update svn to r765

This commit is contained in:
Razvan Mihalyi 2012-11-13 16:49:04 +01:00
parent c559c1eec9
commit 1268ff8dc2
7 changed files with 838 additions and 0 deletions

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#ifndef __PAIRINGMODE_H__
#define __PAIRINGMODE_H__
enum PairingMode {
CLOSEST_POINT,
CLOSEST_POINT_ALONG_NORMAL,
CLOSEST_PLANE
};
#endif // PAIRINGMODE_H

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#ifndef NORMALS_H
#define NORMALS_H
#include <vector>
#include <slam6d/scan.h>
#if (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
#include <opencv/cv.h>
#include <opencv/highgui.h>
#else
#include <opencv2/opencv.hpp>
#endif
void calculateNormalsAKNN(std::vector<Point> &normals,vector<Point> &points, int k,
const double _rPos[3] );
void calculateNormalsAdaptiveAKNN(vector<Point> &normals,vector<Point> &points,
int kmin, int kmax, const double _rPos[3]);
void calculateNormalsPANORAMA(vector<Point> &normals,
vector<Point> &points,
vector< vector< vector< cv::Vec3f > > > extendedMap,
const double _rPos[3]);
// TODO should be exported to separate library
/*
* retrieve a cv::Mat with x,y,z,r from a scan object
* functionality borrowed from scan_cv::convertScanToMat but this function
* does not allow a scanserver to be used, prints to stdout and can only
* handle a single scan
*/
static inline cv::Mat scan2mat(Scan *source)
{
DataXYZ xyz = source->get("xyz");
DataReflectance xyz_reflectance = source->get("reflectance");
unsigned int nPoints = xyz.size();
cv::Mat scan(nPoints,1,CV_32FC(4));
scan = cv::Scalar::all(0);
cv::MatIterator_<cv::Vec4f> it;
it = scan.begin<cv::Vec4f>();
for(unsigned int i = 0; i < nPoints; i++){
float x, y, z, reflectance;
x = xyz[i][0];
y = xyz[i][1];
z = xyz[i][2];
if(xyz_reflectance.size() != 0)
{
reflectance = xyz_reflectance[i];
//normalize the reflectance
reflectance += 32;
reflectance /= 64;
reflectance -= 0.2;
reflectance /= 0.3;
if (reflectance < 0) reflectance = 0;
if (reflectance > 1) reflectance = 1;
}
(*it)[0] = x;
(*it)[1] = y;
(*it)[2] = z;
if(xyz_reflectance.size() != 0)
(*it)[3] = reflectance;
else
(*it)[3] = 0;
++it;
}
return scan;
}
// TODO should be exported to separate library
/*
* convert a matrix of float values (range image) to a matrix of unsigned
* eight bit characters using different techniques
*/
static inline cv::Mat float2uchar(cv::Mat &source, bool logarithm, float cutoff)
{
cv::Mat result(source.size(), CV_8U, cv::Scalar::all(0));
float max = 0;
// find maximum value
if (cutoff == 0.0) {
// without cutoff, just iterate through all values to find the largest
for (cv::MatIterator_<float> it = source.begin<float>();
it != source.end<float>(); ++it) {
float val = *it;
if (val > max) {
max = val;
}
}
} else {
// when a cutoff is specified, sort all the points by value and then
// specify the max so that <cutoff> values are larger than it
vector<float> sorted(source.cols*source.rows);
int i = 0;
for (cv::MatIterator_<float> it = source.begin<float>();
it != source.end<float>(); ++it, ++i) {
sorted[i] = *it;
}
std::sort(sorted.begin(), sorted.end());
max = sorted[(int)(source.cols*source.rows*(1.0-cutoff))];
cout << "A cutoff of " << cutoff << " resulted in a max value of " << max << endl;
}
cv::MatIterator_<float> src = source.begin<float>();
cv::MatIterator_<uchar> dst = result.begin<uchar>();
cv::MatIterator_<float> end = source.end<float>();
if (logarithm) {
