.
|
||||
//
|
||||
// The University of Maryland (U.M.) and the authors make no
|
||||
// representations about the suitability or fitness of this software for
|
||||
// any purpose. It is provided "as is" without express or implied
|
||||
// warranty.
|
||||
//----------------------------------------------------------------------
|
||||
// History:
|
||||
// Revision 0.1 03/04/98
|
||||
// Initial release
|
||||
// Revision 1.0 04/01/05
|
||||
// Added annClusOrthFlats distribution
|
||||
// Changed procedure names to avoid namespace conflicts
|
||||
// Added annClusFlats distribution
|
||||
// Revision 1.1.1 08/04/06
|
||||
// Added planted distribution
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
#ifndef rand_H
|
||||
#define rand_H
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Basic includes
|
||||
//----------------------------------------------------------------------
|
||||
#include <cstdlib> // standard includes (rand/random)
|
||||
#include <cmath> // math routines
|
||||
#include <ANN/ANN.h> // basic ANN includes
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Although random/srandom is a more reliable random number generator,
|
||||
// many systems do not have it. If it is not available, set the
|
||||
// preprocessor symbol ANN_NO_RANDOM, and this will substitute the use
|
||||
// of rand/srand for them.
|
||||
//----------------------------------------------------------------------
|
||||
#ifdef ANN_NO_RANDOM // for systems not having random()
|
||||
#define ANN_RAND rand
|
||||
#define ANN_SRAND srand
|
||||
#define ANN_RAND_MAX RAND_MAX
|
||||
#else // otherwise use rand()
|
||||
#define ANN_RAND random
|
||||
#define ANN_SRAND srandom
|
||||
#define ANN_RAND_MAX 2147483647UL // 2**{31} - 1
|
||||
// #define ANN_RAND_MAX 1073741824UL // 2**{30}
|
||||
#endif
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// Globals
|
||||
//----------------------------------------------------------------------
|
||||
extern int annIdum; // random number seed
|
||||
|
||||
//----------------------------------------------------------------------
|
||||
// External entry points
|
||||
//----------------------------------------------------------------------
|
||||
|
||||
void annUniformPts( // uniform distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim); // dimension
|
||||
|
||||
void annGaussPts( // Gaussian distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
double std_dev); // standard deviation
|
||||
|
||||
void annCoGaussPts( // correlated-Gaussian distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
double correlation); // correlation
|
||||
|
||||
void annLaplacePts( // Laplacian distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim); // dimension
|
||||
|
||||
void annCoLaplacePts( // correlated-Laplacian distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
double correlation); // correlation
|
||||
|
||||
void annClusGaussPts( // clustered-Gaussian distribution
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
int n_clus, // number of colors (clusters)
|
||||
ANNbool new_clust, // generate new cluster centers
|
||||
double std_dev); // standard deviation within clusters
|
||||
|
||||
void annClusOrthFlats( // clustered along orthogonal flats
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
int n_clus, // number of colors
|
||||
ANNbool new_clust, // generate new clusters.
|
||||
double std_dev, // standard deviation within clusters
|
||||
int max_dim); // maximum dimension of the flats
|
||||
|
||||
void annClusEllipsoids( // clustered around ellipsoids
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
int n_clus, // number of colors
|
||||
ANNbool new_clust, // generate new clusters.
|
||||
double std_dev_small, // small standard deviation
|
||||
double std_dev_lo, // low standard deviation for ellipses
|
||||
double std_dev_hi, // high standard deviation for ellipses
|
||||
int max_dim); // maximum dimension of the flats
|
||||
|
||||
void annPlanted( // planted nearest neighbors
|
||||
ANNpointArray pa, // point array (modified)
|
||||
int n, // number of points
|
||||
int dim, // dimension
|
||||
ANNpointArray src, // source point array
|
||||
int n_src, // source size
|
||||
double std_dev); // standard deviation about source
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
-10 -2.15443
|
||||
-9 -2.08008
|
||||
-8 -2
|
||||
-7 -1.91293
|
||||
-6 -1.81712
|
||||
-5 -1.70998
|
||||
-4 -1.5874
|
||||
-3 -1.44225
|
||||
-2 -1.25992
|
||||
-1 -1.00001
|
||||
0 0
|
||||
1 1.00001
|
||||
2 1.25992
|
||||
3 1.44225
|
||||
4 1.58741
|
||||
5 1.70998
|
||||
6 1.81712
|
||||
7 1.91293
|
||||
8 2
|
||||
9 2.08008
|
||||
10 2.15443
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
/**
|
||||
@file
|
||||
@brief Displaying of a matched 3D scene
|
||||
@author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
@author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
/**
|
||||
sets the OpenGL point,
|
||||
(z axis is inverted in OpenGL)
|
||||
*/
|
||||
void setGLPoint(GLdouble pX, GLdouble pY, GLdouble pZ)
|
||||
{
|
||||
// pZ *= -1.0;
|
||||
glVertex3d(pX, pY, pZ);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
sets the OpenGL point,
|
||||
(z axis is inverted in OpenGL)
|
||||
*/
|
||||
void setGLPoint(GLdouble* p)
|
||||
{
|
||||
GLdouble pZ = 1.0 * p[2];
|
||||
|
||||
glVertex3d(p[0], p[1], pZ);
|
||||
}
|
||||
|
|
@ -0,0 +1,358 @@
|
|||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Name: filebrws.h
|
||||
// Purpose: A file browser widget with tree and/or list control views
|
||||
// Author: John Labenski
|
||||
// Created: 07/01/02
|
||||
// Copyright: John Labenski, 2002
|
||||
// License: wxWidgets
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#ifndef __WX_FILEBROWSER_H__
|
||||
#define __WX_FILEBROWSER_H__
|
||||
|
||||
#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA)
|
||||
#pragma interface "filebrws.h"
|
||||
#endif
|
||||
|
||||
#include "wx/listctrl.h"
|
||||
#include "wx/dirctrl.h"
|
||||
#include "wx/filedlg.h"
|
||||
#include "wx/textdlg.h"
|
||||
#include "wx/generic/filedlgg.h"
|
||||
#include "wx/things/thingdef.h"
|
||||
|
||||
class WXDLLEXPORT wxCheckBox;
|
||||
class WXDLLEXPORT wxComboBox;
|
||||
class WXDLLEXPORT wxTreeEvent;
|
||||
class WXDLLEXPORT wxSplitterWindow;
|
||||
class WXDLLEXPORT wxGenericDirCtrl;
|
||||
class WXDLLEXPORT wxListCtrl;
|
||||
class WXDLLEXPORT wxListEvent;
|
||||
class WXDLLEXPORT wxToolBar;
|
||||
class WXDLLEXPORT wxBitmapButton;
|
||||
class WXDLLEXPORT wxConfigBase;
|
||||
class WXDLLEXPORT wxFileCtrl;
|
||||
class WXDLLEXPORT wxFileName;
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxFileBrowser;
|
||||
|
||||
#include "wx/dynarray.h"
|
||||
WX_DECLARE_OBJARRAY_WITH_DECL(wxFileData, wxArrayFileData, class WXDLLIMPEXP_THINGS);
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// MultilineTextDialog : wxTextEntryDialog for multiple lines
|
||||
//----------------------------------------------------------------------------
|
||||
|
||||
class WXDLLIMPEXP_THINGS MultilineTextDialog : public wxTextEntryDialog
|
||||
{
|
||||
public:
|
||||
MultilineTextDialog(wxWindow *parent,
|
||||
const wxString& message,
|
||||
const wxString& caption = wxGetTextFromUserPromptStr,
|
||||
const wxString& value = wxEmptyString,
|
||||
long style = 0,
|
||||
const wxPoint& pos = wxDefaultPosition);
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// wxFileBrowserEvent : events for the wxFileBrowser
|
||||
//----------------------------------------------------------------------------
|
||||
// wxEVT_FILEBROWSER_FILE_SELECTED - a file has been selected (single click)
|
||||
// wxEVT_FILEBROWSER_FILE_ACTIVATED - a file has been double clicked or enter pressed
|
||||
// wxEVT_FILEBROWSER_DIR_SELECTED - a dir has been selected (single click)
|
||||
// wxEVT_FILEBROWSER_DIR_ACTIVATED - a dir has been double clicked or enter pressed
|
||||
|
||||
BEGIN_DECLARE_EVENT_TYPES()
|
||||
DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_SELECTED, wxEVT_USER_FIRST + 1000)
|
||||
DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_ACTIVATED, wxEVT_USER_FIRST + 1001)
|
||||
DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_SELECTED, wxEVT_USER_FIRST + 1002)
|
||||
DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_ACTIVATED, wxEVT_USER_FIRST + 1003)
|
||||
END_DECLARE_EVENT_TYPES()
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxFileBrowserEvent : public wxCommandEvent
|
||||
{
|
||||
public:
|
||||
wxFileBrowserEvent( wxEventType commandType = wxEVT_NULL,
|
||||
wxFileBrowser *fileBrowser = NULL,
|
||||
wxWindowID id = wxID_ANY );
|
||||
|
||||
wxFileBrowserEvent( const wxFileBrowserEvent &event ) : wxCommandEvent(event) {}
|
||||
|
||||
// Get the full path + filename
|
||||
wxString GetFilePath() const { return GetString(); }
|
||||
void SetFilePath(const wxString &filepath) { SetString(filepath); }
|
||||
|
||||
virtual wxEvent *Clone() const { return new wxFileBrowserEvent(*this); }
|
||||
|
||||
private:
|
||||
DECLARE_ABSTRACT_CLASS(wxFileBrowserEvent)
|
||||
};
|
||||
|
||||
typedef void (wxEvtHandler::*wxFileBrowserEventFunction)(wxFileBrowserEvent&);
|
||||
|
||||
#define wxFileBrowserEventHandler(func) \
|
||||
(wxObjectEventFunction)(wxEventFunction)wxStaticCastEvent(wxFileBrowserEventFunction, &func)
|
||||
|
||||
#define wx__DECLARE_FILEBROWSEREVT(evt, id, fn) wx__DECLARE_EVT1( evt, id, wxFileBrowserEventHandler(fn))
|
||||
|
||||
#define EVT_FILEBROWSER_FILE_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_SELECTED, id, fn )
|
||||
#define EVT_FILEBROWSER_FILE_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_ACTIVATED, id, fn )
|
||||
#define EVT_FILEBROWSER_DIR_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_SELECTED, id, fn )
|
||||
#define EVT_FILEBROWSER_DIR_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_ACTIVATED, id, fn )
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// wxFileBrowser
|
||||
//----------------------------------------------------------------------------
|
||||
|
||||
enum wxFileBrowserStyles_Type
|
||||
{
|
||||
// note: these are wxListCtrl styles to allow normal wxWindow styles to work
|
||||
|
||||
wxFILEBROWSER_TREE = wxLC_SORT_DESCENDING, // treectrl view
|
||||
wxFILEBROWSER_LIST = wxLC_LIST, // listctrl view
|
||||
wxFILEBROWSER_DETAILS = wxLC_REPORT, // listctrl details view
|
||||
wxFILEBROWSER_SMALL_ICON = wxLC_SMALL_ICON, // listctrl icon view
|
||||
wxFILEBROWSER_LARGE_ICON = wxLC_ICON, // NOT IMPL listctrl large icon
|
||||
wxFILEBROWSER_PREVIEW = wxLC_SORT_ASCENDING, // NOT implemented
|
||||
|
||||
wxFILEBROWSER_SPLIT_VERTICAL = wxLC_NO_HEADER, // tree and listctrl are
|
||||
// split vertically else horizontal
|
||||
|
||||
wxFILEBROWSER_SHOW_FOLDERS = wxLC_NO_SORT_HEADER, // when showing listview also show
|
||||
// the folders in the treectrl
|
||||
|
||||
wxFILEBROWSER_VIEW_MASK = wxFILEBROWSER_TREE|wxFILEBROWSER_LIST|wxFILEBROWSER_DETAILS|wxFILEBROWSER_SMALL_ICON|wxFILEBROWSER_LARGE_ICON|wxFILEBROWSER_PREVIEW,
|
||||
wxFILEBROWSER_STYLE_MASK = wxFILEBROWSER_VIEW_MASK|wxFILEBROWSER_SPLIT_VERTICAL|wxFILEBROWSER_SHOW_FOLDERS
|
||||
};
|
||||
|
||||
class WXDLLIMPEXP_THINGS wxFileBrowser : public wxControl
|
||||
{
|
||||
public :
|
||||
wxFileBrowser() : wxControl() { Init(); }
|
||||
|
||||
wxFileBrowser( wxWindow* parent, const wxWindowID id,
|
||||
const wxString& dir = wxDirDialogDefaultFolderStr,
|
||||
const wxPoint& pos = wxDefaultPosition,
|
||||
const wxSize& size = wxDefaultSize,
|
||||
long style = wxFILEBROWSER_DETAILS,
|
||||
const wxString& filter = wxFileSelectorDefaultWildcardStr,
|
||||
int defaultFilter = 0,
|
||||
const wxString& name = wxT("wxFileBrowser")) : wxControl()
|
||||
{
|
||||
Init();
|
||||
Create(parent, id, dir, pos, size, style, filter, defaultFilter, name);
|
||||
}
|
||||
|
||||
virtual ~wxFileBrowser();
|
||||
|
||||
bool Create( wxWindow* parent, const wxWindowID id,
|
||||
const wxString& dir = wxDirDialogDefaultFolderStr,
|
||||
const wxPoint& pos = wxDefaultPosition,
|
||||
const wxSize& size = wxDefaultSize,
|
||||
long style = wxFILEBROWSER_DETAILS,
|
||||
const wxString& filter = wxFileSelectorDefaultWildcardStr,
|
||||
int defaultFilter = 0,
|
||||
const wxString& name = wxT("wxFileBrowser") );
|
||||
|
||||
// Get the current dir (not file), optionally add a trailing platform dependent '/' or '\'
|
||||
wxString GetPath(bool add_wxFILE_SEP_PATH = false) const;
|
||||
// Go to a directory, returns sucess
|
||||
bool SetPath(const wxString &dirName);
|
||||
|
||||
// go to a dir or send an EVT_FILEBROWSER_FILE_ACTIVATED if a filename
|
||||
bool OpenFilePath(const wxString &filePath);
|
||||
|
||||
// Go to a higher directory, returns sucess
|
||||
bool CanGoUpDir() const;
|
||||
bool GoUpDir();
|
||||
|
||||
// Go to your "Home" folder "~/" in unix, "My Documents" in MSW
|
||||
bool GoToHomeDir();
|
||||
|
||||
// Go forwards and backwards through the recent dir history
|
||||
bool CanGoPathHistoryForward();
|
||||
bool CanGoPathHistoryBackward();
|
||||
bool GoPathHistoryForward();
|
||||
bool GoPathHistoryBackward();
|
||||
// Add a new path to the history paths at the current index
|
||||
void AddPathHistory(const wxString& path);
|
||||
|
||||
// Set the file filter to one of the filter combobox items
|
||||
bool SetFilter(int comboItem);
|
||||
// Set all the file filters, deleting previous and select one
|
||||
bool SetFilters(const wxString &filters, int select = 0);
|
||||
// Add or set the file filter, "All Files (*)|*", it must have a "|" in it
|
||||
bool AddFilter(const wxString &filter);
|
||||
// Get the current file filter
|
||||
wxString GetFilter() const { return m_filter; }
|
||||
// Get the wild card used for the filter
|
||||
wxString GetWild() const { return m_filter.AfterLast(wxT('|')); }
|
||||
|
||||
// Set how the files are displayed - see enum wxFileBrowserStyles_Type
|
||||
void SetBrowserStyle(long style);
|
||||
long GetBrowserStyle() const { return m_browser_style; }
|
||||
bool HasBrowserStyle(int style_mask) const { return (m_browser_style & style_mask) != 0; }
|
||||
|
||||
// Show or hide hidden files
|
||||
void ShowHidden(bool show_hidden);
|
||||
bool GetShowHidden() const { return m_show_hidden; }
|
||||
|
||||
// When showing the files in a listctrl also show the folders in the treectrl
|
||||
// also don't let them unsplit it
|
||||
void ShowFolders(bool show_folders);
|
||||
bool GetShowFolders() const { return HasBrowserStyle(wxFILEBROWSER_SHOW_FOLDERS); }
|
||||
|
||||
// When splitting, split vertically or horizontally
|
||||
void SplitVertical(bool split_vertically);
|
||||
bool GetSplitVertical() const { return HasBrowserStyle(wxFILEBROWSER_SPLIT_VERTICAL); }
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
// implementation
|
||||
|
||||
// utility function, returns the dir part of the filepath w/ trailing wxFILE_SEP_PATH
|
||||
bool GetPathFromFilePath(const wxString &filepath, wxString &path) const;
|
||||
|
||||
// Delete all selected items in the wxFileCtrl
|
||||
bool DeleteSelectedListItems(bool ask_ok = true);
|
||||
// Store a list of selected items that you'll copy/cut when you paste them
|
||||
bool CopyCutSelectedListItems(bool copy_them);
|
||||
// Paste the stored CopyCutSelectedListItems - based on CopyCutSelectedListItems list
|
||||
bool PasteCopyCutSelectedListItems();
|
||||
|
||||
// Get a list of all the selected items in the list control
|
||||
wxArrayInt GetSelectedListItems() const;
|
||||
// Get the wxFileData items that are selected in the list control
|
||||
wxArrayFileData GetSelectedListFileData() const;
|
||||
// Get the currently focused list item or NULL if none selected
|
||||
wxFileData *GetFocusedListItem() const;
|
||||
|
||||
// Create a wxFileData from a wxFileName
|
||||
wxFileData CreateFileData(const wxFileName& fileName) const;
|
||||
|
||||
// Get the last or currently focused path + filename
|
||||
wxString GetLastFocusedFilePath();
|
||||
|
||||
// Show a simple dialog that contains the properties of the file/dir
|
||||
void ShowPropertiesDialog(const wxFileData &fileData) const;
|
||||
|
||||
// returns a string with the name of a program to run the file
|
||||
wxString GetOpenWithFileCmd(wxFileData* fd) const;
|
||||
|
||||
// Get a pointer to the path history combo, can change its contents
|
||||
wxComboBox *GetPathCombo() const { return m_pathCombo; }
|
||||
// Get a pointer to the filter combo
|
||||
// don't delete selections less than the # of filters passed in
|
||||
// ie. check for items with GetClientData() !NULL
|
||||
wxComboBox *GetFilterCombo() const { return m_filterCombo; }
|
||||
|
||||
// Can this file be read/opened?
|
||||
bool CanRead(const wxString& filePath) const;
|
||||
// Can this file be written to, deleted, moved, cut...