// stretch values from 0 to max logarithmically over 0 to 255
// using the logarithm allows to represent smaller values with more
// precision and larger values with less
max = log(max+1);
for (; src != end; ++src, ++dst) {
float val = (log(*src+1)*255.0)/max;
if (val > 255)
*dst = 255;
else
*dst = (uchar)val;
}
} else {
// stretch values from 0 to max linearly over 0 to 255
for (; src != end; ++src, ++dst) {
float val = (*src*255.0)/max;
if (val > 255)
*dst = 255;
else
*dst = (uchar)val;
}
}
return result;
}
#endif // NORMALS_H

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/**
*
* Copyright (C) Jacobs University Bremen
*
* @author Vaibhav Kumar Mehta
* @file calc_normals.cc
*/
#include <iostream>
#include <string>
#include <fstream>
#include <errno.h>
#include <boost/program_options.hpp>
#include <slam6d/io_types.h>
#include <slam6d/globals.icc>
#include <slam6d/scan.h>
#include "slam6d/fbr/panorama.h"
#include <scanserver/clientInterface.h>
#include <normals/normals.h>
#ifdef _MSC_VER
#define strcasecmp _stricmp
#define strncasecmp _strnicmp
#else
#include <strings.h>
#endif
namespace po = boost::program_options;
using namespace std;
enum normal_method {AKNN, ADAPTIVE_AKNN, PANORAMA, PANORAMA_FAST};
/*
* validates normal calculation method specification
*/
void validate(boost::any& v, const std::vector<std::string>& values,
normal_method*, int) {
if (values.size() == 0)
throw std::runtime_error("Invalid model specification");
string arg = values.at(0);
if(strcasecmp(arg.c_str(), "AKNN") == 0) v = AKNN;
else if(strcasecmp(arg.c_str(), "ADAPTIVE_AKNN") == 0) v = ADAPTIVE_AKNN;
else if(strcasecmp(arg.c_str(), "PANORAMA") == 0) v = PANORAMA;
else if(strcasecmp(arg.c_str(), "PANORAMA_FAST") == 0) v = PANORAMA_FAST;
else throw std::runtime_error(std::string("normal calculation method ") + arg + std::string(" is unknown"));
}
/// validate IO types
void validate(boost::any& v, const std::vector<std::string>& values,
IOType*, int) {
if (values.size() == 0)
throw std::runtime_error("Invalid model specification");
string arg = values.at(0);
try {
v = formatname_to_io_type(arg.c_str());
} catch (...) { // runtime_error
throw std::runtime_error("Format " + arg + " unknown.");
}
}
/// Parse commandline options
void parse_options(int argc, char **argv, int &start, int &end, bool &scanserver, int &max_dist, int &min_dist, string &dir,
IOType &iotype, int &k1, int &k2, normal_method &ntype,int &width,int &height)
{
/// ----------------------------------
/// set up program commandline options
/// ----------------------------------
po::options_description cmd_options("Usage: calculateNormals <options> where options are (default values in brackets)");
cmd_options.add_options()
("help,?", "Display this help message")
("start,s", po::value<int>(&start)->default_value(0), "Start at scan number <arg>")
("end,e", po::value<int>(&end)->default_value(-1), "Stop at scan number <arg>")
("scanserver,S", po::value<bool>(&scanserver)->default_value(false), "Use the scanserver as an input method")
("format,f", po::value<IOType>(&iotype)->default_value(UOS),
"using shared library <arg> for input. (chose format from [uos|uosr|uos_map|"
"uos_rgb|uos_frames|uos_map_frames|old|rts|rts_map|ifp|"
"riegl_txt|riegl_rgb|riegl_bin|zahn|ply])")
("max,M", po::value<int>(&max_dist)->default_value(-1),"neglegt all data points with a distance larger than <arg> 'units")
("min,m", po::value<int>(&min_dist)->default_value(-1),"neglegt all data points with a distance smaller than <arg> 'units")
("normal,g", po::value<normal_method>(&ntype)->default_value(AKNN), "normal calculation method "
"(AKNN, ADAPTIVE_AKNN, PANORAMA, PANORAMA_FAST)")
("K1,k", po::value<int>(&k1)->default_value(20), "<arg> value of K value used in the nearest neighbor search of ANN or" "kmin for k-adaptation")
("K2,K", po::value<int>(&k2)->default_value(20), "<arg> value of Kmax for k-adaptation")
("width,w", po::value<int>(&width)->default_value(1280),"width of panorama image")
("height,h", po::value<int>(&height)->default_value(960),"height of panorama image")
;
po::options_description hidden("Hidden options");
hidden.add_options()
("input-dir", po::value<string>(&dir), "input dir");
po::positional_options_description pd;
pd.add("input-dir", 1);
po::options_description all;
all.add(cmd_options).add(hidden);
po::variables_map vmap;
po::store(po::command_line_parser(argc, argv).options(all).positional(pd).run(), vmap);
po::notify(vmap);
if (vmap.count("help")) {
cout << cmd_options << endl << endl;
cout << "SAMPLE COMMAND FOR CALCULATING NORMALS" << endl;
cout << " bin/normals -s 0 -e 0 -f UOS -g AKNN -k 20 dat/" <<endl;
cout << endl << endl;
cout << "SAMPLE COMMAND FOR VIEWING CALCULATING NORMALS IN RGB SPACE" << endl;
cout << " bin/show -c -f UOS_RGB dat/normals/" << endl;
exit(-1);
}
// read scan path
if (dir[dir.length()-1] != '/') dir = dir + "/";
}
/// Write a pose file with the specofied name
void writePoseFiles(string dir, const double* rPos, const double* rPosTheta,int scanNumber)
{
string poseFileName = dir + "/scan" + to_string(scanNumber, 3) + ".pose";
ofstream posout(poseFileName.c_str());
posout << rPos[0] << " "
<< rPos[1] << " "
<< rPos[2] << endl
<< deg(rPosTheta[0]) << " "
<< deg(rPosTheta[1]) << " "
<< deg(rPosTheta[2]) << endl;
posout.clear();
posout.close();
}
/// write scan files for all segments
void writeScanFiles(string dir, vector<Point> &points, vector<Point> &normals, int scanNumber)
{
string ofilename = dir + "/scan" + to_string(scanNumber, 3) + ".3d";
ofstream normptsout(ofilename.c_str());
for (size_t i=0; i<points.size(); ++i)
{
int r,g,b;
r = (int)(normals[i].x * (127.5) + 127.5);
g = (int)(normals[i].y * (127.5) + 127.5);
b = (int)(fabs(normals[i].z) * (255.0));
normptsout <<points[i].x<<" "<<points[i].y<<" "<<points[i].z<<" "<<r<<" "<<g<<" "<<b<<" "<<endl;
}
normptsout.clear();
normptsout.close();
}
/// =============================================
/// Main
/// =============================================
int main(int argc, char** argv)
{
int start, end;
bool scanserver;
int max_dist, min_dist;
string dir;
IOType iotype;
int k1, k2;
normal_method ntype;
int width, height;
parse_options(argc, argv, start, end, scanserver, max_dist, min_dist,
dir, iotype, k1, k2, ntype, width, height);
/// ----------------------------------
/// Prepare and read scans
/// ----------------------------------
if (scanserver) {
try {
ClientInterface::create();
} catch(std::runtime_error& e) {
cerr << "ClientInterface could not be created: " << e.what() << endl;
cerr << "Start the scanserver first." << endl;
exit(-1);
}
}
/// Make directory for saving the scan segments
string normdir = dir + "normals";
#ifdef _MSC_VER
int success = mkdir(normdir.c_str());
#else
int success = mkdir(normdir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO);
#endif
if(success == 0) {
cout << "Writing segments to " << normdir << endl;