|
||||
bool CanWrite(const wxString& filePath) const;
|
||||
|
||||
// Update the menu/toolbar items
|
||||
void UpdateMenu(wxMenu *menu);
|
||||
void UpdateToolBar(wxToolBar *toolBar);
|
||||
// Update the state of the toolbar and menu items
|
||||
void UpdateItems();
|
||||
|
||||
#if wxUSE_CONFIG
|
||||
// Load the recent paths/filters, max = 20
|
||||
void LoadConfig(wxConfigBase& config,
|
||||
bool paths=true, bool filters=true,
|
||||
const wxString &configPath = wxT("/wxFileBrowser"));
|
||||
// Save the recent paths, filters, if n_xxx < 0 then don't save it
|
||||
void SaveConfig(wxConfigBase& config,
|
||||
int n_paths=10, int n_filters=10,
|
||||
const wxString &configPath = wxT("/wxFileBrowser"));
|
||||
#endif // wxUSE_CONFIG
|
||||
|
||||
protected :
|
||||
void OnSize( wxSizeEvent& event );
|
||||
void DoSize();
|
||||
|
||||
virtual wxSize DoGetBestSize() const;
|
||||
|
||||
// toolbar tools events
|
||||
void OnViewButtons(wxCommandEvent &event);
|
||||
void OnPathCombo(wxCommandEvent &event);
|
||||
void OnPathComboEnter(wxCommandEvent &event);
|
||||
void OnFilterCombo(wxCommandEvent &event);
|
||||
void OnFilterComboEnter(wxCommandEvent &event);
|
||||
|
||||
// wxDirCtrl events - a wxTreeCtrl
|
||||
void OnTreeItemSelection(wxTreeEvent &event);
|
||||
void OnTreeItemActivation(wxTreeEvent &event);
|
||||
void OnTreeRightClick(wxTreeEvent& event);
|
||||
|
||||
// wxFileCtrl events - a wxListCtrl
|
||||
void OnListColClick(wxListEvent &event);
|
||||
void OnListItemActivated(wxListEvent &event);
|
||||
void OnListItemSelected(wxListEvent &event);
|
||||
void OnListRightClick(wxListEvent &event);
|
||||
|
||||
void OnTreeMenu(wxCommandEvent &event);
|
||||
void OnListMenu(wxCommandEvent &event);
|
||||
|
||||
void OnIdle( wxIdleEvent &event );
|
||||
|
||||
//for delayed set path from combo
|
||||
void OnSetPath( wxCommandEvent &event );
|
||||
void OnSetFilter( wxCommandEvent &event );
|
||||
|
||||
// (re)inserts the item at pos, deleting it if it existed after pos
|
||||
// keeps recent items at top
|
||||
bool InsertComboItem(wxComboBox *combo, const wxString &item, int pos = 0) const;
|
||||
|
||||
// Send an event, returns false if event.Veto() called
|
||||
bool DoSendEvent(wxFileBrowserEvent &event) const;
|
||||
|
||||
int FBStyleToLCStyle(int fb_style) const; // wxFileBrowserStyles_Type to wxLC_XXX
|
||||
int FBStyleToMenuID(int fb_style) const; // wxFileBrowserStyles_Type menu id
|
||||
int MenuIDToFBStyle(int menuID) const; // menu id to wxFileBrowserStyles_Type
|
||||
|
||||
// Windows
|
||||
wxToolBar *m_viewToolBar;
|
||||
wxToolBar *m_pathToolBar;
|
||||
|
||||
wxBitmapButton *m_viewButton;
|
||||
wxComboBox *m_filterCombo;
|
||||
|
||||
wxComboBox *m_pathCombo;
|
||||
|
||||
wxSplitterWindow *m_splitterWin;
|
||||
wxGenericDirCtrl *m_dirCtrl;
|
||||
wxFileCtrl *m_fileCtrl;
|
||||
|
||||
wxMenu *m_listMenu; // popup menu in listctrl
|
||||
wxMenu *m_treeMenu; // popup menu in treectrl
|
||||
wxMenu *m_viewMenu; // popup menu in for changing view
|
||||
|
||||
// data
|
||||
wxString m_filter; // current filter
|
||||
wxString m_path; // current path
|
||||
wxString m_lastFocusedFilePath; // path + filename of last focused item
|
||||
|
||||
wxArrayString m_pathHistory; // recently used paths
|
||||
int m_path_history_index; // current index in recently used paths
|
||||
|
||||
wxArrayFileData m_copycutFiles; // list of names when copying or cutting
|
||||
bool m_last_copy; // last CopyCutSelectedListItems was a copy, else cut
|
||||
|
||||
int m_init_filters; // # of filters initially passed in
|
||||
|
||||
bool m_ignore_tree_event; // temporarily ignore m_dirCtrl events
|
||||
long m_browser_style;
|
||||
|
||||
int m_filterComboSelection; // last selection of the filter/path combo
|
||||
int m_pathComboSelection;
|
||||
|
||||
bool m_show_hidden; // show hidden files
|
||||
|
||||
private :
|
||||
void Init();
|
||||
DECLARE_EVENT_TABLE()
|
||||
DECLARE_DYNAMIC_CLASS(wxFileBrowser)
|
||||
};
|
||||
|
||||
#endif // __WX_FILEBROWSER_H__
|
||||
|
|
@ -0,0 +1,341 @@
|
|||
/****************************************************************************
|
||||
|
||||
GLUI User Interface Toolkit
|
||||
---------------------------
|
||||
|
||||
glui_radio.cpp - GLUI_RadioGroup and GLUI_RadioButton control classes
|
||||
|
||||
|
||||
--------------------------------------------------
|
||||
|
||||
Copyright (c) 1998 Paul Rademacher
|
||||
|
||||
This program is freely distributable without licensing fees and is
|
||||
provided without guarantee or warrantee expressed or implied. This
|
||||
program is -not- in the public domain.
|
||||
|
||||
*****************************************************************************/
|
||||
|
||||
#include "glui.h"
|
||||
#include "stdinc.h"
|
||||
|
||||
/****************************** GLUI_RadioGroup::draw() **********/
|
||||
|
||||
void GLUI_RadioGroup::draw( int x, int y )
|
||||
{
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
draw_group(false);
|
||||
}
|
||||
|
||||
|
||||
/********************* GLUI_RadioGroup::draw_group(int translate) **********/
|
||||
|
||||
void GLUI_RadioGroup::draw_group( int translate )
|
||||
{
|
||||
GLUI_RadioButton *button;
|
||||
int state = 0, orig;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
|
||||
if ( translate )
|
||||
state = glui->set_front_draw_buffer();
|
||||
|
||||
this->int_val = int_val;
|
||||
|
||||
glMatrixMode(GL_MODELVIEW );
|
||||
|
||||
button = (GLUI_RadioButton*) first_child();
|
||||
while( button != NULL ) {
|
||||
|
||||
if ( translate ) {
|
||||
glPushMatrix();
|
||||
button->translate_to_origin();
|
||||
}
|
||||
|
||||
if ( button->int_val )
|
||||
button->draw_checked();
|
||||
else
|
||||
button->draw_unchecked();
|
||||
|
||||
if ( translate )
|
||||
glPopMatrix();
|
||||
|
||||
button = (GLUI_RadioButton*) button->next();
|
||||
}
|
||||
|
||||
if ( translate )
|
||||
glui->restore_draw_buffer(state);
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/****************************** GLUI_RadioGroup::set_name() **********/
|
||||
|
||||
void GLUI_RadioGroup::set_name( char *text )
|
||||
{
|
||||
strncpy(name,text,sizeof(GLUI_String));
|
||||
|
||||
if ( glui )
|
||||
glui->refresh();
|
||||
}
|
||||
|
||||
|
||||
/********************************* GLUI_RadioGroup::set_selected() **********/
|
||||
|
||||
void GLUI_RadioGroup::set_selected( int int_val )
|
||||
{
|
||||
GLUI_RadioButton *button;
|
||||
|
||||
this->int_val = int_val;
|
||||
|
||||
button = (GLUI_RadioButton*) first_child();
|
||||
while( button != NULL ) {
|
||||
if ( int_val == -1 ) { /*** All buttons in group are deselected ***/
|
||||
button->set_int_val(0);
|
||||
}
|
||||
else if ( int_val == button->user_id ) { /*** This is selected button ***/
|
||||
button->set_int_val(1);
|
||||
}
|
||||
else { /*** This is NOT selected button ***/
|
||||
button->set_int_val(0);
|
||||
|
||||
}
|
||||
|
||||
button = (GLUI_RadioButton*) button->next();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/************************ GLUI_RadioButton::mouse_down_handler() **********/
|
||||
|
||||
int GLUI_RadioButton::mouse_down_handler( int local_x, int local_y )
|
||||
{
|
||||
if ( NOT group )
|
||||
return false;
|
||||
|
||||
orig_value = group->int_val;
|
||||
|
||||
currently_inside = true;
|
||||
|
||||
group->set_selected( this->user_id );
|
||||
group->draw_group( true );
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/*************************** GLUI_RadioButton::mouse_up_handler() **********/
|
||||
|
||||
int GLUI_RadioButton::mouse_up_handler( int local_x, int local_y,
|
||||
int inside )
|
||||
{
|
||||
if ( NOT group )
|
||||
return false;
|
||||
|
||||
if ( NOT inside ) {
|
||||
group->set_selected( orig_value );
|
||||
group->draw_group( true );
|
||||
}
|
||||
else {
|
||||
/** Now we update the radio button group. We tell the group
|
||||
handler to set the currently-selected item to this button, which
|
||||
is reference by its user_id/ordinal number within group **/
|
||||
|
||||
group->set_selected( this->user_id );
|
||||
group->draw_group( true );
|
||||
|
||||
/*** Now update the linked variable, and call the callback,
|
||||
but ONLY if the value of the radio group actually changed ***/
|
||||
if ( group->int_val != orig_value ) {
|
||||
group->output_live(true); /** Output live and update gfx ***/
|
||||
|
||||
group->execute_callback();
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/********************** GLUI_RadioButton::mouse_held_down_handler() ******/
|
||||
|
||||
int GLUI_RadioButton::mouse_held_down_handler( int local_x, int local_y,
|
||||
int inside)
|
||||
{
|
||||
if ( NOT inside AND currently_inside == true ) {
|
||||
group->set_selected( orig_value );
|
||||
group->draw_group( true );
|
||||
}
|
||||
else if ( inside AND currently_inside == false ) {
|
||||
group->set_selected( this->user_id );
|
||||
group->draw_group( true );
|
||||
}
|
||||
|
||||
currently_inside = inside;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/****************************** GLUI_RadioButton::draw() **********/
|
||||
|
||||
void GLUI_RadioButton::draw( int x, int y )
|
||||
{
|
||||
int orig;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
|
||||
if ( NOT group OR NOT can_draw() )
|
||||
return;
|
||||
|
||||
/*** See if we're the currently-selected button. If so, draw ***/
|
||||
if ( group->int_val == this->user_id ) {
|
||||
if ( enabled )
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON, 0, 0 );
|
||||
else
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, 0, 0 );
|
||||
}
|
||||
else {
|
||||
if ( enabled )
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF, 0, 0 );
|
||||
else
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, 0, 0 );
|
||||
}
|
||||
|
||||
draw_active_area();
|
||||
|
||||
draw_name( text_x_offset, 10 );
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/************************************ GLUI_RadioButton::draw_checked() ******/
|
||||
|
||||
void GLUI_RadioButton::draw_checked( void )
|
||||
{
|
||||
int orig;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
if ( enabled )
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON, 0, 0 );
|
||||
else
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, 0, 0 );
|
||||
draw_active_area();
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/*********************************** GLUI_RadioButton::draw_unchecked() ******/
|
||||
|
||||
void GLUI_RadioButton::draw_unchecked( void )
|
||||
{
|
||||
int orig;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
if ( enabled )
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF, 0, 0 );
|
||||
else
|
||||
glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, 0, 0 );
|
||||
draw_active_area();
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/**************************************** GLUI_RadioButton::draw_O() ********/
|
||||
|
||||
void GLUI_RadioButton::draw_O( void )
|
||||
{
|
||||
int i, j, orig;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
|
||||
glBegin( GL_POINTS );
|
||||
for(i=3; i<=GLUI_RADIOBUTTON_SIZE-3; i++ )
|
||||
for(j=3; j<=GLUI_RADIOBUTTON_SIZE-3; j++ )
|
||||
glVertex2i(i,j);
|
||||
glEnd();
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/******************************** GLUI_RadioButton::update_size() **********/
|
||||
|
||||
void GLUI_RadioButton::update_size( void )
|
||||
{
|
||||
int text_size;
|
||||
|
||||
if ( NOT glui )
|
||||
return;
|
||||
|
||||
text_size = _glutBitmapWidthString( glui->font, name );
|
||||
|
||||
/* if ( w < text_x_offset + text_size + 6 ) */
|
||||
w = text_x_offset + text_size + 6 ;
|
||||
}
|
||||
|
||||
|
||||
/************************* GLUI_RadioButton::draw_active_area() **************/
|
||||
|
||||
void GLUI_RadioButton::draw_active_area( void )
|
||||
{
|
||||
int text_width, left, right, orig;
|
||||
|
||||
if ( NOT can_draw() )
|
||||
return;
|
||||
|
||||
orig = set_to_glut_window();
|
||||
|
||||
text_width = _glutBitmapWidthString( glui->font, name );
|
||||
left = text_x_offset-3;
|
||||
right = left + 7 + text_width;
|
||||
|
||||
if ( active ) {
|
||||
glEnable( GL_LINE_STIPPLE );
|
||||
glLineStipple( 1, 0x5555 );
|
||||
glColor3f( 0., 0., 0. );
|
||||
} else {
|
||||
glColor3ub( glui->bkgd_color.r, glui->bkgd_color.g, glui->bkgd_color.b );
|
||||
}
|
||||
|
||||
glBegin( GL_LINE_LOOP );
|
||||
glVertex2i(left,0); glVertex2i( right,0);
|
||||
glVertex2i(right,h+1); glVertex2i( left,h+1);
|
||||
glEnd();
|
||||
|
||||
glDisable( GL_LINE_STIPPLE );
|
||||
|
||||
restore_window(orig);
|
||||
}
|
||||
|
||||
|
||||
/********************************* GLUI_RadioGroup::set_int_val() **********/
|
||||
|
||||
void GLUI_RadioGroup::set_int_val( int new_val )
|
||||
{
|
||||
if ( new_val == int_val )
|
||||
return;
|
||||
|
||||
set_selected( new_val );
|
||||
draw_group( true );
|
||||
|
||||
output_live(true);
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,130 @@
|
|||
#ifndef _XGETOPT_H
|
||||
#define _XGETOPT_H
|
||||
|
||||
/*
|
||||
getopt.h - comand line option parsing
|
||||
Copyright Keristor Systems and Chris Croughton 1997 - 2005
|
||||
Internet: swdev@keristor.org
|
||||
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it
|
||||
freely, subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not
|
||||
claim that you wrote the original software. If you use this software
|
||||
in a product, an acknowledgment in the product documentation would be
|
||||
appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be
|
||||
misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
|
||||
IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT,
|
||||
INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
||||
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
||||
STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
|
||||
IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
/**@file xgetopt.h
|
||||
*
|
||||
* This module is designed as a "drop-in" replacement for the GNU
|
||||
* \c getopt.h module, providing the \c getopt(), \c getopt_long() and
|
||||
* \c getopt_long_only() functions and the \c option structure. However,
|
||||
* it is a compile-time replacement not an object one, the actual
|
||||
* names of the external variables and functions are hidden so that
|
||||
* namespace clashes don't occur (some linkers object if they find
|
||||
* the same symbol in more than one library).
|
||||
*
|
||||
* It was written originally because of systems which don't have the GNU
|
||||
* C library installed.
|
||||
*
|
||||
* It also provides a few functions to help create a string of short
|
||||
* (single-character) options given an array of long option structures.
|
||||
*
|
||||
* This is a "clean-room" implementation, no GPL or proprietary code
|
||||
* was looked at when creating it. The only things used were the
|
||||
* descriptions of the interfaces in the \c man pages (and the POSIX
|
||||
* specification), and some "black box" testing to determine error
|
||||
* conditions and messages not specified in the interface description.
|
||||
*/
|
||||
|
||||
#if defined(_cplusplus) || defined(__cplusplus)
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* This bit of faffing about is because some systems don't like the same
|
||||
* functions defined in more than one library, they get confused. So what
|
||||
* we do is to redefine the variables to the names in the interface but
|
||||
* fool the linker. This only makes a difference if you try to debug the
|
||||
* getopt code. Note that we don't have to do it with the structure name
|
||||
* or enums, since it's only linkage that's affected.
|
||||
*/
|
||||
|
||||
#define optarg _XLIB_optarg
|
||||
#define optind _XLIB_optind
|
||||
#define opterr _XLIB_opterr
|
||||
#define optopt _XLIB_optopt
|
||||
|
||||
#define getopt _XLIB_getopt
|
||||
#define getopt_long _XLIB_getopt_long
|
||||
#define getopt_long_only _XLIB_getopt_long_only
|
||||
|
||||
/** holds a pointer to an option argument */
|
||||
extern char *optarg;
|
||||
/** index to te first non-option argument */
|
||||
extern int optind;
|
||||
/** allow error messages if non-zero (default) */
|
||||
extern int opterr;
|
||||
/** holds the option character in error, if any */
|
||||
extern int optopt;
|
||||
|
||||
enum
|
||||
{
|
||||
/** this option has no argument */
|
||||
no_argument,
|
||||
/** an argument is required with this option */
|
||||
required_argument,
|
||||
/** an argument to this option is optional */
|
||||
optional_argument
|
||||
};
|
||||
|
||||
/**
|
||||
* Structure to describe a long option.
|
||||
* The last item in the array of these descriptors must have all elements
|
||||
* set to zero
|
||||
*/
|
||||
struct option
|
||||
{
|
||||
/** long option name */
|
||||
const char *name;
|
||||
/** argument type, if any */
|
||||
int has_arg;
|
||||
/** pointer to a flag to be set if the option is present */
|
||||
int *flag;
|
||||
/** value to be returned if the option is present */
|
||||
int val;
|
||||
};
|
||||
|
||||
/** Scan the command-line parameters for options in the form {\em -x}. */
|
||||
int getopt(int argc, char * const argv[], const char *optstring);
|
||||
/** Scan the command-line parameters for options, allowing both the short
|
||||
* (single character) options and long (string) options.
|
||||
*/
|
||||
int getopt_long(int argc, char * const argv[], const char *optstring,
|
||||
const struct option *longopts, int *longindex);
|
||||
/** Scan the command-line parameters for long options only */
|
||||
int getopt_long_only(int argc, char * const argv[], const char *optstring,
|
||||
const struct option *longopts, int *longindex);
|
||||
|
||||
#if defined(_cplusplus) || defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
/*
|
||||
* grabFramesCam implementation
|
||||
*
|
||||
* Copyright (C) Stanislav Serebryakov
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <cv.h>
|
||||
#include <highgui.h>
|
||||
//TODO: flip image flag
|
||||
|
||||
void usage(char *progName) {
|
||||
printf("%s <board-size-x> <board-size-y> <camera-id>\n", progName);
|
||||
printf("i.e.: %s 6 4 0\n", progName);
|
||||
printf("press space to detect chessboard and (again) to proceed.\n");
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
/* TODO:
|
||||
* flags:
|
||||
* subpixel
|
||||
* camera id
|
||||
* flip x and y
|
||||
* pmd mode?