} else if(errno == EEXIST) {
cout << "WARN: Directory " << normdir << " exists already. Contents will be overwriten" << endl;
} else {
cerr << "Creating directory " << normdir << " failed" << endl;
exit(1);
}
/// Read the scans
Scan::openDirectory(scanserver, dir, iotype, start, end);
if(Scan::allScans.size() == 0) {
cerr << "No scans found. Did you use the correct format?" << endl;
exit(-1);
}
cv::Mat img;
/// --------------------------------------------
/// Initialize and perform segmentation
/// --------------------------------------------
std::vector<Scan*>::iterator it = Scan::allScans.begin();
int scanNumber = 0;
for( ; it != Scan::allScans.end(); ++it) {
Scan* scan = *it;
// apply optional filtering
scan->setRangeFilter(max_dist, min_dist);
const double* rPos = scan->get_rPos();
const double* rPosTheta = scan->get_rPosTheta();
/// read scan into points
DataXYZ xyz(scan->get("xyz"));
vector<Point> points;
points.reserve(xyz.size());
vector<Point> normals;
normals.reserve(xyz.size());
for(unsigned int j = 0; j < xyz.size(); j++) {
points.push_back(Point(xyz[j][0], xyz[j][1], xyz[j][2]));
}
if(ntype == AKNN)
calculateNormalsAKNN(normals,points, k1, rPos);
else if(ntype == ADAPTIVE_AKNN)
calculateNormalsAdaptiveAKNN(normals,points, k1, k2, rPos);
else
{
// create panorama
fbr::panorama fPanorama(width, height, fbr::EQUIRECTANGULAR, 1, 0, fbr::EXTENDED);
fPanorama.createPanorama(scan2mat(scan));
// the range image has to be converted from float to uchar
img = fPanorama.getRangeImage();
img = float2uchar(img, 0, 0.0);
if(ntype == PANORAMA)
calculateNormalsPANORAMA(normals,points,fPanorama.getExtendedMap(), rPos);
else if(ntype == PANORAMA_FAST)
cout << "PANORAMA_FAST is not working yet" << endl;
// calculateNormalsFAST(normals,points,img,fPanorama.getExtendedMap());
}
// pose file (repeated for the number of segments
writePoseFiles(normdir, rPos, rPosTheta, scanNumber);
// scan files for all segments
writeScanFiles(normdir, points,normals,scanNumber);
scanNumber++;
}
// shutdown everything
if (scanserver)
ClientInterface::destroy();
Scan::closeDirectory();
cout << "Normal program end" << endl;
return 0;
}

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include/normals/normals.h Normal file
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#ifndef NORMALS_H
#define NORMALS_H
#include <vector>
#include <slam6d/scan.h>
#if (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
#include <opencv/cv.h>
#include <opencv/highgui.h>
#else
#include <opencv2/opencv.hpp>
#endif
void calculateNormalsAKNN(std::vector<Point> &normals,vector<Point> &points, int k,
const double _rPos[3] );
void calculateNormalsAdaptiveAKNN(vector<Point> &normals,vector<Point> &points,
int kmin, int kmax, const double _rPos[3]);
void calculateNormalsPANORAMA(vector<Point> &normals,
vector<Point> &points,
vector< vector< vector< cv::Vec3f > > > extendedMap,
const double _rPos[3]);
// TODO should be exported to separate library
/*
* retrieve a cv::Mat with x,y,z,r from a scan object
* functionality borrowed from scan_cv::convertScanToMat but this function
* does not allow a scanserver to be used, prints to stdout and can only
* handle a single scan
*/
static inline cv::Mat scan2mat(Scan *source)
{
DataXYZ xyz = source->get("xyz");
DataReflectance xyz_reflectance = source->get("reflectance");
unsigned int nPoints = xyz.size();
cv::Mat scan(nPoints,1,CV_32FC(4));