|
||||
*/
|
||||
|
||||
if(argc < 4) {
|
||||
usage(argv[0]);
|
||||
exit(1);
|
||||
}
|
||||
CvCapture *capture = cvCaptureFromCAM(atoi(argv[3]));
|
||||
|
||||
IplImage *imgColor = cvQueryFrame(capture);
|
||||
IplImage *img = cvCreateImage(cvGetSize(imgColor), 8, 1);
|
||||
|
||||
int patx = atoi(argv[1]);
|
||||
int paty = atoi(argv[2]);
|
||||
CvSize patternSize = cvSize(patx, paty);
|
||||
|
||||
int cornersTotal = patternSize.width * patternSize.height;
|
||||
|
||||
CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
|
||||
|
||||
cvNamedWindow("Camera", 0);
|
||||
|
||||
int imageCnt = 0;
|
||||
bool grabFrame = false;
|
||||
|
||||
while(1) {
|
||||
imgColor = cvQueryFrame(capture);
|
||||
|
||||
cvFlip(imgColor, 0, -1); // flips image around the x and y axes
|
||||
|
||||
cvCvtColor(imgColor, img, CV_BGR2GRAY);
|
||||
|
||||
if(grabFrame) {
|
||||
/* ----- Chessboard detection -----
|
||||
-------------------------------- */
|
||||
int cornersCount; // should be the same for wcam and pmd and equal totalCorners
|
||||
|
||||
int found = cvFindChessboardCorners(img, patternSize, corners,
|
||||
&cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
|
||||
cvFindCornerSubPix(img, corners, cornersCount, cvSize(11,11), cvSize(-1,-1),
|
||||
cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
|
||||
|
||||
if(found && (cornersCount == cornersTotal)) {
|
||||
cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found);
|
||||
cvShowImage("Camera", imgColor);
|
||||
printf("grab?\n");
|
||||
int k = cvWaitKey(0);
|
||||
if(k == (int)' ') {
|
||||
imageCnt++;
|
||||
char *filename = (char*) malloc(11 * sizeof(char));
|
||||
sprintf(filename, "image%02i.jpg", imageCnt);
|
||||
printf("saved %s.\n", filename);
|
||||
cvSaveImage(filename, img);
|
||||
grabFrame = false;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
cvShowImage("Camera", imgColor);
|
||||
if((int)' ' == cvWaitKey(5)) grabFrame = true;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,213 @@
|
|||
//#define WANT_STREAM
|
||||
|
||||
#include "include.h"
|
||||
#include "newmatap.h"
|
||||
|
||||
#include "tmt.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
using namespace NEWMAT;
|
||||
#endif
|
||||
|
||||
|
||||
/**************************** test program ******************************/
|
||||
|
||||
|
||||
void trymat9()
|
||||
{
|
||||
Tracer et("Ninth test of Matrix package");
|
||||
Tracer::PrintTrace();
|
||||
|
||||
|
||||
int i; int j;
|
||||
Matrix A(7,7); Matrix X(7,3);
|
||||
for (i=1;i<=7;i++) for (j=1;j<=7;j++) A(i,j)=i*i+j+((i==j) ? 1 : 0);
|
||||
for (i=1;i<=7;i++) for (j=1;j<=3;j++) X(i,j)=i-j;
|
||||
Matrix B = A.i(); DiagonalMatrix D(7); D=1.0;
|
||||
{
|
||||
Tracer et1("Stage 1");
|
||||
Matrix Q = B*A-D; Clean(Q, 0.000000001); Print(Q);
|
||||
Q=A; Q = Q.i() * X; Q = A*Q - X; Clean(Q, 0.000000001); Print(Q);
|
||||
Q=X; Q = A.i() * Q; Q = A*Q - X; Clean(Q, 0.000000001); Print(Q);
|
||||
}
|
||||
for (i=1;i<=7;i++) D(i,i)=i*i+1;
|
||||
DiagonalMatrix E(3); for (i=1;i<=3;i++) E(i,i)=i+23;
|
||||
{
|
||||
Tracer et1("Stage 2");
|
||||
Matrix DXE = D.i() * X * E;
|
||||
DXE = E.i() * DXE.t() * D - X.t(); Clean(DXE, 0.00000001); Print(DXE);
|
||||
E=D; for (i=1;i<=7;i++) E(i,i)=i*3+1;
|
||||
}
|
||||
DiagonalMatrix F=D;
|
||||
{
|
||||
Tracer et1("Stage 3");
|
||||
F=E.i()*F; F=F*E-D; Clean(F,0.00000001); Print(F);
|
||||
F=E.i()*D; F=F*E-D; Clean(F,0.00000001); Print(F);
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 4");
|
||||
F=E; F=F.i()*D; F=F*E-D; Clean(F,0.00000001); Print(F);
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 5");
|
||||
// testing equal
|
||||
ColumnVector A(18), B(18);
|
||||
Matrix X(3,3);
|
||||
X << 3 << 5 << 7 << 5 << 8 << 2 << 7 << 2 << 9;
|
||||
SymmetricMatrix S; S << X;
|
||||
B(1) = S == X; A(1) = true;
|
||||
B(2) = S == (X+1); A(2) = false;
|
||||
B(3) = (S+2) == (X+2); A(3) = true;
|
||||
Matrix Y = X;
|
||||
B(4) = X == Y; A(4) = true;
|
||||
B(5) = (X*2) == (Y*2); A(5) = true;
|
||||
Y(3,3) = 10;
|
||||
B(6) = X == Y; A(6) = false;
|
||||
B(7) = (X*2) == (Y*2); A(7) = false;
|
||||
B(8) = S == Y; A(8) = false;
|
||||
B(9) = S == S; A(9) = true;
|
||||
Matrix Z = X.SubMatrix(1,2,2,3);
|
||||
B(10) = X == Z; A(10) = false;
|
||||
GenericMatrix GS = S;
|
||||
GenericMatrix GX = X;
|
||||
GenericMatrix GY = Y;
|
||||
B(11) = GS == GX; A(11) = true;
|
||||
B(12) = GS == GY; A(12) = false;
|
||||
CroutMatrix CS = S;
|
||||
CroutMatrix CX = X;
|
||||
CroutMatrix CY = Y;
|
||||
B(13) = CS == CX; A(13) = true;
|
||||
B(14) = CS == CY; A(14) = false;
|
||||
B(15) = X == CX; A(15) = false;
|
||||
B(16) = X == A; A(16) = false;
|
||||
B(17) = X == (X | X); A(17) = false;
|
||||
B(18) = CX == X; A(18) = false;
|
||||
A = A - B; Print(A);
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 6");
|
||||
// testing equal
|
||||
ColumnVector A(22), B(22);
|
||||
BandMatrix X(6,2,1);
|
||||
X(1,1)=23; X(1,2)=21;
|
||||
X(2,1)=12; X(2,2)=17; X(2,3)=45;
|
||||
X(3,1)=35; X(3,2)=19; X(3,3)=24; X(3,4)=29;
|
||||
X(4,2)=17; X(4,3)=11; X(4,4)=19; X(4,5)=35;
|
||||
X(5,3)=10; X(5,4)=44; X(5,5)=23; X(5,6)=31;
|
||||
X(6,4)=49; X(6,5)=41; X(6,6)=17;
|
||||
SymmetricBandMatrix S1(6,2); S1.Inject(X);
|
||||
BandMatrix U(6,2,3); U = 0.0; U.Inject(X);
|
||||
B(1) = U == X; A(1) = true;
|
||||
B(2) = U == (X*3); A(2) = false;
|
||||
B(3) = (U*5) == (X*5); A(3) = true;
|
||||
Matrix Y = X;
|
||||
B(4) = X == Y; A(4) = true;
|
||||
B(5) = (X*2) == (Y*2); A(5) = true;
|
||||
Y(6,6) = 10;
|
||||
B(6) = X == Y; A(6) = false;
|
||||
B(7) = (X*2) == (Y*2); A(7) = false;
|
||||
B(8) = U == Y; A(8) = false;
|
||||
B(9) = U == U; A(9) = true;
|
||||
Matrix Z = X.SubMatrix(1,2,2,3);
|
||||
B(10) = X == Z; A(10) = false;
|
||||
GenericMatrix GU = U;
|
||||
GenericMatrix GX = X;
|
||||
GenericMatrix GY = Y;
|
||||
B(11) = GU == GX; A(11) = true;
|
||||
B(12) = GU == GY; A(12) = false;
|
||||
X = X + X.t(); U = U + U.t();
|
||||
SymmetricBandMatrix S(6,2); S.Inject(X);
|
||||
Matrix D = S-X; Print(D);
|
||||
BandLUMatrix BS = S;
|
||||
BandLUMatrix BX = X;
|
||||
BandLUMatrix BU = U;
|
||||
CroutMatrix CX = X;
|
||||
B(13) = BS == BX; A(13) = true;
|
||||
B(14) = BX == BU; A(14) = false;
|
||||
B(15) = X == BX; A(15) = false;
|
||||
B(16) = X != BX; A(16) = true;
|
||||
B(17) = BX != BS; A(17) = false;
|
||||
B(18) = (2*X) != (X*2);A(18) = false;
|
||||
B(19) = (X*2) != (X+2);A(19) = true;
|
||||
B(20) = BX == CX; A(20) = false;
|
||||
B(21) = CX == BX; A(21) = false;
|
||||
B(22) = BX == X; A(22) = false;
|
||||
A = A - B; Print(A);
|
||||
DiagonalMatrix I(6); I=1.0;
|
||||
D = BS.i() * X - I; Clean(D,0.00000001); Print(D);
|
||||
D = BX.i() * X - I; Clean(D,0.00000001); Print(D);
|
||||
D = BU.i() * X - I; Clean(D,0.00000001); Print(D);
|
||||
|
||||
// test row wise load
|
||||
SymmetricBandMatrix X1(6,2);
|
||||
X1.Row(1) << 23;
|
||||
X1.Row(2) << 12 << 17;
|
||||
X1.Row(3) << 35 << 19 << 24;
|
||||
X1.Row(4) << 17 << 11 << 19;
|
||||
X1.Row(5) << 10 << 44 << 23;
|
||||
X1.Row(6) << 49 << 41 << 17;
|
||||
Matrix M = X1 - S1; Print(M);
|
||||
|
||||
// check out submatrix
|
||||
SymmetricBandMatrix X2(20,3); X2 = 0.0;
|
||||
X2.SubMatrix(2,7,2,7) = X1; X2.SymSubMatrix(11,16) = 2 * X1;
|
||||
Matrix MX1 = X1;
|
||||
Matrix MX2(20,20); MX2 = 0;
|
||||
MX2.SymSubMatrix(2,7) = MX1; MX2.SubMatrix(11,16,11,16) = MX1 * 2;
|
||||
MX2 -= X2; Print(MX2);
|
||||
|
||||
BandMatrix X4(20,3,3); X4 = 0.0;
|
||||
X4.SubMatrix(2,7,3,8) = X1; X4.SubMatrix(11,16,10,15) = 2 * X1;
|
||||
MX1 = X1;
|
||||
Matrix MX4(20,20); MX4 = 0;
|
||||
MX4.SubMatrix(2,7,3,8) = MX1; MX4.SubMatrix(11,16,10,15) = MX1 * 2;
|
||||
MX4 -= X4; Print(MX4);
|
||||
|
||||
MX1 = X1.i() * X1 - IdentityMatrix(6);
|
||||
Clean(MX1,0.00000001); Print(MX1);
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
Tracer et1("Stage 7");
|
||||
// testing equal
|
||||
ColumnVector A(12), B(12);
|
||||
BandMatrix X(6,2,1);
|
||||
X(1,1)=23; X(1,2)=21;
|
||||
X(2,1)=12; X(2,2)=17; X(2,3)=45;
|
||||
X(3,1)=35; X(3,2)=19; X(3,3)=24; X(3,4)=29;
|
||||
X(4,2)=17; X(4,3)=11; X(4,4)=19; X(4,5)=35;
|
||||
X(5,3)=10; X(5,4)=44; X(5,5)=23; X(5,6)=31;
|
||||
X(6,4)=49; X(6,5)=41; X(6,6)=17;
|
||||
Matrix Y = X;
|
||||
LinearEquationSolver LX = X;
|
||||
LinearEquationSolver LY = Y;
|
||||
CroutMatrix CX = X;
|
||||
CroutMatrix CY = Y;
|
||||
BandLUMatrix BX = X;
|
||||
B(1) = LX == CX; A(1) = false;
|
||||
B(2) = LY == CY; A(2) = true;
|
||||
B(3) = X == Y; A(3) = true;
|
||||
B(4) = BX == LX; A(4) = true;
|
||||
B(5) = CX == CY; A(5) = true;
|
||||
B(6) = LX == LY; A(6) = false;
|
||||
B(7) = BX == BX; A(7) = true;
|
||||
B(8) = CX == CX; A(8) = true;
|
||||
B(9) = LX == LX; A(9) = true;
|
||||
B(10) = LY == LY; A(10) = true;
|
||||
CroutMatrix CX1 = X.SubMatrix(1,4,1,4);
|
||||
B(11) = CX == CX1; A(11) = false;
|
||||
BandLUMatrix BX1 = X.SymSubMatrix(1,4); // error with SubMatrix
|
||||
B(12) = BX == BX1; A(12) = false;
|
||||
A = A - B; Print(A);
|
||||
DiagonalMatrix I(6); I=1.0; Matrix D;
|
||||
D = LX.i() * X - I; Clean(D,0.00000001); Print(D);
|
||||
D = LY.i() * X - I; Clean(D,0.00000001); Print(D);
|
||||
I.ReSize(4); I = 1;
|
||||
D = CX1.i() * X.SymSubMatrix(1,4) - I; Clean(D,0.00000001); Print(D);
|
||||
D = BX1.i() * X.SubMatrix(1,4,1,4) - I; Clean(D,0.00000001); Print(D);
|
||||
}
|
||||
|
||||
// cout << "\nEnd of ninth test\n";
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
|
||||
//#define WANT_STREAM
|
||||
#define WANT_MATH
|
||||
|
||||
|
||||
#include "include.h"
|
||||
|
||||
#include "newmatap.h"
|
||||
|
||||
#include "tmt.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
using namespace NEWMAT;
|
||||
#endif
|
||||
|
||||
|
||||
/**************************** test program ******************************/
|
||||
|
||||
|
||||
// slow sort program
|
||||
|
||||
static void SimpleSortDescending(Real* first, const int length)
|
||||
{
|
||||
int i = length;
|
||||
while (--i)
|
||||
{
|
||||
Real x = *first; Real* f = first; Real* g = f;
|
||||
int j = i;
|
||||
while (j--) if (x < *(++f)) { g = f; x = *g; }
|
||||
*g = *first; *first++ = x;
|
||||
}
|
||||
}
|
||||
|
||||
static void TestSort(int n)
|
||||
{
|
||||
// make some data
|
||||
RowVector X(n);
|
||||
int i;
|
||||
for (i = 1; i <= n; i++)
|
||||
X(i) = sin((Real)i) + 0.3 * cos(i/5.0) - 0.6 * sin(i/7.0) + 0.2 * sin(2.0 * i);
|
||||
RowVector X_Sorted = X; SimpleSortDescending(X_Sorted.Store(), n);
|
||||
RowVector A = X + X.Reverse(); SimpleSortDescending(A.Store(), n);
|
||||
|
||||
// test descending sort
|
||||
|
||||
RowVector Y = X; SortDescending(Y); Y -= X_Sorted; Print(Y);
|
||||
Y = X_Sorted; SortDescending(Y); Y -= X_Sorted; Print(Y);
|
||||
Y = X_Sorted.Reverse(); SortDescending(Y); Y -= X_Sorted; Print(Y);
|
||||
Y = X + X.Reverse(); SortDescending(Y); Y -= A; Print(Y);
|
||||
|
||||
// test ascending sort
|
||||
|
||||
Y = X; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y);
|
||||
Y = X_Sorted; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y);
|
||||
Y = X_Sorted.Reverse(); SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y);
|
||||
Y = X + X.Reverse(); SortAscending(Y); Y -= A.Reverse(); Print(Y);
|
||||
}
|
||||
|
||||
|
||||
void trymat6()
|
||||
{
|
||||
Tracer et("Sixth test of Matrix package");
|
||||
Tracer::PrintTrace();
|
||||
|
||||
int i,j;
|
||||
|
||||
|
||||
DiagonalMatrix D(6);
|
||||
UpperTriangularMatrix U(6);
|
||||
for (i=1;i<=6;i++) { for (j=i;j<=6;j++) U(i,j)=i*i*i-50; D(i,i)=i*i+i-10; }
|
||||
LowerTriangularMatrix L=(U*3.0).t();
|
||||
SymmetricMatrix S(6);
|
||||
for (i=1;i<=6;i++) for (j=i;j<=6;j++) S(i,j)=i*i+2.0+j;
|
||||
Matrix MD=D; Matrix ML=L; Matrix MU=U; Matrix MS=S;
|
||||
Matrix M(6,6);
|
||||
for (i=1;i<=6;i++) for (j=1;j<=6;j++) M(i,j)=i*j+i*i-10.0;
|
||||
{
|
||||
Tracer et1("Stage 1");
|
||||
Print(Matrix(MS+(-MS)));
|
||||
Print(Matrix((S+M)-(MS+M)));
|
||||
Print(Matrix((M+U)-(M+MU)));
|
||||
Print(Matrix((M+L)-(M+ML)));
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 2");
|
||||
Print(Matrix((M+D)-(M+MD)));
|
||||
Print(Matrix((U+D)-(MU+MD)));
|
||||
Print(Matrix((D+L)-(ML+MD)));
|
||||
Print(Matrix((-U+D)+MU-MD));
|
||||
Print(Matrix((-L+D)+ML-MD));
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 3 - concatenate");
|
||||
RowVector A(5);
|
||||
A << 1 << 2 << 3 << 4 << 5;
|
||||
RowVector B(5);
|
||||
B << 3 << 1 << 4 << 1 << 5;
|
||||
Matrix C(3,5);
|
||||
C << 2 << 3 << 5 << 7 << 11
|
||||
<< 13 << 17 << 19 << 23 << 29
|
||||
<< 31 << 37 << 41 << 43 << 47;
|
||||
Matrix X1 = A & B & C;
|
||||
Matrix X2 = (A.t() | B.t() | C.t()).t();
|
||||
Matrix X3(5,5);
|
||||
X3.Row(1)=A; X3.Row(2)=B; X3.Rows(3,5)=C;
|
||||
Print(Matrix(X1-X2));
|
||||
Print(Matrix(X1-X3));
|
||||
LowerTriangularMatrix LT1; LT1 << (A & B & C);
|
||||
UpperTriangularMatrix UT1; UT1 << (A.t() | B.t() | C.t());
|
||||
Print(LowerTriangularMatrix(LT1-UT1.t()));
|
||||
DiagonalMatrix D1; D1 << (A.t() | B.t() | C.t());
|
||||
ColumnVector At = A.t();
|
||||
ColumnVector Bt = B.t();
|
||||
Matrix Ct = C.t();
|
||||
LowerTriangularMatrix LT2; LT2 << (At | Bt | Ct);
|
||||
UpperTriangularMatrix UT2; UT2 << (At.t() & Bt.t() & Ct.t());
|
||||
Matrix ABt = At | Bt;
|
||||
DiagonalMatrix D2; D2 << (ABt | Ct);
|
||||
Print(LowerTriangularMatrix(LT2-UT2.t()));
|
||||
Print(DiagonalMatrix(D1-D2));
|
||||
Print(Matrix(LT1+UT2-D2-X1));
|
||||
Matrix M1 = LT1 | UT2; Matrix M2 = UT1 & LT2;
|
||||
Print(Matrix(M1-M2.t()));
|
||||
M1 = UT2 | LT1; M2 = LT2 & UT1;
|
||||
Print(Matrix(M1-M2.t()));
|
||||
M1 = (LT1 | UT2) & (UT2 | LT1);
|
||||
M2 = (UT1 & LT2) | (LT2 & UT1);
|
||||
Print(Matrix(M1-M2.t()));
|
||||
SymmetricMatrix SM1; SM1 << (M1 + M1.t());
|
||||
SymmetricMatrix SM2; SM2 << ((SM1 | M1) & (M1.t() | SM1));
|
||||
Matrix M3(20,20);
|
||||
M3.SubMatrix(1,10,1,10) = SM1;
|
||||
M3.SubMatrix(1,10,11,20) = M1;
|
||||
M3.SubMatrix(11,20,1,10) = M2;
|
||||
M3.SubMatrix(11,20,11,20) = SM1;
|
||||
Print(Matrix(M3-SM2));
|
||||
|
||||
SymmetricMatrix SM(15); SM = 0; SM.SymSubMatrix(1,10) = SM1;
|
||||
M3.ReSize(15,15); M3 = 0; M3.SubMatrix(1,10,1,10) = SM1;
|
||||
M3 -= SM; Print(M3);
|
||||
SM = 0; SM.SymSubMatrix(6,15) = SM1;
|
||||
M3.ReSize(15,15); M3 = 0; M3.SubMatrix(6,15,6,15) = SM1;
|
||||
M3 = M3.t() - SM; Print(M3);
|
||||
}
|
||||
{
|
||||
Tracer et1("Stage 4 - sort");
|
||||
TestSort(1); TestSort(2); TestSort(3); TestSort(4);
|
||||
TestSort(15); TestSort(16); TestSort(17); TestSort(18);
|
||||
TestSort(99); TestSort(100); TestSort(101);
|
||||
}
|
||||
|
||||
|
||||
// cout << "\nEnd of sixth test\n";
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,137 @@
|
|||
/** @file
|
||||
* @brief Representation of the optimized k-d tree. MetaScan variant.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#ifndef __KD_META_H__
|
||||
#define __KD_META_H__
|
||||
|
||||
#include "kdparams.h"
|
||||
#include "searchTree.h"
|
||||
#include "data_types.h"
|
||||
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/locks.hpp>
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#if !defined _OPENMP && defined OPENMP
|
||||
#define _OPENMP
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef _OPENMP
|
||||
#include <omp.h>
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
class Scan;
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief The optimized k-d tree.