scan = cv::Scalar::all(0);
cv::MatIterator_<cv::Vec4f> it;
it = scan.begin<cv::Vec4f>();
for(unsigned int i = 0; i < nPoints; i++){
float x, y, z, reflectance;
x = xyz[i][0];
y = xyz[i][1];
z = xyz[i][2];
if(xyz_reflectance.size() != 0)
{
reflectance = xyz_reflectance[i];
//normalize the reflectance
reflectance += 32;
reflectance /= 64;
reflectance -= 0.2;
reflectance /= 0.3;
if (reflectance < 0) reflectance = 0;
if (reflectance > 1) reflectance = 1;
}
(*it)[0] = x;
(*it)[1] = y;
(*it)[2] = z;
if(xyz_reflectance.size() != 0)
(*it)[3] = reflectance;
else
(*it)[3] = 0;
++it;
}
return scan;
}
// TODO should be exported to separate library
/*
* convert a matrix of float values (range image) to a matrix of unsigned
* eight bit characters using different techniques
*/
static inline cv::Mat float2uchar(cv::Mat &source, bool logarithm, float cutoff)
{
cv::Mat result(source.size(), CV_8U, cv::Scalar::all(0));
float max = 0;
// find maximum value
if (cutoff == 0.0) {
// without cutoff, just iterate through all values to find the largest
for (cv::MatIterator_<float> it = source.begin<float>();
it != source.end<float>(); ++it) {
float val = *it;
if (val > max) {
max = val;
}
}
} else {
// when a cutoff is specified, sort all the points by value and then
// specify the max so that <cutoff> values are larger than it
vector<float> sorted(source.cols*source.rows);
int i = 0;
for (cv::MatIterator_<float> it = source.begin<float>();
it != source.end<float>(); ++it, ++i) {
sorted[i] = *it;
}
std::sort(sorted.begin(), sorted.end());
max = sorted[(int)(source.cols*source.rows*(1.0-cutoff))];
cout << "A cutoff of " << cutoff << " resulted in a max value of " << max << endl;
}
cv::MatIterator_<float> src = source.begin<float>();
cv::MatIterator_<uchar> dst = result.begin<uchar>();
cv::MatIterator_<float> end = source.end<float>();
if (logarithm) {
// stretch values from 0 to max logarithmically over 0 to 255
// using the logarithm allows to represent smaller values with more
// precision and larger values with less
max = log(max+1);
for (; src != end; ++src, ++dst) {
float val = (log(*src+1)*255.0)/max;
if (val > 255)
*dst = 255;
else
*dst = (uchar)val;
}
} else {
// stretch values from 0 to max linearly over 0 to 255
for (; src != end; ++src, ++dst) {
float val = (*src*255.0)/max;
if (val > 255)
*dst = 255;
else
*dst = (uchar)val;
}
}
return result;
}
#endif // NORMALS_H

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#ifndef __PAIRINGMODE_H__
#define __PAIRINGMODE_H__
enum PairingMode {
CLOSEST_POINT,
CLOSEST_POINT_ALONG_NORMAL,
CLOSEST_PLANE
};
#endif // PAIRINGMODE_H

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src/normals/calc_normals.cc Normal file
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/**
*
* Copyright (C) Jacobs University Bremen
*
* @author Vaibhav Kumar Mehta
* @file calc_normals.cc
*/
#include <iostream>
#include <string>
#include <fstream>
#include <errno.h>
#include <boost/program_options.hpp>
#include <slam6d/io_types.h>
#include <slam6d/globals.icc>
#include <slam6d/scan.h>
#include "slam6d/fbr/panorama.h"
#include <scanserver/clientInterface.h>
#include <normals/normals.h>
#ifdef _MSC_VER
#define strcasecmp _stricmp
#define strncasecmp _strnicmp
#else
#include <strings.h>
#endif
namespace po = boost::program_options;
using namespace std;
enum normal_method {AKNN, ADAPTIVE_AKNN, PANORAMA, PANORAMA_FAST};
/*
* validates normal calculation method specification
*/
void validate(boost::any& v, const std::vector<std::string>& values,
normal_method*, int) {
if (values.size() == 0)
throw std::runtime_error("Invalid model specification");
string arg = values.at(0);
if(strcasecmp(arg.c_str(), "AKNN") == 0) v = AKNN;
else if(strcasecmp(arg.c_str(), "ADAPTIVE_AKNN") == 0) v = ADAPTIVE_AKNN;
else if(strcasecmp(arg.c_str(), "PANORAMA") == 0) v = PANORAMA;
else if(strcasecmp(arg.c_str(), "PANORAMA_FAST") == 0) v = PANORAMA_FAST;
else throw std::runtime_error(std::string("normal calculation method ") + arg + std::string(" is unknown"));
}
/// validate IO types
void validate(boost::any& v, const std::vector<std::string>& values,
IOType*, int) {
if (values.size() == 0)
throw std::runtime_error("Invalid model specification");
string arg = values.at(0);
try {
v = formatname_to_io_type(arg.c_str());
} catch (...) { // runtime_error
throw std::runtime_error("Format " + arg + " unknown.");
}
}
/// Parse commandline options
void parse_options(int argc, char **argv, int &start, int &end, bool &scanserver, int &max_dist, int &min_dist, string &dir,
IOType &iotype, int &k1, int &k2, normal_method &ntype,int &width,int &height)
{
/// ----------------------------------
/// set up program commandline options
/// ----------------------------------
po::options_description cmd_options("Usage: calculateNormals <options> where options are (default values in brackets)");
cmd_options.add_options()
("help,?", "Display this help message")
("start,s", po::value<int>(&start)->default_value(0), "Start at scan number <arg>")
("end,e", po::value<int>(&end)->default_value(-1), "Stop at scan number <arg>")
("scanserver,S", po::value<bool>(&scanserver)->default_value(false), "Use the scanserver as an input method")
("format,f", po::value<IOType>(&iotype)->default_value(UOS),
"using shared library <arg> for input. (chose format from [uos|uosr|uos_map|"
"uos_rgb|uos_frames|uos_map_frames|old|rts|rts_map|ifp|"
"riegl_txt|riegl_rgb|riegl_bin|zahn|ply])")
("max,M", po::value<int>(&max_dist)->default_value(-1),"neglegt all data points with a distance larger than <arg> 'units")
("min,m", po::value<int>(&min_dist)->default_value(-1),"neglegt all data points with a distance smaller than <arg> 'units")
("normal,g", po::value<normal_method>(&ntype)->default_value(AKNN), "normal calculation method "
"(AKNN, ADAPTIVE_AKNN, PANORAMA, PANORAMA_FAST)")
("K1,k", po::value<int>(&k1)->default_value(20), "<arg> value of K value used in the nearest neighbor search of ANN or" "kmin for k-adaptation")
("K2,K", po::value<int>(&k2)->default_value(20), "<arg> value of Kmax for k-adaptation")
("width,w", po::value<int>(&width)->default_value(1280),"width of panorama image")
("height,h", po::value<int>(&height)->default_value(960),"height of panorama image")
;
po::options_description hidden("Hidden options");
hidden.add_options()
("input-dir", po::value<string>(&dir), "input dir");
po::positional_options_description pd;
pd.add("input-dir", 1);
po::options_description all;
all.add(cmd_options).add(hidden);
po::variables_map vmap;
po::store(po::command_line_parser(argc, argv).options(all).positional(pd).run(), vmap);
po::notify(vmap);
if (vmap.count("help")) {
cout << cmd_options << endl << endl;
cout << "SAMPLE COMMAND FOR CALCULATING NORMALS" << endl;
cout << " bin/normals -s 0 -e 0 -f UOS -g AKNN -k 20 dat/" <<endl;
cout << endl << endl;