|
||||
*
|
||||
* A kD tree for points, with limited
|
||||
* capabilities (find nearest point to
|
||||
* a given point, or to a ray).
|
||||
**/
|
||||
class KDtreeMeta : public SearchTree {
|
||||
protected:
|
||||
class Index {
|
||||
public:
|
||||
unsigned int s, i;
|
||||
inline void set(unsigned int _s, unsigned int _i) { s = _s; i = _i; }
|
||||
};
|
||||
public:
|
||||
KDtreeMeta();
|
||||
virtual ~KDtreeMeta();
|
||||
|
||||
void create(const DataXYZ* const* pts, Index* indices, unsigned int n);
|
||||
|
||||
virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; }
|
||||
|
||||
protected:
|
||||
/**
|
||||
* storing the parameters of the k-d tree, i.e., the current closest point,
|
||||
* the distance to the current closest point and the point itself.
|
||||
* These global variable are needed in this search.
|
||||
*
|
||||
* Padded in the parallel case.
|
||||
*/
|
||||
#ifdef _OPENMP
|
||||
#ifdef __INTEL_COMPILER
|
||||
__declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS];
|
||||
#else
|
||||
static KDParams params[MAX_OPENMP_NUM_THREADS];
|
||||
#endif //__INTEL_COMPILER
|
||||
#else
|
||||
static KDParams params[MAX_OPENMP_NUM_THREADS];
|
||||
#endif
|
||||
|
||||
/**
|
||||
* number of points. If this is 0: intermediate node. If nonzero: leaf.
|
||||
*/
|
||||
int npts;
|
||||
|
||||
/**
|
||||
* Cue the standard rant about anon unions but not structs in C++
|
||||
*/
|
||||
union {
|
||||
/**
|
||||
* in case of internal node...
|
||||
*/
|
||||
struct {
|
||||
double center[3]; ///< storing the center of the voxel (R^3)
|
||||
double dx, ///< defining the voxel itself
|
||||
dy, ///< defining the voxel itself
|
||||
dz, ///< defining the voxel itself
|
||||
r2; ///< defining the voxel itself
|
||||
int splitaxis; ///< defining the kind of splitaxis
|
||||
KDtreeMeta *child1; ///< pointers to the childs
|
||||
KDtreeMeta *child2; ///< pointers to the childs
|
||||
} node;
|
||||
/**
|
||||
* in case of leaf node ...
|
||||
*/
|
||||
struct {
|
||||
//! Content is an array of indices to be put into the dynamically aquired data array
|
||||
Index* p;
|
||||
} leaf;
|
||||
};
|
||||
|
||||
inline double* point(const DataXYZ* const* pts, const Index& i) const {
|
||||
return (*pts[i.s])[i.i];
|
||||
}
|
||||
|
||||
void _FindClosest(const DataXYZ* const* pts, int threadNum) const;
|
||||
};
|
||||
|
||||
class KDtreeMetaManaged : public KDtreeMeta {
|
||||
public:
|
||||
KDtreeMetaManaged(const vector<Scan*>& scans);
|
||||
virtual ~KDtreeMetaManaged();
|
||||
|
||||
virtual void lock();
|
||||
virtual void unlock();
|
||||
|
||||
//! Aquires cached data first to pass on to the usual KDtree to process
|
||||
virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const;
|
||||
private:
|
||||
Scan** m_scans;
|
||||
DataXYZ** m_data;
|
||||
unsigned int m_size;
|
||||
|
||||
//! Mutex for safely reducing points just once in a multithreaded environment
|
||||
boost::mutex m_mutex_locking;
|
||||
volatile unsigned int m_count_locking;
|
||||
|
||||
// constructor initializer list hacks
|
||||
Index* m_temp_indices;
|
||||
Index* prepareTempIndices(const vector<Scan*>& scans);
|
||||
unsigned int getPointsSize(const vector<Scan*>& scans);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
/** @file
|
||||
* @brief The global correction based upon APX transform
|
||||
*
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __GAPX6D_H__
|
||||
#define __GAPX6D_H__
|
||||
|
||||
#include <vector>
|
||||
using std::vector;
|
||||
|
||||
#include "graphSlam6D.h"
|
||||
#include "icp6D.h"
|
||||
#include "graph.h"
|
||||
|
||||
#include "newmat/newmatio.h"
|
||||
|
||||
//typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
|
||||
|
||||
|
||||
/*
|
||||
* @brief
|
||||
*
|
||||
*/
|
||||
class gapx6D : public graphSlam6D {
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor (default)
|
||||
*/
|
||||
gapx6D() {};
|
||||
gapx6D(icp6Dminimizer *my_icp6Dminimizer,
|
||||
double mdm = 25.0,
|
||||
double max_dist_match = 25.0,
|
||||
int max_num_iterations = 50,
|
||||
bool quiet = false,
|
||||
bool meta = false,
|
||||
int rnd = 1,
|
||||
bool eP = true,
|
||||
int anim = -1,
|
||||
double epsilonICP = 0.0000001,
|
||||
int nns_method = simpleKD,
|
||||
double epsilonLUM = 0.5);
|
||||
|
||||
virtual ~gapx6D();
|
||||
|
||||
double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
|
||||
|
||||
static double LUM[4];
|
||||
|
||||
private:
|
||||
double genBArotForLinkedPair(int firstScanNum, int secondScanNum, vPtPair *ptpairs,
|
||||
double *centroids_m, double *centroids_d, NEWMAT::Matrix *B, NEWMAT::ColumnVector *A);
|
||||
double genBAtransForLinkedPair(int firstScanNum, int secondScanNum,
|
||||
double *centroids_m, double *centroids_d,
|
||||
NEWMAT::SymmetricMatrix *B, NEWMAT::ColumnVector *A, NEWMAT::ColumnVector &X);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,175 @@
|
|||
|
||||
#define WANT_STREAM
|
||||
#define WANT_MATH
|
||||
#define WANT_FSTREAM
|
||||
|
||||
#include "newmatap.h"
|
||||
#include "newmatio.h"
|
||||
#include "newmatnl.h"
|
||||
|
||||
#ifdef use_namespace
|
||||
using namespace RBD_LIBRARIES;
|
||||
#endif
|
||||
|
||||
// This is a demonstration of a special case of the Garch model
|
||||
// Observe two series X and Y of length n
|
||||
// and suppose
|
||||
// Y(i) = beta * X(i) + epsilon(i)
|
||||
// where epsilon(i) is normally distributed with zero mean and variance =
|
||||
// h(i) = alpha0 + alpha1 * square(epsilon(i-1)) + beta1 * h(i-1).
|
||||
// Then this program is supposed to estimate beta, alpha0, alpha1, beta1
|
||||
// The Garch model is supposed to model something like an instability
|
||||
// in the stock or options market following an unexpected result.
|
||||
// alpha1 determines the size of the instability and beta1 determines how
|
||||
// quickly is dies away.
|
||||
// We should, at least, have an X of several columns and beta as a vector
|
||||
|
||||
inline Real square(Real x) { return x*x; }
|
||||
|
||||
// the class that defines the GARCH log-likelihood
|
||||
|
||||
class GARCH11_LL : public LL_D_FI
|
||||
{
|
||||
ColumnVector Y; // Y values
|
||||
ColumnVector X; // X values
|
||||
ColumnVector D; // derivatives of loglikelihood
|
||||
SymmetricMatrix D2; // - approximate second derivatives
|
||||
int n; // number of observations
|
||||
Real beta, alpha0, alpha1, beta1;
|
||||
// the parameters
|
||||
|
||||
public:
|
||||
|
||||
GARCH11_LL(const ColumnVector& y, const ColumnVector& x)
|
||||
: Y(y), X(x), n(y.Nrows()) {}
|
||||
// constructor - load Y and X values
|
||||
|
||||
void Set(const ColumnVector& p) // set parameter values
|
||||
{
|
||||
para = p;
|
||||
beta = para(1); alpha0 = para(2);
|
||||
alpha1 = para(3); beta1 = para(4);
|
||||
}
|
||||
|
||||
bool IsValid(); // are parameters valid
|
||||
Real LogLikelihood(); // return the loglikelihood
|
||||
ReturnMatrix Derivatives(); // derivatives of log-likelihood
|
||||
ReturnMatrix FI(); // Fisher Information matrix
|
||||
};
|
||||
|
||||
bool GARCH11_LL::IsValid()
|
||||
{ return alpha0>0 && alpha1>0 && beta1>0 && (alpha1+beta1)<1.0; }
|
||||
|
||||
Real GARCH11_LL::LogLikelihood()
|
||||
{
|
||||
// cout << endl << " ";
|
||||
// cout << setw(10) << setprecision(5) << beta;
|
||||
// cout << setw(10) << setprecision(5) << alpha0;
|
||||
// cout << setw(10) << setprecision(5) << alpha1;
|
||||
// cout << setw(10) << setprecision(5) << beta1;
|
||||
// cout << endl;
|
||||
ColumnVector H(n); // residual variances
|
||||
ColumnVector U = Y - X * beta; // the residuals
|
||||
ColumnVector LH(n); // derivative of log-likelihood wrt H
|
||||
// each row corresponds to one observation
|
||||
LH(1)=0;
|
||||
Matrix Hderiv(n,4); // rectangular matrix of derivatives
|
||||
// of H wrt parameters
|
||||
// each row corresponds to one observation
|
||||
// each column to one of the parameters
|
||||
|
||||
// Regard Y(1) as fixed and don't include in likelihood
|
||||
// then put in an expected value of H(1) in place of actual value
|
||||
// which we don't know. Use
|
||||
// E{H(i)} = alpha0 + alpha1 * E{square(epsilon(i-1))} + beta1 * E{H(i-1)}
|
||||
// and E{square(epsilon(i-1))} = E{H(i-1)} = E{H(i)}
|
||||
Real denom = (1-alpha1-beta1);
|
||||
H(1) = alpha0/denom; // the expected value of H
|
||||
Hderiv(1,1) = 0;
|
||||
Hderiv(1,2) = 1.0 / denom;
|
||||
Hderiv(1,3) = alpha0 / square(denom);
|
||||
Hderiv(1,4) = Hderiv(1,3);
|
||||
Real LL = 0.0; // the log likelihood
|
||||
Real sum1 = 0; // for forming derivative wrt beta
|
||||
Real sum2 = 0; // for forming second derivative wrt beta
|
||||
for (int i=2; i<=n; i++)
|
||||
{
|
||||
Real u1 = U(i-1); Real h1 = H(i-1);
|
||||
Real h = alpha0 + alpha1*square(u1) + beta1*h1; // variance of this obsv.
|
||||
H(i) = h; Real u = U(i);
|
||||
LL += log(h) + square(u) / h; // -2 * log likelihood
|
||||
// Hderiv are derivatives of h with respect to the parameters
|
||||
// need to allow for h1 depending on parameters
|
||||
Hderiv(i,1) = -2*u1*alpha1*X(i-1) + beta1*Hderiv(i-1,1); // beta
|
||||
Hderiv(i,2) = 1 + beta1*Hderiv(i-1,2); // alpha0
|
||||
Hderiv(i,3) = square(u1) + beta1*Hderiv(i-1,3); // alpha1
|
||||
Hderiv(i,4) = h1 + beta1*Hderiv(i-1,4); // beta1
|
||||
LH(i) = -0.5 * (1/h - square(u/h));
|
||||
sum1 += u * X(i)/ h;
|
||||
sum2 += square(X(i)) / h;
|
||||
}
|
||||
D = Hderiv.t()*LH; // derivatives of likelihood wrt parameters
|
||||
D(1) += sum1; // add on deriv wrt beta from square(u) term
|
||||
// cout << setw(10) << setprecision(5) << D << endl;
|
||||
|
||||
// do minus expected value of second derivatives
|
||||
if (wg) // do only if second derivatives wanted
|
||||
{
|
||||
Hderiv.Row(1) = 0.0;
|
||||
Hderiv = H.AsDiagonal().i() * Hderiv;
|
||||
D2 << Hderiv.t() * Hderiv; D2 = D2 / 2.0;
|
||||
D2(1,1) += sum2;
|
||||
// cout << setw(10) << setprecision(5) << D2 << endl;
|
||||
// DiagonalMatrix DX; EigenValues(D2,DX);
|
||||
// cout << setw(10) << setprecision(5) << DX << endl;
|
||||
|
||||
}
|
||||
return -0.5 * LL;
|
||||
}
|
||||
|
||||
ReturnMatrix GARCH11_LL::Derivatives()
|
||||
{ return D; }
|
||||
|
||||
ReturnMatrix GARCH11_LL::FI()
|
||||
{
|
||||
if (!wg) cout << endl << "unexpected call of FI" << endl;
|
||||
return D2;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main()
|
||||
{
|
||||
// get data
|
||||
ifstream fin("garch.dat");
|
||||
if (!fin) { cout << "cannot find garch.dat\n"; exit(1); }
|
||||
int n; fin >> n; // series length
|
||||
// Y contains the dependant variable, X the predictor variable
|
||||
ColumnVector Y(n), X(n);
|
||||
int i;
|
||||
for (i=1; i<=n; i++) fin >> Y(i) >> X(i);
|
||||
cout << "Read " << n << " data points - begin fit\n\n";
|
||||
// now do the fit
|
||||
ColumnVector H(n);
|
||||
GARCH11_LL garch11(Y,X); // loglikehood "object"
|
||||
MLE_D_FI mle_d_fi(garch11,100,0.0001); // mle "object"
|
||||
ColumnVector Para(4); // to hold the parameters
|
||||
Para << 0.0 << 0.1 << 0.1 << 0.1; // starting values
|
||||
// (Should change starting values to a more intelligent formula)
|
||||
mle_d_fi.Fit(Para); // do the fit
|
||||
ColumnVector SE;
|
||||
mle_d_fi.GetStandardErrors(SE);
|
||||
cout << "\n\n";
|
||||
cout << "estimates and standard errors\n";
|
||||
cout << setw(15) << setprecision(5) << (Para | SE) << endl << endl;
|
||||
SymmetricMatrix Corr;
|
||||
mle_d_fi.GetCorrelations(Corr);
|
||||
cout << "correlation matrix\n";
|
||||
cout << setw(10) << setprecision(2) << Corr << endl << endl;
|
||||
cout << "inverse of correlation matrix\n";
|
||||
cout << setw(10) << setprecision(2) << Corr.i() << endl << endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
|
|
@ -0,0 +1,152 @@
|
|||
/*
|
||||
* frames2riegl implementation
|
||||
*
|
||||
* Copyright (C) Dorit Borrmann
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
using std::ifstream;
|
||||
using std::ofstream;
|
||||
|
||||
#include "slam6d/globals.icc"
|
||||
#include <string.h>
|
||||
|
||||
#ifndef _MSC_VER
|
||||
#include <unistd.h>
|
||||
#else
|
||||
#include "XGetopt.h"
|
||||
#endif
|
||||
|
||||
#if WIN32
|
||||
#define snprintf sprintf_s
|
||||
#endif
|
||||
|
||||
int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){
|
||||
start = 0;
|
||||
end = -1; // -1 indicates no limitation
|
||||
|
||||
int c;
|
||||
// from unistd.h
|
||||
extern char *optarg;
|
||||
extern int optind;
|
||||
|
||||
cout << endl;
|
||||
while ((c = getopt (argc, argv, "s:e:")) != -1)
|
||||
switch (c)
|
||||
{
|
||||
case 's':
|
||||
start = atoi(optarg);
|
||||
if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
|
||||
break;
|
||||
case 'e':
|
||||
end = atoi(optarg);
|
||||
if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
|
||||
if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
|
||||
break;
|
||||
}
|
||||
|
||||
if (optind != argc-1) {
|
||||
cerr << "\n*** Directory missing ***\n" << endl;
|
||||
cout << endl
|
||||
<< "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl;
|
||||
|
||||
cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl
|
||||
<< " [ATTENTION: counting starts with 0]" << endl
|
||||
<< " -e NR end after scan NR" << "" << endl
|
||||
<< endl;
|
||||
cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.4x4 in the RIEGL pose file format." << endl;
|
||||
abort();
|
||||
}
|
||||
strncpy(dir,argv[optind],255);
|
||||
|
||||
#ifndef _MSC_VER
|
||||
if (dir[strlen(dir)-1] != '/') strcat(dir,"/");
|
||||
#else
|
||||
if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\");
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
int start = 0, end = -1;
|
||||
char dir[255];
|
||||
parseArgs(argc, argv, dir, start, end);
|
||||
|
||||
int fileCounter = start;
|
||||
char poseFileName[255];
|
||||
char frameFileName[255];
|
||||
|
||||
ifstream pose_in;
|
||||
ofstream pose_out;
|
||||
|
||||
double inMatrix[16];
|
||||
double tMatrix[17];
|
||||
|
||||
for (;;) {
|
||||
if (end > -1 && fileCounter > end) break; // 'nuf read
|
||||
snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
|
||||
snprintf(poseFileName,255,"%sscan%.3d.4x4",dir,fileCounter++);
|
||||
|
||||
pose_in.open(frameFileName);
|
||||
|
||||
if (!pose_in.good()) break; // no more files in the directory
|
||||
// read 3D scan
|
||||
|
||||
cout << "Reading frame " << frameFileName << "..." << endl;
|
||||
|
||||
while(pose_in.good()) {
|
||||
for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]);
|
||||
}
|
||||
|
||||
inMatrix[5] = tMatrix[0];
|
||||
inMatrix[9] = -tMatrix[1];
|
||||
inMatrix[1] = -tMatrix[2];
|
||||
inMatrix[13] = -tMatrix[3];
|
||||
inMatrix[6] = -tMatrix[4];
|
||||
inMatrix[10] = tMatrix[5];
|
||||
inMatrix[2] = tMatrix[6];
|
||||
inMatrix[14] = tMatrix[7];
|
||||
inMatrix[4] = -tMatrix[8];
|
||||
inMatrix[8] = tMatrix[9];
|
||||
inMatrix[0] = tMatrix[10];
|
||||
inMatrix[12] = tMatrix[11];
|
||||
inMatrix[7] = -tMatrix[12];
|
||||
inMatrix[11] = tMatrix[13];
|
||||
inMatrix[3] = tMatrix[14];
|
||||
inMatrix[15] = tMatrix[15];
|
||||
|
||||
inMatrix[3] /= 100;
|
||||
inMatrix[7] /= 100;
|
||||
inMatrix[11] /= 100;
|
||||
|
||||
pose_in.close();
|
||||
pose_in.clear();
|
||||
|
||||
pose_out.open(poseFileName);
|
||||
|
||||
cout << "Writing Riegl pose... " << poseFileName << endl;
|
||||
|
||||
for (int i=0; i < 16; i++) {
|
||||
pose_out << inMatrix[i] << " ";
|
||||
if((i % 4) == 3) pose_out << endl;
|
||||
}
|
||||
|
||||
|
||||
pose_out.close();
|
||||
pose_out.clear();
|
||||
|
||||
|
||||
cout << " done." << endl;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
SET(SHOW_LIBS ${OPENGL_LIBRARIES} glui scan ANN)
|
||||
IF(WIN32)
|
||||
IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/freeglut.lib XGetopt)
|
||||
ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/freeglut.lib XGetopt)
|
||||
ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
ENDIF(WIN32)
|
||||
IF (UNIX)
|
||||
SET(SHOW_LIBS newmat dl ${GLUT_LIBRARIES} ${SHOW_LIBS})
|
||||
ENDIF(UNIX)
|
||||
|
||||
IF(WITH_VELOSLAM)
|
||||
add_executable(veloslam veloslam.cc veloscan.cc debugview.cc pcddump.cc tracker.cc
|
||||
trackermanager.cc drawtrackers.cc kalmanfilter.cc matrix.cc lap.cc)
|
||||
|
||||
IF(UNIX)
|
||||
target_link_libraries(veloslam dl scan newmat sparse ANN ${Boost_LIBRARIES} ${SHOW_LIBS})
|
||||
ENDIF(UNIX)
|
||||
|
||||
IF(WIN32)
|
||||
target_link_libraries(veloslam scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS})
|
||||
ENDIF(WIN32)
|
||||
ENDIF(WITH_VELOSLAM)
|
||||
|
||||
#IF(WITH_VELOSLAM)
|
||||
# SET(SHOW_SRCS ../show/NurbsPath.cc ../show/PathGraph.cc ../show/vertexarray.cc
|
||||
# ../show/viewcull.cc ../show/colormanager.cc ../show/compacttree.cc
|
||||
# ../show/scancolormanager.cc ../show/display.cc)
|
||||
|
||||
# add_executable(veloshow veloshow.cc veloscan.cc
|
||||
# debugview.cc pcddump.cc cluster_classification.cc
|
||||
# tracker.cc trackermanager.cc drawtrackers.cc
|
||||
# svm.cc clusterboundingbox.cc multiscan_random_field.cc
|
||||
# kalmanfilter.cc matrix.cc lap.cc
|
||||
# intersection_detection.cc SegIter.model ${SHOW_SRCS})
|
||||
|
||||
#IF(UNIX)
|
||||
# target_link_libraries(veloshow dl scan newmat sparse ANN ${SHOW_LIBS})
|
||||
#ENDIF(UNIX)
|
||||
|
||||
#IF(WIN32)
|
||||
# target_link_libraries(veloshow scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS})
|
||||
#ENDIF(WIN32)
|
||||
|
||||
#ENDIF(WITH_VELOSLAM)
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
.cvsignore
|
||||
config.h
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
// =====================================================================================
|
||||
//
|
||||
// Filename: sickday.h
|
||||
//
|
||||
// Description:
|
||||
//
|
||||
// Version: 1.0
|
||||
// Created: 09/26/2010 02:08:25 AM
|
||||
// Revision: none
|
||||
// Compiler: g++
|
||||
//
|
||||
// Author: Jan Elseberg (), jelseber@uos.de
|
||||
// Company: Universitaet Osnabrueck
|
||||
//
|
||||
// =====================================================================================
|
||||
|
||||
const int MIN_NR_PTS = 1200;
|
||||
|
||||
const double IMG_RES = 2.0; // in cm
|
||||
const int BOARD_SIZE_X = 59.40 / IMG_RES; // number of pixels wide
|
||||
const int BOARD_SIZE_Z = 84.10 / IMG_RES; // number of pixels high
|
||||
|
||||
const int WHITE_BORDER = 4; // number of pixels on the border to whiten. 10 cm ?
|
||||
|
||||
const double MINREFL = -10.0;
|
||||
const double MAXREFL = 10.0;
|
||||
const double REFL_THRESHOLD = (0.0 - MINREFL ) / ( MAXREFL - MINREFL); // threshold for binarizing image
|
||||
|
||||
const double MAX_DIST_TO_PLANE = 10.0; // RANSAC max distance to plane
|
||||
const double MIN_SCORE = 0.65; // minimal score for accepting the board hypothesis (between 0 and 1)
|
||||
const double SCORE_SCALE = 0.50; // score is scaled so that SCORE_SCALE is probability 0
|
||||
|
||||
/////////////// constants for OCR
|
||||
const string OCRRESULT = "/tmp/ocrresult.txt";
|
||||
const string OCRERROR = "/tmp/ocrerr.txt";
|
||||
/////////////// number (except 1) are usually 17,27 pixel wide,high
|
||||
//
|
||||
const int MIN_NR_WIDTH = 28.0 / IMG_RES; // 14 pixel ? All Numbers except 1 must at least be this wide
|
||||
const int MIN_1_WIDTH = 16.0 / IMG_RES; // 8 pixel ? Number 1 must at least be this wide
|
||||
const int MIN_NR_HEIGHT = 46.0 / IMG_RES; // 23 pixel ? Numbers must at least be this high
|
||||
|
||||
const int MAX_NR_WIDTH = 42.0 / IMG_RES; // 21 pixel ? All Numbers must at most be this wide
|
||||
const int MAX_NR_HEIGHT = 62.0 / IMG_RES; // 31 pixel ? Numbers must at most be this high
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,220 @@
|
|||
/*
|
||||
* scan_io_riegl_rgb implementation
|
||||
*
|
||||
* Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter
|
||||
*
|
||||
* Released under the GPL version 3.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file
|
||||
* @brief Implementation of reading 3D scans
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Thomas Escher
|
||||
*/
|
||||
|
||||
#include "scanio/scan_io_riegl_rgb.h"
|
||||
|
||||
#include <iostream>
|
||||
using std::cout;
|
||||
using std::cerr;
|
||||
using std::endl;
|
||||
#include <vector>
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
#include <boost/filesystem/operations.hpp>
|
||||
#include <boost/filesystem/fstream.hpp>
|
||||
using namespace boost::filesystem;
|
||||
|
||||
#include "slam6d/globals.icc"
|
||||
|
||||
|
||||
|
||||
#define DATA_PATH_PREFIX "scan"
|
||||
#define DATA_PATH_SUFFIX ".rgb"
|
||||
#define POSE_PATH_PREFIX "scan"
|
||||
#define POSE_PATH_SUFFIX ".dat"
|
||||
|
||||
|
||||
|
||||
std::list<std::string> ScanIO_riegl_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end)
|
||||
{
|
||||
std::list<std::string> identifiers;
|
||||
for(unsigned int i = start; i <= end; ++i) {
|
||||
// identifier is /d/d/d (000-999)
|
||||
std::string identifier(to_string(i,3));
|
||||
// scan consists of data (.3d) and pose (.pose) files
|
||||
path data(dir_path);
|
||||
data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
|
||||
path pose(dir_path);
|
||||
pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
|
||||
// stop if part of a scan is missing or end by absence is detected
|
||||
if(!exists(data) || !exists(pose))
|
||||
break;
|
||||
identifiers.push_back(identifier);
|
||||
}
|
||||
return identifiers;
|
||||
}
|
||||
|
||||
void ScanIO_riegl_rgb::readPose(const char* dir_path, const char* identifier, double* pose)
|
||||
{
|
||||
unsigned int i;
|
||||
|
||||
path pose_path(dir_path);
|
||||
pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
|
||||
if(!exists(pose_path))
|
||||
throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]");
|
||||
|
||||
// open pose file
|
||||
ifstream pose_file(pose_path);
|
||||
|
||||
// if the file is open, read contents
|
||||
if(pose_file.good()) {
|
||||
double rPos[3], rPosTheta[16];
|
||||
double inMatrix[16], tMatrix[16];
|
||||
|
||||
for (i = 0; i < 16; ++i)
|
||||
pose_file >> inMatrix[i];
|
||||
pose_file.close();
|
||||
|
||||
// transform input pose
|
||||
tMatrix[0] = inMatrix[5];
|
||||
tMatrix[1] = -inMatrix[9];
|
||||
tMatrix[2] = -inMatrix[1];
|
||||
tMatrix[3] = -inMatrix[13];
|
||||
tMatrix[4] = -inMatrix[6];
|
||||
tMatrix[5] = inMatrix[10];
|
||||
tMatrix[6] = inMatrix[2];
|
||||
tMatrix[7] = inMatrix[14];
|
||||
tMatrix[8] = -inMatrix[4];
|
||||
tMatrix[9] = inMatrix[8];
|
||||
tMatrix[10] = inMatrix[0];
|
||||
tMatrix[11] = inMatrix[12];
|
||||
tMatrix[12] = -inMatrix[7];
|
||||
tMatrix[13] = inMatrix[11];
|
||||
tMatrix[14] = inMatrix[3];
|
||||
tMatrix[15] = inMatrix[15];
|
||||
|
||||
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
|
||||
|
||||
pose[0] = 100*rPos[0];
|
||||
pose[1] = 100*rPos[1];
|
||||
pose[2] = 100*rPos[2];
|
||||
pose[3] = rPosTheta[0];
|
||||
pose[4] = rPosTheta[1];
|
||||
pose[5] = rPosTheta[2];
|
||||
} else {
|
||||
throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]");
|
||||
}
|
||||
}
|
||||
|
||||
bool ScanIO_riegl_rgb::supports(IODataType type)
|
||||
{
|
||||
return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE));
|
||||
}
|
||||
|
||||
void ScanIO_riegl_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
|
||||
{
|
||||
unsigned int i;
|
||||
|
||||
// error handling
|
||||
path data_path(dir_path);
|
||||
data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
|
||||
if(!exists(data_path))
|
||||
throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]");
|
||||
|
||||
if(xyz != 0 || rgb != 0 || reflectance != 0) {
|
||||
// open data file
|
||||
ifstream data_file(data_path);
|
||||
data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit);
|
||||
|
||||
// read the point count
|
||||
unsigned int count;
|
||||
data_file >> count;
|
||||
|
||||
// reserve enough space for faster reading
|
||||
if(xyz != 0) xyz->reserve(3*count);
|
||||
if(rgb != 0) rgb->reserve(3*count);
|
||||
|
||||
// read points
|
||||
// z x y range theta phi r g b reflectance
|
||||
double point[7];
|
||||
unsigned int color[3];
|
||||
double tmp;
|
||||
while(data_file.good()) {
|
||||
try {
|
||||
for(i = 0; i < 6; ++i) data_file >> point[i];
|
||||
for(i = 0; i < 3; ++i) data_file >> color[i];
|
||||
data_file >> point[6];
|
||||
} catch(std::ios_base::failure& e) {
|
||||
break;
|
||||
}
|
||||
|
||||
// the enemy's x/y/z is mapped to slam's z/x/y, shuffle time!
|
||||
// invert x axis
|
||||
// convert coordinate to cm
|
||||
tmp = point[2];
|
||||
point[2] = 100.0 * point[0];
|
||||
point[0] = -100.0 * point[1];
|
||||
point[1] = 100.0 * tmp;
|
||||
|
||||
// apply filter and insert point
|
||||
if(filter.check(point)) {
|
||||
if(xyz != 0) {
|
||||
for(i = 0; i < 3; ++i) xyz->push_back(point[i]);
|
||||
}
|
||||
if(rgb != 0) {
|
||||
for(i = 0; i < 3; ++i) rgb->push_back(
|
||||
static_cast<unsigned char>(color[i]));
|
||||
}
|
||||
if(reflectance != 0) {
|
||||
reflectance->push_back(point[6]);
|
||||
}
|
||||
}
|
||||
}
|
||||
data_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) ScanIO* create()
|
||||
#else
|
||||
extern "C" ScanIO* create()
|
||||
#endif
|
||||
{
|
||||
return new ScanIO_riegl_rgb;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* class factory for object construction
|
||||
*
|
||||
* @return Pointer to new object
|
||||
*/
|
||||
#ifdef _MSC_VER
|
||||
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
|
||||
#else
|
||||
extern "C" void destroy(ScanIO *sio)
|
||||
#endif
|
||||
{
|
||||
delete sio;
|
||||
}
|
||||
|
||||
#ifdef _MSC_VER
|
||||
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,132 @@
|
|||
#
|
||||
# Makefile for ./src path, used by configure
|
||||
#
|
||||
|
||||
EXEEXT = @EXEEXT@
|
||||
PROGRAM = gocr$(EXEEXT)
|
||||
# lib removed for simplification (v0.46)
|
||||
# but Igor from OSRA an optical chemical structure recognition software
|
||||
# wants it (v0.47 Mar09)
|
||||
PGMASCLIB = Pgm2asc
|
||||
#LIBPGMASCLIB = lib$(PGMASCLIB).a
|
||||
# ToDo: need a better pgm2asc.h for lib users
|
||||
#INCLUDEFILES = gocr.h
|
||||
# avoid german compiler messages
|
||||
LANG=C
|
||||
|
||||
LIBOBJS=pgm2asc.o \
|
||||
box.o \
|
||||
database.o \
|
||||
detect.o \
|
||||
barcode.o \
|
||||
lines.o \
|
||||
list.o \
|
||||
ocr0.o \
|
||||
ocr0n.o \
|
||||
ocr1.o \
|
||||
otsu.o \
|
||||
output.o \
|
||||
pixel.o \
|
||||
unicode.o \
|
||||
remove.o \
|
||||
pnm.o \
|
||||
pcx.o \
|
||||
progress.o \
|
||||
job.o
|
||||
|
||||
# these two lines are for cross-compiling, not tested
|
||||
#srcdir = @srcdir@
|
||||
#VPATH = @srcdir@
|
||||
bindir = @bindir@
|
||||
# lib removed for simplification
|
||||
#libdir = @libdir@
|
||||
#includedir = @includedir@
|
||||
|
||||
CC=@CC@
|
||||
# lib removed for simplification
|
||||
# ar,ranlib detection removed from configure (simplicity)
|
||||
# but needed by some developpers (linux only) for for (make libs)
|
||||
# RANLIB = @RANLIB@
|
||||
# AR = @AR@
|
||||
RANLIB = ranlib
|
||||
AR = ar
|
||||
INSTALL=@INSTALL@
|
||||
# shell is needed for OS/2 to let if test -r $(PROGRAM) ... work
|
||||
SHELL=@SHELL@
|
||||
|
||||
DEFS=@DEFS@
|
||||
CPPFLAGS=@CPPFLAGS@
|
||||
# to see the config.h
|
||||
CFLAGS=@CFLAGS@ $(CPPFLAGS) -I../include $(DEFS)
|
||||
LDFLAGS=@LDFLAGS@
|
||||
LIBS=@LIBS@
|
||||
DESTDIR=@prefix@
|
||||
|
||||
.SUFFIXES: .s .o .c .h
|
||||
# do not look for files if help (etc) is given
|
||||
.PHONY : doc clean install libs default
|
||||
|
||||
.c.o: gocr.h pgm2asc.h ../include/config.h
|
||||
$(CC) $(CFLAGS) -c -o $*.o $<
|
||||
|
||||
default: all
|
||||
|
||||
# all: $(PROGRAM) lib$(PGMASCLIB).a
|
||||
all: $(PROGRAM)
|
||||
|
||||
gocr.o: gocr.h Makefile ../include/version.h
|
||||
|
||||
.c.h:
|
||||
|
||||
#$(PROGRAM): lib$(PGMASCLIB).a gocr.o
|
||||
$(PROGRAM): $(LIBOBJS) gocr.o
|
||||
# make it conform to ld --as-needed
|
||||
#$(CC) -o $@ $(LDFLAGS) gocr.o ./lib$(PGMASCLIB).a $(LIBS)
|
||||
$(CC) -o $@ $(LDFLAGS) gocr.o $(LIBOBJS) $(LIBS)
|
||||
if test -r $(PROGRAM); then cp $@ ../bin; fi
|
||||
|
||||
libs: lib$(PGMASCLIB).a lib$(PGMASCLIB).@PACKAGE_VERSION@.so
|
||||
|
||||
lib$(PGMASCLIB).@PACKAGE_VERSION@.so: $(LIBOBJS)
|
||||
$(CC) -fPIC -shared -Wl,-h$@ -o $@ $(LIBOBJS)
|
||||
-ln -s $@ lib$(PGMASCLIB).so
|
||||
|
||||
lib$(PGMASCLIB).a: $(LIBOBJS)
|
||||
# -rm -f $@
|
||||
$(AR) cru $@ $(LIBOBJS)
|
||||
$(RANLIB) $@
|
||||
|
||||
$(LIBOBJS): Makefile
|
||||
|
||||
# PHONY = don't look at file clean, -rm = start rm and ignore errors
|
||||
.PHONY : clean proper install uninstall
|
||||
install: all
|
||||
#$(INSTALL) -d $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) $(DESTDIR)$(includedir)
|
||||
$(INSTALL) -d $(DESTDIR)$(bindir)
|
||||
$(INSTALL) ../bin/$(PROGRAM) $(DESTDIR)$(bindir)
|
||||
$(INSTALL) ../bin/gocr.tcl $(DESTDIR)$(bindir) # better X11/bin?
|
||||
if test -f lib$(PGMASCLIB).a; then\
|
||||
$(INSTALL) lib$(PGMASCLIB).a $(DESTDIR)$(libdir);\
|
||||
$(INSTALL) lib$(PGMASCLIB).@PACKAGE_VERSION@.so $(DESTDIR)$(libdir);\
|
||||
$(INSTALL) lib$(PGMASCLIB).so $(DESTDIR)$(libdir);\
|
||||
fi
|
||||
# ToDo: not sure that the link will be installed correctly
|
||||
#$(INSTALL) $(INCLUDEFILES) $(DESTDIR)$(includedir)
|
||||
|
||||
# directories are not removed
|
||||
uninstall:
|
||||
-rm -f $(DESTDIR)$(bindir)/$(PROGRAM)
|
||||
-rm -f $(DESTDIR)$(bindir)/gocr.tcl
|
||||
-rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).a
|
||||
-rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).@PACKAGE_VERSION@.so
|
||||
-rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).so
|
||||
# ToDo: set to old version.so ?
|
||||
#for X in $(INCLUDEFILES); do rm -f $(DESTDIR)$(includedir)/$$X; done
|
||||
|
||||
clean:
|
||||
-rm -f *.o *~
|
||||
|
||||
proper: clean
|
||||
-rm -f gocr libPgm2asc.*
|
||||
-rm -f gocr
|
||||
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
svm_type c_svc
|
||||
kernel_type rbf
|
||||
gamma 0.0625
|
||||
nr_class 2
|
||||
total_sv 133
|
||||
rho -0.261596
|
||||
label 1 -1
|
||||
probA -5.01585
|
||||
probB 0.275821
|
||||
nr_sv 80 53
|
||||
SV
|
||||
0.4753545542788266 1:0.1667 2:0.1667 3:0.1667 4:0.1833 5:0.1833 6:0.1833 7:0.1833 8:0.1833 9:0.2 10:0.2 11:0.2 12:0.25 13:0.25 14:0.3333 15:0.3333 16:0.3833 17:0.4167 18:0.55 19:0.5833 20:0.5833 21:0.5833 22:0.45 23:0.45 24:0.45 25:0.45 26:0.45 27:0.45 28:0.4167 29:0.3667 30:0.3667 31:0.35 32:0.3333 33:0.3333 34:0.3167 35:0.3333 36:0.3333 37:0.3167 38:0.3333 39:0.3333 40:0.3167 41:0.3333 42:0.3167 43:0.3167 44:0.3167 45:0.3167 46:0.1667 47:0.15 48:0.1667 49:0.1667 50:0.1667 51:0.1667 52:0.1667 53:0.1667 54:0.15 55:0.15 56:0.1333 57:0.1333 58:0.1333 59:0.1333 60:0.1333 61:0.1333 62:0.1333 63:0.15 64:0.15 65:0.1333 66:0.1333 67:0.1333 68:0.1333 69:0.15 70:0.15 71:0.15 72:0.1333 73:0.1333 74:0.1333 75:0.15 76:0.15 77:0.15 78:0.1333 79:0.1333 80:0.1333 81:0.1333 82:0.1333 83:0.1333 84:0.1333 85:0.1333 86:0.1333 87:0.1333 88:0.15 89:0.3 90:0.4667 91:1 92:1 93:1 94:1 95:1 96:1 97:0.9833 98:0.75 99:0.7333 100:0.6167 101:0.5167 102:0.5167 103:0.5167 104:0.4 105:0.4 106:0.4 107:0.4 108:0.4 109:0.4 110:0.4 111:0.2667 112:0.25 113:0.25 114:0.25 115:0.25 116:0.25 117:0.25 118:0.25 119:0.25 120:0.25 121:0.25 122:0.25 123:0.25 124:0.25 125:0.25 126:0.25 127:0.25 128:0.25 129:0.25 130:0.25 131:0.25 132:0.2667 133:0.1333 134:0.1333 135:0.1333 136:0.1333 137:0.1333 138:0.1333 139:0.1333 140:0.15 141:0.1333 142:0.087684211 143:0.087684211 144:0.087684211 145:0.10526316 146:0.10526316 147:0.10526316 148:0.087684211 149:0.087684211 150:0.087684211 151:0.087684211 152:0.10526316 153:0.10526316 154:0.087684211 155:0.087684211 156:0.087684211 157:0.071389541 158:0.071389541 159:0.071389541 160:0.071389541 161:0.071389541 162:0.071389541 163:0.071389541 164:0.071389541 165:0.089282462 166:0.089282462 167:0.14285408 168:0.14285408 169:0.14285408 170:0.14285408 171:0.14285408 172:0.12496116 173:0.089282462 174:0.089282462 175:0.089282462 176:0.089282462 177:0.089282462 178:0.089282462 179:0.089282462 180:0.089282462 181:0.089282462 182:0.089282462 183:0.089282462 184:0.089282462 185:0.053603763 186:0.053603763 187:0.053603763 188:0.053603763 189:0.053603763 190:0.053603763 191:0.053603763 192:0.053603763 193:0.053603763 194:0.053603763 195:0.053603763 196:0.071389541 197:0.071389541 198:0.071389541 199:0.071389541 200:0.053603763 201:0.053603763 202:0.071389541 203:0.071389541 204:0.071389541 205:0.071389541 206:0.071389541 207:0.053603763 208:0.053603763 209:0.053603763 210:0.071389541 211:0.071389541 212:0.071389541 213:0.053603763 214:0.053603763 215:0.053603763 216:0.053603763 217:0.053603763 218:0.053603763 219:0.053603763 220:0.071389541 221:0.1333 222:0.1333 223:0.2167 224:0.2167 225:0.2333 226:0.2333 227:0.2333 228:0.2667 229:0.2667 230:0.2667 231:0.2667 232:0.2667 233:0.2667 234:0.2667 235:0.2667 236:0.2667 237:0.2667 238:0.2667 239:0.2667 240:0.2667 241:0.2667 242:0.2667 243:0.2667 244:0.2667 245:0.2667 246:0.2667 247:0.2667 248:0.2667 249:0.2667 250:0.2667 251:0.2667 252:0.2833 253:0.4167 254:0.4167 255:0.4167 256:0.55 257:0.55 258:0.55 259:0.55 260:0.5667 261:0.7167 262:0.7167 263:1 264:1 265:1 266:1 267:1 268:1 269:1 270:1 271:0.9833 272:0.4667 273:0.4667 274:0.15 275:0.1333 276:0.1333 277:0.1333 278:0.1333 279:0.1333 280:0.1333 281:0.1333 282:0.1333 283:0.1333 284:0.1333 285:0.15 286:0.15 287:0.15 288:0.1333 289:0.1333 290:0.1333 291:0.1167 292:0.1167 293:0.1167 294:0.1167 295:0.1333 296:0.1333 297:0.1333 298:0.1167 299:0.1167 300:0.1167 301:0.1167 302:0.1167 303:0.1167 304:0.1167 305:0.1167 306:0.1167 307:0.1167 308:0.1167 309:0.1167 310:0.1167 311:0.1333 312:0.1333 313:0.1167 314:0.1167 315:0.1167 316:0.1167 317:0.1167 318:0.1333 319:0.1167 320:0.1167 321:0.1167 322:0.1167 323:0.1167 324:0.1167 325:0.1167 326:0.1333 327:0.1167 328:0.1167 329:0.1167 330:0.1167 331:0.1167 332:0.1167 333:0.1167 334:0.1333 335:0.1333 336:0.1333 337:0.1333 338:0.1333 339:0.1333 340:0.1333 341:0.1333 342:0.1333 343:0.1333 344:0.1333 345:0.15 346:0.15 347:0.15 348:0.15 349:0.15 350:0.15 351:0.1333 352:0.15 353:0.15 354:0.15 355:0.15 356:0.15 357:0.15 358:0.15 359:0.1667 360:0.1667
|
||||
2 1:0.2167 2:0.2167 3:0.2167 4:0.2333 5:0.2333 6:0.2333 7:0.2667 8:0.2667 9:0.2667 10:0.3667 11:0.3667 12:0.3667 13:0.3833 14:0.3833 15:0.4667 16:0.6167 17:0.6167 18:0.4833 19:0.4667 20:0.4667 21:0.4667 22:0.4667 23:0.4667 24:0.4667 25:0.4667 26:0.3667 27:0.3667 28:0.35 29:0.3333 30:0.35 31:0.35 32:0.35 33:0.1667 34:0.1667 35:0.1667 36:0.1667 37:0.1667 38:0.1667 39:0.1667 40:0.1667 41:0.1667 42:0.1667 43:0.1667 44:0.1667 45:0.1667 46:0.1667 47:0.15 48:0.15 49:0.15 50:0.15 51:0.15 52:0.15 53:0.15 54:0.15 55:0.15 56:0.15 57:0.15 58:0.15 59:0.1667 60:0.15 61:0.15 62:0.15 63:0.15 64:0.15 65:0.15 66:0.15 67:0.15 68:0.15 69:0.15 70:0.15 71:0.15 72:0.15 73:0.15 74:0.15 75:0.15 76:0.15 77:0.1667 78:0.3 79:0.3 80:0.3 81:0.3 82:0.3 83:0.3 84:0.3667 85:0.45 86:0.6 87:0.6 88:0.9333 89:1 90:1 91:1 92:1 93:1 94:1 95:0.95 96:0.7 97:0.5833 98:0.6 99:0.5833 100:0.3833 101:0.3833 102:0.3833 103:0.3833 104:0.3833 105:0.2333 106:0.2167 107:0.2167 108:0.2167 109:0.2167 110:0.2167 111:0.2167 112:0.2167 113:0.2167 114:0.2333 115:0.2167 116:0.2167 117:0.2167 118:0.2333 119:0.2167 120:0.2167 121:0.2167 122:0.2167 123:0.2167 124:0.2167 125:0.1 126:0.1 127:0.1 128:0.1 129:0.1 130:0.1 131:0.1 132:0.1 133:0.1 134:0.1 135:0.1 136:0.1 137:0.1 138:0.1 139:0.1 140:0.1 141:0.1 142:0.052631579 143:0.052631579 144:0.052631579 145:0.052631579 146:0.052631579 147:0.052631579 148:0.052631579 149:0.052631579 150:0.052631579 151:0.052631579 152:0.052631579 153:0.052631579 154:0.052631579 155:0.052631579 156:0.052631579 157:0.035710842 158:0.035710842 159:0.035710842 160:0.035710842 161:0.035710842 162:0.035710842 163:0.035710842 164:0.035710842 165:0.035710842 166:0.035710842 167:0.035710842 168:0.035710842 169:0.053603763 170:0.089282462 171:0.089282462 172:0.089282462 173:0.089282462 174:0.089282462 175:0.089282462 176:0.089282462 177:0.089282462 178:0.089282462 179:0.089282462 180:0.089282462 181:0.089282462 182:0.089282462 183:0.089282462 184:0.089282462 185:0.089282462 186:0.089282462 187:0.089282462 188:0.089282462 189:0.089282462 190:0.089282462 191:0.089282462 192:0.089282462 193:0.089282462 194:0.035710842 195:0.035710842 196:0.035710842 197:0.035710842 198:0.035710842 199:0.035710842 200:0.035710842 201:0.035710842 202:0.035710842 203:0.035710842 204:0.035710842 205:0.035710842 206:0.035710842 207:0.035710842 208:0.035710842 209:0.035710842 210:0.035710842 211:0.035710842 212:0.035710842 213:0.035710842 214:0.035710842 215:0.035710842 216:0.035710842 217:0.035710842 218:0.035710842 219:0.035710842 220:0.035710842 221:0.1 222:0.1 223:0.1 224:0.1 225:0.1 226:0.1 227:0.1 228:0.1 229:0.1 230:0.1 231:0.1 232:0.1 233:0.1 234:0.1 235:0.1 236:0.1 237:0.1 238:0.2167 239:0.2167 240:0.2 241:0.2667 242:0.2667 243:0.2 244:0.2 245:0.2667 246:0.2667 247:0.2667 248:0.2667 249:0.2667 250:0.2667 251:0.2667 252:0.2667 253:0.2667 254:0.2667 255:0.2667 256:0.2667 257:0.2667 258:0.2667 259:0.4167 260:0.4167 261:0.5667 262:0.5667 263:0.5667 264:0.7167 265:0.7167 266:1 267:1 268:1 269:1 270:1 271:1 272:1 273:0.9833 274:0.8333 275:0.6667 276:0.4833 277:0.4833 278:0.4833 279:0.4833 280:0.4667 281:0.4333 282:0.3833 283:0.3667 284:0.1833 285:0.1667 286:0.1667 287:0.1667 288:0.1667 289:0.1667 290:0.1667 291:0.1667 292:0.1667 293:0.1667 294:0.1667 295:0.1667 296:0.1667 297:0.1667 298:0.1667 299:0.1667 300:0.15 301:0.15 302:0.15 303:0.1667 304:0.1667 305:0.1667 306:0.15 307:0.15 308:0.15 309:0.15 310:0.15 311:0.1667 312:0.15 313:0.1667 314:0.15 315:0.1667 316:0.1667 317:0.15 318:0.15 319:0.1667 320:0.15 321:0.1667 322:0.15 323:0.15 324:0.15 325:0.15 326:0.15 327:0.1667 328:0.1667 329:0.1667 330:0.15 331:0.15 332:0.15 333:0.1667 334:0.1667 335:0.1667 336:0.1667 337:0.1667 338:0.1667 339:0.15 340:0.1667 341:0.1667 342:0.1667 343:0.1667 344:0.1667 345:0.1667 346:0.1667 347:0.1667 348:0.1833 349:0.1833 350:0.1833 351:0.1833 352:0.1667 353:0.1667 354:0.2 355:0.2 356:0.2 357:0.2 358:0.2 359:0.2167 360:0.2167
|
||||
2 1:0.2833 2:0.2833 3:0.3833 4:0.3833 5:0.3833 6:0.3833 7:0.4 8:0.4 9:0.4 10:0.4833 11:0.4833 12:0.5333 13:0.5667 14:0.6 15:0.45 16:0.4333 17:0.45 18:0.4333 19:0.45 20:0.3333 21:0.1167 22:0.1167 23:0.1167 24:0.1167 25:0.1333 26:0.1333 27:0.1333 28:0.1167 29:0.1167 30:0.1167 31:0.1167 32:0.1167 33:0.1167 34:0.1167 35:0.1 36:0.1 37:0.1167 38:0.1167 39:0.1167 40:0.1167 41:0.1167 42:0.1167 43:0.1167 44:0.1167 45:0.1167 46:0.1167 47:0.1167 48:0.1167 49:0.1167 50:0.1167 51:0.1167 52:0.1167 53:0.1167 54:0.1167 55:0.1167 56:0.1167 57:0.1167 58:0.1167 59:0.1167 60:0.1167 61:0.1167 62:0.1167 63:0.1167 64:0.1167 65:0.1167 66:0.1167 67:0.1 68:0.1 69:0.1167 70:0.1167 71:0.1167 72:0.25 73:0.25 74:0.25 75:0.25 76:0.25 77:0.25 78:0.25 79:0.25 80:0.25 81:0.25 82:0.2667 83:0.25 84:0.25 85:0.25 86:0.3167 87:0.8833 88:0.8833 89:1 90:1 91:1 92:1 93:1 94:1 95:0.9 96:0.6667 97:0.55 98:0.55 99:0.55 100:0.3667 101:0.35 102:0.35 103:0.35 104:0.35 105:0.35 106:0.35 107:0.35 108:0.35 109:0.1833 110:0.1833 111:0.1833 112:0.35 113:0.35 114:0.1833 115:0.1833 116:0.2 117:0.3833 118:0.4 119:0.1833 120:0.2 121:0.2 122:0.3833 123:0.1833 124:0.1833 125:0.1833 126:0.4 127:0.3833 128:0.1833 129:0.1833 130:0.1833 131:0.2167 132:0.2167 133:0.2167 134:0.1833 135:0.1833 136:0.1833 137:0.1833 138:0.1833 139:0.1667 140:0.08333 141:0.08333 142:0.035084211 143:0.035084211 144:0.035084211 145:0.035084211 146:0.035084211 147:0.035084211 148:0.035084211 149:0.035084211 150:0.035084211 151:0.035084211 152:0.035084211 153:0.035084211 154:0.035084211 155:0.035084211 156:0.035084211 157:0.017850064 158:0.017850064 159:0.017850064 160:0.017850064 161:0.017850064 162:0.017850064 163:0.017850064 164:0.017850064 165:0.017850064 166:0.017850064 167:0.017850064 168:0.017850064 169:0.017850064 170:0.017850064 171:0.017850064 172:0.017850064 173:0.017850064 174:0.017850064 175:0.017850064 176:0.017850064 177:0.017850064 178:0.017850064 179:0.017850064 180:0.017850064 181:0.017850064 182:0.017850064 183:0.017850064 184:0.017850064 185:0.017850064 186:0.017850064 187:0.017850064 188:0.017850064 189:0.017850064 190:0.017850064 191:0.017850064 192:0.017850064 193:0.017850064 194:0.017850064 195:0.089282462 196:0.089282462 197:0.089282462 198:0.089282462 199:0.089282462 200:0.089282462 201:0.089282462 202:0.089282462 203:0.089282462 204:0.089282462 205:0.089282462 206:0.089282462 207:0.089282462 208:0.089282462 209:0.089282462 210:0.089282462 211:0.089282462 212:0.089282462 213:0.089282462 214:0.089282462 215:0.089282462 216:0.089282462 217:0.089282462 218:0.089282462 219:0.089282462 220:0.089282462 221:0.15 222:0.15 223:0.15 224:0.15 225:0.15 226:0.15 227:0.15 228:0.15 229:0.15 230:0.15 231:0.15 232:0.15 233:0.15 234:0.15 235:0.15 236:0.15 237:0.15 238:0.15 239:0.15 240:0.15 241:0.15 242:0.15 243:0.2 244:0.2 245:0.3 246:0.3 247:0.3 248:0.3 249:0.3 250:0.3 251:0.3 252:0.3 253:0.3 254:0.3 255:0.3 256:0.3 257:0.3 258:0.3667 259:0.3667 260:0.3833 261:0.45 262:0.4667 263:0.6 264:0.6167 265:0.7333 266:1 267:1 268:1 269:1 270:1 271:1 272:1 273:1 274:0.8 275:0.7 276:0.5333 277:0.5333 278:0.5333 279:0.5333 280:0.4667 281:0.4333 282:0.2167 283:0.2 284:0.2 285:0.2 286:0.2 287:0.2 288:0.2 289:0.2 290:0.2 291:0.2 292:0.2 293:0.2 294:0.1833 295:0.1833 296:0.1833 297:0.1833 298:0.1833 299:0.1833 300:0.1833 301:0.1833 302:0.1833 303:0.1833 304:0.1833 305:0.1833 306:0.1833 307:0.1833 308:0.1833 309:0.1833 310:0.1833 311:0.1833 312:0.1833 313:0.1833 314:0.1833 315:0.1833 316:0.1833 317:0.1833 318:0.1833 319:0.1833 320:0.2 321:0.2 322:0.2 323:0.2 324:0.2 325:0.1833 326:0.1833 327:0.2 328:0.2 329:0.2 330:0.2 331:0.2 332:0.1833 333:0.2 334:0.2 335:0.2 336:0.2 337:0.2 338:0.2 339:0.2 340:0.2 341:0.2 342:0.2 343:0.2 344:0.2 345:0.2 346:0.2167 347:0.2167 348:0.2167 349:0.2167 350:0.2167 351:0.2333 352:0.2333 353:0.2333 354:0.2333 355:0.2333 356:0.25 357:0.25 358:0.25 359:0.25 360:0.2833
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|
||||
-0.4149747376290368 1:0.1667 2:0.1667 3:0.1667 4:0.1667 5:0.1667 6:0.1667 7:0.1667 8:0.1667 9:0.1667 10:0.1667 11:0.1667 12:0.1667 13:0.1667 14:0.1667 15:0.1667 16:0.1667 17:0.1667 18:0.1667 19:0.1667 20:0.1667 21:0.1667 22:0.1667 23:0.1667 24:0.1667 25:0.1667 26:0.1667 27:0.1667 28:0.1667 29:0.1667 30:0.1667 31:0.1667 32:0.1833 33:0.1833 34:0.1833 35:0.1833 36:0.1833 37:0.1833 38:0.1833 39:0.1833 40:0.1833 41:0.1667 42:0.1667 43:0.1667 44:0.1833 45:0.1833 46:0.1833 47:0.1833 48:0.1833 49:0.1833 50:0.2 51:0.2 52:0.2 53:0.2 54:0.2167 55:0.2167 56:0.2167 57:0.2333 58:0.2333 59:0.2333 60:0.25 61:0.25 62:0.25 63:0.2667 64:0.2833 65:0.2833 66:0.3 67:0.3 68:0.3167 69:0.4833 70:0.4833 71:0.4833 72:0.4833 73:0.4833 74:0.4833 75:0.5 76:0.5 77:0.5833 78:0.65 79:0.75 80:0.75 81:1 82:1 83:1 84:1 85:0.6833 86:0.6833 87:0.6833 88:0.6833 89:0.6833 90:0.6833 91:0.6833 92:0.6833 93:0.6833 94:0.6833 95:0.6833 96:0.7 97:0.7 98:0.6167 99:0.55 100:0.55 101:0.5167 102:0.4833 103:0.4333 104:0.4 105:0.3667 106:0.3667 107:0.3667 108:0.3167 109:0.3 110:0.3 111:0.3 112:0.3 113:0.2833 114:0.2833 115:0.2667 116:0.25 117:0.25 118:0.2333 119:0.2333 120:0.2333 121:0.2333 122:0.2333 123:0.2 124:0.2 125:0.2 126:0.1833 127:0.1833 128:0.1833 129:0.1833 130:0.1833 131:0.1833 132:0.1833 133:0.1833 134:0.1833 135:0.1833 136:0.1833 137:0.1833 138:0.1833 139:0.1667 140:0.1667 141:0.1667 142:0.12284211 143:0.12284211 144:0.12284211 145:0.12284211 146:0.12284211 147:0.12284211 148:0.12284211 149:0.10526316 150:0.10526316 151:0.10526316 152:0.10526316 153:0.10526316 154:0.10526316 155:0.10526316 156:0.10526316 157:0.089282462 158:0.089282462 159:0.089282462 160:0.089282462 161:0.089282462 162:0.089282462 163:0.089282462 164:0.089282462 165:0.089282462 166:0.089282462 167:0.089282462 168:0.089282462 169:0.089282462 170:0.089282462 171:0.089282462 172:0.089282462 173:0.089282462 174:0.089282462 175:0.089282462 176:0.089282462 177:0.089282462 178:0.089282462 179:0.089282462 180:0.089282462 181:0.089282462 182:0.089282462 183:0.089282462 184:0.089282462 185:0.089282462 186:0.089282462 187:0.089282462 188:0.089282462 189:0.089282462 190:0.089282462 191:0.089282462 192:0.089282462 193:0.089282462 194:0.089282462 195:0.089282462 196:0.089282462 197:0.089282462 198:0.089282462 199:0.089282462 200:0.089282462 201:0.089282462 202:0.089282462 203:0.089282462 204:0.089282462 205:0.089282462 206:0.089282462 207:0.089282462 208:0.089282462 209:0.089282462 210:0.089282462 211:0.089282462 212:0.089282462 213:0.089282462 214:0.10717538 215:0.10717538 216:0.10717538 217:0.10717538 218:0.10717538 219:0.10717538 220:0.10717538 221:0.1667 222:0.1667 223:0.1667 224:0.1833 225:0.1833 226:0.1833 227:0.1833 228:0.1833 229:0.2167 230:0.2167 231:0.2167 232:0.2333 233:0.2333 234:0.2333 235:0.45 236:0.6333 237:0.6333 238:0.6333 239:0.6333 240:0.6333 241:0.7167 242:0.7667 243:0.8 244:0.8333 245:0.5833 246:0.5667 247:0.5667 248:0.5667 249:0.5667 250:0.5667 251:0.5667 252:0.5667 253:0.5667 254:0.5667 255:0.5667 256:0.6667 257:0.7167 258:0.7667 259:0.9167 260:1 261:1 262:1 263:1 264:1 265:1 266:1 267:1 268:1 269:1 270:1 271:1 272:1 273:0.7167 274:0.6667 275:0.6667 276:0.6667 277:0.6667 278:0.6667 279:0.3 280:0.2833 281:0.2833 282:0.2833 283:0.2833 284:0.1833 285:0.1667 286:0.15 287:0.15 288:0.15 289:0.15 290:0.15 291:0.15 292:0.15 293:0.15 294:0.15 295:0.15 296:0.15 297:0.15 298:0.15 299:0.15 300:0.15 301:0.15 302:0.15 303:0.1667 304:0.15 305:0.15 306:0.15 307:0.15 308:0.15 309:0.15 310:0.15 311:0.15 312:0.15 313:0.15 314:0.15 315:0.15 316:0.1667 317:0.1833 318:0.1833 319:0.2 320:0.2 321:0.2 322:0.1833 323:0.1833 324:0.1833 325:0.1833 326:0.1833 327:0.1833 328:0.1833 329:0.1833 330:0.1833 331:0.1667 332:0.1667 333:0.1667 334:0.1667 335:0.1667 336:0.1667 337:0.1667 338:0.1667 339:0.1667 340:0.1667 341:0.1667 342:0.1667 343:0.1667 344:0.1667 345:0.1667 346:0.1667 347:0.1667 348:0.1667 349:0.1667 350:0.1667 351:0.1667 352:0.1667 353:0.1667 354:0.1667 355:0.1667 356:0.1667 357:0.1667 358:0.1667 359:0.1667 360:0.1667
|
||||
|
|
@ -0,0 +1,136 @@
|
|||
/**
|
||||
* @file
|
||||
* @brief Representation of a 3D point
|
||||
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||||
*/
|
||||
|
||||
#ifndef __POINT_H__
|
||||
#define __POINT_H__
|
||||
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
using std::ostream;
|
||||
using std::istream;
|
||||
|
||||
#include <stdexcept>
|
||||
using std::runtime_error;
|
||||
|
||||
/**
|
||||
* @brief Representation of a point in 3D space
|
||||
*/
|
||||
class Point {
|
||||
|
||||
public:
|
||||
/**
|
||||
* Default constructor
|
||||
*/
|
||||
inline Point() { x = y = z = 0.0; point_id = 0; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0; rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;};
|
||||
/**
|
||||
* Copy constructor
|
||||
*/
|
||||
inline Point(const Point& p) { x = p.x; y = p.y; z = p.z; type = p.type; point_id = p.point_id;
|
||||
reflectance = p.reflectance; amplitude = p.amplitude; deviation = p.deviation; rgb[0] = p.rgb[0]; rgb[1] = p.rgb[1]; rgb[2] = p.rgb[2];};
|
||||
/**
|
||||
* Constructor with an array, i.e., vecctor of coordinates
|
||||
*/
|
||||
inline Point(const double *p) { x = p[0]; y = p[1]; z = p[2]; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0;
|
||||
rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;};
|
||||
inline Point(const double *p, const char *c) { x = p[0]; y = p[1]; z = p[2]; rgb[0] = c[0]; rgb[1] = c[1]; rgb[2] = c[2];};
|
||||
|
||||
/**
|
||||
* Constructor with three double values
|
||||
*/
|
||||
inline Point(const double _x, const double _y, const double _z) { x = _x; y = _y; z = _z; };
|
||||
inline Point(const double _x, const double _y, const double _z, const char _r, const char _g, const char _b) { x = _x; y = _y; z = _z; rgb[0] = _r; rgb[1] = _g; rgb[2] = _b;};
|
||||
|
||||
static inline Point cross(const Point &X, const Point &Y) {
|
||||
Point res;
|
||||
res.x = X.y * Y.z - X.z * Y.y;
|
||||
res.y = X.z * Y.x - X.x * Y.z;
|
||||
res.z = X.x * Y.y - X.y * Y.x;
|
||||
return res;
|
||||
};
|
||||
|
||||
static inline Point norm(const Point &p) {
|
||||
double l = sqrt(p.x*p.x + p.y*p.y + p.z*p.z);
|
||||
Point res(p.x/l, p.y/l, p.z/l);
|
||||
return res;
|
||||
};
|
||||
|
||||
inline Point operator+(const Point &p) const {
|
||||
Point res;
|
||||
res.x = x + p.x;
|
||||
res.y = y + p.y;
|
||||
res.z = z + p.z;
|
||||
return res;
|
||||
};
|
||||
|
||||
inline Point operator-(const Point &p) const {
|
||||
Point res;
|
||||
res.x = x - p.x;
|
||||
res.y = y - p.y;
|
||||
res.z = z - p.z;
|
||||
return res;
|
||||
};
|
||||
|
||||
inline Point& operator-=(const Point &p) {
|
||||
x -= p.x;
|
||||
y -= p.y;
|
||||
z -= p.z;
|
||||
return *this;
|
||||
};
|
||||
inline Point& operator+=(const Point &p) {
|
||||
x += p.x;
|
||||
y += p.y;
|
||||
z += p.z;
|
||||
return *this;
|
||||
};
|
||||
|
||||
|
||||
|
||||
inline void transform(const double alignxf[16]);
|
||||
inline double distance(const Point& p);
|
||||
inline friend ostream& operator<<(ostream& os, const Point& p);
|
||||
inline friend istream& operator>>(istream& is, Point& p);
|
||||
|
||||
// also public; set/get functions not necessary here
|
||||
/// x coordinate in 3D space
|
||||
double x;
|
||||
/// y coordinate in 3D space
|
||||
double y;
|
||||
/// z coordinate in 3D space
|
||||
double z;
|
||||
/// additional information about the point, e.g., semantic
|
||||
/// also used in veloscan for distiuguish moving or static
|
||||
int type;
|
||||
|
||||
/////////////////////////for veloslam/////////////////////////////
|
||||
double rad;
|
||||
/// tang in cylindrical coordinates for veloscan
|
||||
double tan_theta;
|
||||
// point id in points for veloscan , you can use it find point.
|
||||
long point_id;
|
||||
/////////////////////////for veloslam/////////////////////////////
|
||||
|
||||
// color information of the point between 0 and 255
|
||||
// rgb
|
||||
unsigned char rgb[3];
|
||||
|
||||
float reflectance;
|
||||
float amplitude;
|
||||
float deviation;
|
||||
};
|
||||
|
||||
|
||||
inline Point operator*(const double &v, const Point &p) {
|
||||
Point res;
|
||||
res.x = v * p.x;
|
||||
res.y = v * p.y;
|
||||
res.z = v * p.z;
|
||||
return res;
|
||||
}
|
||||
|
||||
#include "point.icc"
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,302 @@
|
|||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="8.00"
|
||||
Name="test"
|
||||
ProjectGUID="{6AC673C7-7B3F-4520-A761-647B212A4BEF}"
|
||||
Keyword="MFCProj"
|
||||
>
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"
|
||||
/>
|
||||
</Platforms>
|
||||
<ToolFiles>
|
||||
</ToolFiles>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Release"
|
||||
IntermediateDirectory=".\Release"
|
||||
ConfigurationType="1"
|
||||
InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
|
||||
UseOfMFC="2"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
TypeLibraryName=".\Release/test.tlb"
|
||||
HeaderFileName=""
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\..\include"
|
||||
PreprocessorDefinitions="NDEBUG;PREP;WIN32;_CONSOLE;ANN_NO_RANDOM"
|
||||
StringPooling="true"
|
||||
RuntimeLibrary="2"
|
||||
EnableFunctionLevelLinking="true"
|
||||
UsePrecompiledHeader="0"
|
||||
PrecompiledHeaderThrough="stdafx.h"
|
||||
PrecompiledHeaderFile=".\Release/test.pch"
|
||||
AssemblerListingLocation=".\Release/"
|
||||
ObjectFile=".\Release/"
|
||||
ProgramDataBaseFileName=".\Release/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="true"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="3081"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib"
|
||||
OutputFile="..\bin\ann_test.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="true"
|
||||
ProgramDatabaseFile=".\Release/test.pdb"
|
||||
SubSystem="1"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Debug"
|
||||
IntermediateDirectory=".\Debug"
|
||||
ConfigurationType="1"
|
||||
InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
|
||||
UseOfMFC="2"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
TypeLibraryName=".\Debug/test.tlb"
|
||||
HeaderFileName=""
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\include"
|
||||
PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;ANN_NO_RANDOM;ANN_PERF"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="0"
|
||||
PrecompiledHeaderThrough="stdafx.h"
|
||||
PrecompiledHeaderFile=".\Debug/test.pch"
|
||||
AssemblerListingLocation=".\Debug/"
|
||||
ObjectFile=".\Debug/"
|
||||
ProgramDataBaseFileName=".\Debug/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="true"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="3081"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib"
|
||||
OutputFile="..\bin\ann_test.exe"
|
||||
LinkIncremental="2"
|
||||
SuppressStartupBanner="true"
|
||||
GenerateDebugInformation="true"
|
||||
ProgramDatabaseFile=".\Debug/test.pdb"
|
||||
SubSystem="1"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
>
|
||||
<File
|
||||
RelativePath="..\..\test\ann_test.cpp"
|
||||
>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
PreprocessorDefinitions=""
|
||||
UsePrecompiledHeader="0"
|
||||
/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
UsePrecompiledHeader="0"
|
||||
/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\..\test\rand.cpp"
|
||||
>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
PreprocessorDefinitions=""
|
||||
UsePrecompiledHeader="0"
|
||||
/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
UsePrecompiledHeader="0"
|
||||
/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl"
|
||||
>
|
||||
<File
|
||||
RelativePath="..\..\test\rand.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Test Data"
|
||||
>
|
||||
<File
|
||||
RelativePath="test1.data"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="test1.in"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="test1.query"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="test2.in"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
|
||||
>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath="ReadMe.txt"
|
||||
>
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
|
|
@ -0,0 +1,429 @@
|
|||
cmake_minimum_required (VERSION 2.6.1)
|
||||
SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH})
|
||||
project (Slam6D)
|
||||
|
||||
#include_directories(OPENGL_INCLUDE_DIR)
|
||||
IF(WIN32)
|
||||
set(Boost_USE_STATIC_LIBS TRUE)
|
||||
ELSE(WIN32)
|
||||
set(Boost_USE_STATIC_LIBS FALSE)
|
||||
ENDIF(WIN32)
|
||||
|
||||
SET(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.49")
|
||||
IF(WIN32)
|
||||
# for some unknown reason no one variant works on all windows platforms
|
||||
find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED)
|
||||
ELSE(WIN32)
|
||||
find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED)
|
||||
ENDIF(WIN32)
|
||||
|
||||
if(Boost_FOUND)
|
||||
link_directories(${BOOST_LIBRARY_DIRS})
|
||||
include_directories(${Boost_INCLUDE_DIRS})
|
||||
add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
|
||||
endif()
|
||||
|
||||
#################################################
|
||||
# Declare Options and modify build accordingly ##
|
||||
#################################################
|
||||
|
||||
## FreeGLUT
|
||||
OPTION(WITH_FREEGLUT "Whether freeglut is available. This enables iterative drawing in show. ON/OFF" ON)
|
||||
|
||||
IF(WITH_FREEGLUT)
|
||||
MESSAGE(STATUS "With freeglut")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_FREEGLUT")
|
||||
ELSE(WITH_FREEGLUT)
|
||||
MESSAGE(STATUS "Without freeglut")
|
||||
ENDIF(WITH_FREEGLUT)
|
||||
|
||||
## Show
|
||||
OPTION(WITH_SHOW "Whether to build Show. This is the Visualization program of slam6d. ON/OFF" ON)
|
||||
|
||||
IF(WITH_SHOW)
|
||||
FIND_PACKAGE(OpenGL REQUIRED)
|
||||
FIND_PACKAGE(GLUT REQUIRED)
|
||||
MESSAGE(STATUS "With show")
|
||||
ELSE(WITH_SHOW)
|
||||
# SET (WITH_OCTREE_DISPLAY "ON" CACHE INTERNAL "" FORCE)
|
||||
MESSAGE(STATUS "Without show")
|
||||
ENDIF(WITH_SHOW)
|
||||
|
||||
## WXShow
|
||||
OPTION(WITH_WXSHOW "Whether to build WXShow. This is the wxwidgets variant of Show. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_WXSHOW)
|
||||
FIND_PACKAGE(OpenGL REQUIRED)
|
||||
FIND_PACKAGE(GLUT REQUIRED)
|
||||
find_package(wxWidgets COMPONENTS core base gl REQUIRED)
|
||||
# set wxWidgets_wxrc_EXECUTABLE to be ignored in the configuration
|
||||
SET (wxWidgets_wxrc_EXECUTABLE " " CACHE INTERNAL "" FORCE)
|
||||
# wxWidgets include (this will do all the magic to configure everything)
|
||||
include( ${wxWidgets_USE_FILE})
|
||||
MESSAGE(STATUS "With wxshow")
|
||||
ELSE(WITH_XWSHOW)
|
||||
MESSAGE(STATUS "Without wxshow")
|
||||
ENDIF(WITH_WXSHOW)
|
||||
|
||||
## Shapes
|
||||
OPTION(WITH_SHAPE_DETECTION "Whether to build shapes and planes executable for detecting planes. ON/OFF" OFF)
|
||||
IF(WITH_SHAPE_DETECTION)
|
||||
MESSAGE(STATUS "With shape detection")
|
||||
ELSE(WITH_SHAPE_DETECTION)
|
||||
MESSAGE(STATUS "Without shape detection")
|
||||
ENDIF(WITH_SHAPE_DETECTION)
|
||||
|
||||
## Interior reconstruction
|
||||
option(WITH_MODEL "Whether to build model executable for modelling interior environments. ON/OFF" OFF)
|
||||
|
||||
if(WITH_MODEL)
|
||||
message(STATUS "With interior reconstruction")
|
||||
else(WITH_MODEL)
|
||||
message(STATUS "Without interior reconstruction")
|
||||
endif(WITH_MODEL)
|
||||
|
||||
## Thermo
|
||||
OPTION(WITH_THERMO "Whether to build executables for mutual calibration of laser scanner and camera. ON/OFF" OFF)
|
||||
IF(WITH_THERMO)
|
||||
FIND_PACKAGE(OpenCV REQUIRED)
|
||||
add_subdirectory(3rdparty/cvblob)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob)
|
||||
MESSAGE(STATUS "With thermo")
|
||||
ELSE(WITH_THERMO)
|
||||
MESSAGE(STATUS "Without thermo")
|
||||
ENDIF(WITH_THERMO)
|
||||
|
||||
## Octree
|
||||
OPTION(WITH_OCTREE_DISPLAY "Whether to use octree display for efficiently culling scans ON/OFF" ON)
|
||||
|
||||
IF(WITH_OCTREE_DISPLAY)
|
||||
MESSAGE(STATUS "Using octree display")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_GL_POINTS")
|
||||
ELSE(WITH_OCTREE_DISPLAY)
|
||||
MESSAGE(STATUS "Using displaylists: Warning potentially much slower")
|
||||
ENDIF(WITH_OCTREE_DISPLAY)
|
||||
#SET (WITH_OCTREE_DISPLAY ${WITH_OCTREE_DISPLAY} CACHE BOOL
|
||||
#"Whether to use octree display for efficiently culling scans ON/OFF" FORCE)
|
||||
|
||||
|
||||
## Octree
|
||||
OPTION(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF)
|
||||
|
||||
IF(WITH_COMPACT_OCTREE)
|
||||
MESSAGE(STATUS "Using compact octrees")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_COMPACT_TREE")
|
||||
ELSE(WITH_COMPACT_OCTREE)
|
||||
MESSAGE(STATUS "Not using compact octreees: Warning uses more memory")
|
||||
ENDIF(WITH_COMPACT_OCTREE)
|
||||
|
||||
## Glee?
|
||||
OPTION(WITH_GLEE "Whether to use OpenGL extensions, requires glee. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_GLEE)
|
||||
MESSAGE(STATUS "Using opengl extensions")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_GLEE")
|
||||
ELSE(WITH_GLEE)
|
||||
MESSAGE(STATUS "Not using opengl extensions")
|
||||
ENDIF(WITH_GLEE)
|
||||
|
||||
## Gridder
|
||||
OPTION(WITH_GRIDDER "Whether to build the 2DGridder binary ON/OFF" OFF)
|
||||
|
||||
IF(WITH_GRIDDER)
|
||||
MESSAGE(STATUS "With 2DGridder")
|
||||
ELSE(WITH_GRIDDER)
|
||||
MESSAGE(STATUS "Without 2DGridder")
|
||||
ENDIF(WITH_GRIDDER)
|
||||
|
||||
## Dynamic VELOSLAM
|
||||
OPTION(WITH_VELOSLAM "Whether to build the Velodyne data processing (veloslam/veloshow) ON/OFF" OFF)
|
||||
|
||||
IF(WITH_VELOSLAM)
|
||||
MESSAGE(STATUS "With VELOSLAM")
|
||||
ELSE(WITH_VELOSLAM)
|
||||
MESSAGE(STATUS "Without VELOSLAM")
|
||||
ENDIF(WITH_VELOSLAM)
|
||||
|
||||
## Home-made Laserscanner
|
||||
OPTION(WITH_DAVID_3D_SCANNER "Whether to build the David scanner app for homemade laser scanners binary ON/OFF" OFF)
|
||||
|
||||
IF(WITH_DAVID_3D_SCANNER)
|
||||
MESSAGE(STATUS "With David scanner")
|
||||
ELSE(WITH_DAVID_3D_SCANNER)
|
||||
MESSAGE(STATUS "Without David scanner")
|
||||
ENDIF(WITH_DAVID_3D_SCANNER)
|
||||
|
||||
## Tools
|
||||
|
||||
OPTION(WITH_TOOLS "Whether to build additional tools like convergence frame_to_graph etc. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_TOOLS)
|
||||
MESSAGE(STATUS "With Tools")
|
||||
ELSE(WITH_TOOLS)
|
||||
MESSAGE(STATUS "Without Tools")
|
||||
ENDIF(WITH_TOOLS)
|
||||
|
||||
|
||||
|
||||
## Scan reduction
|
||||
OPTION(WITH_SCAN_REDUCTION "Whether to build the scan reduction binary scan_red ON/OFF" OFF)
|
||||
|
||||
IF(WITH_SCAN_REDUCTION)
|
||||
MESSAGE(STATUS "With scan_red")
|
||||
ELSE(WITH_SCAN_REDUCTION)
|
||||
MESSAGE(STATUS "Without scan_red")
|
||||
ENDIF(WITH_SCAN_REDUCTION)
|
||||
|
||||
## Scan difference
|
||||
OPTION(WITH_SCAN_DIFF "Whether to build the scan_diff binary ON/OFF" OFF)
|
||||
|
||||
IF(WITH_SCAN_DIFF)
|
||||
MESSAGE(STATUS "With scan_diff")
|
||||
ELSE(WITH_SCAN_DIFF)
|
||||
MESSAGE(STATUS "Without scan_diff")
|
||||
ENDIF(WITH_SCAN_DIFF)
|
||||
|
||||
|
||||
## CAD matching
|
||||
OPTION (WITH_CAD "Wether to build with CAD import lib ON/OFF" OFF)
|
||||
|
||||
IF (WITH_CAD)
|
||||
MESSAGE (STATUS "With CAD import")
|
||||
find_package (Boost COMPONENTS program_options filesystem REQUIRED)
|
||||
ELSE (WITH_CAD)
|
||||
MESSAGE (STATUS "Without CAD import")
|
||||
ENDIF (WITH_CAD)
|
||||
|
||||
## RivLib
|
||||
OPTION(WITH_RIVLIB "Whether the RIEGL rivlib is present ON/OFF" OFF)
|
||||
|
||||
IF(WITH_RIVLIB)
|
||||
MESSAGE(STATUS "Compiling a scan IO for RXP files")
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/3rdparty)
|
||||
SET(RIEGL_DIR ${CMAKE_SOURCE_DIR}/3rdparty/riegl/)
|
||||
IF(WIN32)
|
||||
SET(RIVLIB ${RIEGL_DIR}libscanlib-mt.lib ${RIEGL_DIR}libctrllib-mt.lib ${RIEGL_DIR}libboost_system-mt-1_43_0-vns.lib)
|
||||
ELSE(WIN32)
|
||||
SET(RIVLIB ${RIEGL_DIR}libscanlib-mt-s.a ${RIEGL_DIR}libctrllib-mt-s.a ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread)
|
||||
ENDIF(WIN32)
|
||||
FIND_PACKAGE(LibXml2 )
|
||||
|
||||
ELSE(WITH_RIVLIB)
|
||||
MESSAGE(STATUS "Do NOT compile a scan IO for RXP")
|
||||
ENDIF(WITH_RIVLIB)
|
||||
|
||||
## CUDA support, TODO depend on CUDA_FIND
|
||||
OPTION(WITH_CUDA "Compile with CUDA support" OFF)
|
||||
IF(WITH_CUDA)
|
||||
MESSAGE(STATUS "Compiling WITH CUDA support")
|
||||
FIND_PACKAGE(CUDA)
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CUDA")
|
||||
ELSE(WITH_CUDA)
|
||||
MESSAGE(STATUS "Compiling WITHOUT CUDA support")
|
||||
ENDIF(WITH_CUDA)
|
||||
|
||||
## PMD
|
||||
OPTION(WITH_PMD "Whether to build the PMD tools like grabVideoAnd3D calibrate etc. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_PMD)
|
||||
FIND_PACKAGE(OpenGL REQUIRED)
|
||||
MESSAGE(STATUS "With Tools")
|
||||
ELSE(WITH_PMD)
|
||||
MESSAGE(STATUS "Without Tools")
|
||||
ENDIF(WITH_PMD)
|
||||
|
||||
## FBR
|
||||
OPTION(WITH_FBR "Whether to compile feature based registration. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_FBR)
|
||||
MESSAGE(STATUS "With FBR ")
|
||||
ELSE(WITH_FBR)
|
||||
MESSAGE(STATUS "Without FBR")
|
||||
ENDIF(WITH_FBR)
|
||||
|
||||
## Special treatment for system specifics
|
||||
IF(APPLE)
|
||||
add_definitions(-Dfopen64=fopen)
|
||||
ENDIF(APPLE)
|
||||
|
||||
## Multiple Cores
|
||||
IF(APPLE)
|
||||
SET(PROCESSOR_COUNT 2)
|
||||
ELSE(APPLE)
|
||||
INCLUDE(CountProcessors)
|
||||
SET(NUMBER_OF_CPUS "${PROCESSOR_COUNT}" CACHE STRING "The number of processors to use (default: ${PROCESSOR_COUNT})" )
|
||||
ENDIF(APPLE)
|
||||
|
||||
# OPEN
|
||||
FIND_PACKAGE(OpenMP)
|
||||
IF(OPENMP_FOUND)
|
||||
OPTION(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON)
|
||||
ENDIF(OPENMP_FOUND)
|
||||
|
||||
IF(OPENMP_FOUND AND WITH_OPENMP)
|
||||
MESSAGE(STATUS "With OpenMP ")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${PROCESSOR_COUNT} -DOPENMP_NUM_THREADS=${NUMBER_OF_CPUS} ${OpenMP_CXX_FLAGS} -DOPENMP")
|
||||
ELSE(OPENMP_FOUND AND WITH_OPENMP)
|
||||
MESSAGE(STATUS "Without OpenMP")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=1 -DOPENMP_NUM_THREADS=1")
|
||||
ENDIF(OPENMP_FOUND AND WITH_OPENMP)
|
||||
|
||||
## TORO
|
||||
OPTION(WITH_TORO "Whether to use TORO. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_TORO)
|
||||
IF(WIN32)
|
||||
SET(Subversion_SVN_EXECUTABLE "svn.exe")
|
||||
ENDIF(WIN32)
|
||||
cmake_minimum_required (VERSION 2.8)
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(toro3d
|
||||
SVN_REPOSITORY https://www.openslam.org/data/svn/toro/trunk
|
||||
SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/toro"
|
||||
CONFIGURE_COMMAND ""
|
||||
BUILD_COMMAND make
|
||||
BUILD_IN_SOURCE 1
|
||||
INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/toro/toro3d ${CMAKE_SOURCE_DIR}/bin/
|
||||
)
|
||||
MESSAGE(STATUS "With TORO ")
|
||||
ELSE(WITH_TORO)
|
||||
MESSAGE(STATUS "Without TORO")
|
||||
ENDIF(WITH_TORO)
|
||||
|
||||
|
||||
## HOGMAN
|
||||
OPTION(WITH_HOGMAN "Whether to use HOGMAN. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_HOGMAN)
|
||||
# dependant on libqt4-devi
|
||||
find_package( Qt4 REQUIRED)
|
||||
# CMake of earlier versions do not have external project capabilities
|
||||
cmake_minimum_required (VERSION 2.8)
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(hogman
|
||||
SVN_REPOSITORY https://svn.openslam.org/data/svn/hog-man/trunk
|
||||
SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/hogman"
|
||||
CONFIGURE_COMMAND <SOURCE_DIR>/configure --prefix=<INSTALL_DIR>
|
||||
BUILD_COMMAND LD_LIBRARY_PATH=${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib make
|
||||
BUILD_IN_SOURCE 1
|
||||
INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/bin/hogman3d ${CMAKE_SOURCE_DIR}/bin/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_csparse.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer_hogman.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_viewer.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_math.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_qglviewer.so ${CMAKE_SOURCE_DIR}/lib/ &&
|
||||
cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_stuff.so ${CMAKE_SOURCE_DIR}/lib/
|
||||
)
|
||||
MESSAGE(STATUS "With HOGMAN: Currently hogman needs to be compiled manually, please make sure hogman3d is somewhere in your PATH")
|
||||
ELSE(WITH_HOGMAN)
|
||||
MESSAGE(STATUS "Without HOGMAN")
|
||||
ENDIF(WITH_HOGMAN)
|
||||
|
||||
OPTION(EXPORT_SHARED_LIBS "Whether to build additional shared libraries for use in other projects. ON/OFF" OFF)
|
||||
|
||||
IF(EXPORT_SHARED_LIBS)
|
||||
MESSAGE(STATUS "exporting additional libraries")
|
||||
ELSE(EXPORT_SHARED_LIBS)
|
||||
MESSAGE(STATUS "not exporting libraries")
|
||||
ENDIF(EXPORT_SHARED_LIBS)
|
||||
|
||||
OPTION(WITH_METRICS "Whether to use metrics in slam6d. ON/OFF" OFF)
|
||||
|
||||
IF(WITH_METRICS)
|
||||
MESSAGE(STATUS "With metrics in slam6d.")
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_METRICS")
|
||||
ELSE(WITH_METRICS)
|
||||
MESSAGE(STATUS "Without metrics in slam6d.")
|
||||
ENDIF(WITH_METRICS)
|
||||
|
||||
IF(WIN32)
|
||||
SET(ADDITIONAL_CFLAGS "-O2" CACHE STRING"Additional flags given to the compiler ()" )
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/x64)
|
||||
add_library(XGetopt STATIC ${CMAKE_SOURCE_DIR}/3rdparty/windows/XGetopt.cpp)
|
||||
SET(CMAKE_STATIC_LIBRARY_SUFFIX "32.lib")
|
||||
ELSE(WIN32)
|
||||
SET(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -finline-functions -Wno-unused-but-set-variable -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING"Additional flags given to the compiler (-O3 -Wall -finline-functions -Wno-write-strings)" )
|
||||
# Add include path for OpenGL without GL/-prefix
|
||||
# to avoid the include incompatibility between MACOS
|
||||
# and linux
|
||||
FIND_PATH(OPENGL_INC gl.h /usr/include/GL)
|
||||
include_directories(${OPENGL_INC})
|
||||
ENDIF(WIN32)
|
||||
|
||||
# Add OpenGL includes for MACOS if needed
|
||||
# The OSX OpenGL frameworks natively supports freeglut extensions
|
||||
IF(APPLE)
|
||||
include_directories(/System/Library/Frameworks/GLUT.framework/Headers)
|
||||
include_directories(/System/Library/Frameworks/OpenGL.framework/Headers)
|
||||
ENDIF(APPLE)
|
||||
|
||||
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}")
|
||||
|
||||
# Hide CMake variables
|
||||
SET (CMAKE_INSTALL_PREFIX "/usr/local" CACHE INTERNAL "" FORCE)
|
||||
SET (CMAKE_BUILD_TYPE "" CACHE INTERNAL "" FORCE)
|
||||
|
||||
|
||||
# Set output directories for libraries and executables
|
||||
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib )
|
||||
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/obj )
|
||||
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin )
|
||||
|
||||
# Set include and link dirs ...
|
||||
include_directories(${CMAKE_SOURCE_DIR}/include)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/glui)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/wxthings/include/)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/include)
|
||||
include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/obj)
|
||||
link_directories(${CMAKE_SOURCE_DIR}/lib)
|
||||
|
||||
add_subdirectory(3rdparty)
|
||||
add_subdirectory(src/slam6d)
|
||||
add_subdirectory(src/scanio)
|
||||
add_subdirectory(src/scanserver)
|
||||
add_subdirectory(src/veloslam)
|
||||
add_subdirectory(src/show)
|
||||
add_subdirectory(src/grid)
|
||||
add_subdirectory(src/pmd)
|
||||
add_subdirectory(src/shapes)
|
||||
add_subdirectory(src/thermo)
|
||||
IF(WITH_FBR)
|
||||
add_subdirectory(src/slam6d/fbr)
|
||||
ENDIF(WITH_FBR)
|
||||
add_subdirectory(src/scanner)
|
||||
add_subdirectory(src/model)
|
||||
|
||||
IF(EXPORT_SHARED_LIBS)
|
||||
## Compiling a shared library containing all of the project
|
||||
add_library(slam SHARED src/slam6d/icp6D.cc)
|
||||
target_link_libraries(slam scanlib_s ANN_s sparse_s newmat_s)
|
||||
ENDIF(EXPORT_SHARED_LIBS)
|
||||
|
||||
MESSAGE (STATUS "Build environment is set up!")
|
||||
|
||||
|
||||
# hack to "circumvent" Debug and Release folders that are created under visual studio
|
||||
# this is why the INSTALL target has to be used in visual studio
|
||||
IF(MSVC)
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Release/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
||||
ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
||||
ENDIF(MSVC)
|
||||
Some files were not shown because too many files have changed in this diff Show more
Loading…
Reference in a new issue