cout << "SAMPLE COMMAND FOR VIEWING CALCULATING NORMALS IN RGB SPACE" << endl;
cout << " bin/show -c -f UOS_RGB dat/normals/" << endl;
exit(-1);
}
// read scan path
if (dir[dir.length()-1] != '/') dir = dir + "/";
}
/// Write a pose file with the specofied name
void writePoseFiles(string dir, const double* rPos, const double* rPosTheta,int scanNumber)
{
string poseFileName = dir + "/scan" + to_string(scanNumber, 3) + ".pose";
ofstream posout(poseFileName.c_str());
posout << rPos[0] << " "
<< rPos[1] << " "
<< rPos[2] << endl
<< deg(rPosTheta[0]) << " "
<< deg(rPosTheta[1]) << " "
<< deg(rPosTheta[2]) << endl;
posout.clear();
posout.close();
}
/// write scan files for all segments
void writeScanFiles(string dir, vector<Point> &points, vector<Point> &normals, int scanNumber)
{
string ofilename = dir + "/scan" + to_string(scanNumber, 3) + ".3d";
ofstream normptsout(ofilename.c_str());
for (size_t i=0; i<points.size(); ++i)
{
int r,g,b;
r = (int)(normals[i].x * (127.5) + 127.5);
g = (int)(normals[i].y * (127.5) + 127.5);
b = (int)(fabs(normals[i].z) * (255.0));
normptsout <<points[i].x<<" "<<points[i].y<<" "<<points[i].z<<" "<<r<<" "<<g<<" "<<b<<" "<<endl;
}
normptsout.clear();
normptsout.close();
}
/// =============================================
/// Main
/// =============================================
int main(int argc, char** argv)
{
int start, end;
bool scanserver;
int max_dist, min_dist;
string dir;
IOType iotype;
int k1, k2;
normal_method ntype;
int width, height;
parse_options(argc, argv, start, end, scanserver, max_dist, min_dist,
dir, iotype, k1, k2, ntype, width, height);
/// ----------------------------------
/// Prepare and read scans
/// ----------------------------------
if (scanserver) {
try {
ClientInterface::create();
} catch(std::runtime_error& e) {
cerr << "ClientInterface could not be created: " << e.what() << endl;
cerr << "Start the scanserver first." << endl;
exit(-1);
}
}
/// Make directory for saving the scan segments
string normdir = dir + "normals";
#ifdef _MSC_VER
int success = mkdir(normdir.c_str());
#else
int success = mkdir(normdir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO);
#endif
if(success == 0) {
cout << "Writing segments to " << normdir << endl;
} else if(errno == EEXIST) {
cout << "WARN: Directory " << normdir << " exists already. Contents will be overwriten" << endl;
} else {
cerr << "Creating directory " << normdir << " failed" << endl;
exit(1);
}
/// Read the scans
Scan::openDirectory(scanserver, dir, iotype, start, end);
if(Scan::allScans.size() == 0) {
cerr << "No scans found. Did you use the correct format?" << endl;
exit(-1);
}
cv::Mat img;
/// --------------------------------------------
/// Initialize and perform segmentation
/// --------------------------------------------
std::vector<Scan*>::iterator it = Scan::allScans.begin();
int scanNumber = 0;
for( ; it != Scan::allScans.end(); ++it) {
Scan* scan = *it;
// apply optional filtering
scan->setRangeFilter(max_dist, min_dist);
const double* rPos = scan->get_rPos();
const double* rPosTheta = scan->get_rPosTheta();
/// read scan into points
DataXYZ xyz(scan->get("xyz"));
vector<Point> points;
points.reserve(xyz.size());
vector<Point> normals;
normals.reserve(xyz.size());
for(unsigned int j = 0; j < xyz.size(); j++) {
points.push_back(Point(xyz[j][0], xyz[j][1], xyz[j][2]));
}
if(ntype == AKNN)
calculateNormalsAKNN(normals,points, k1, rPos);
else if(ntype == ADAPTIVE_AKNN)
calculateNormalsAdaptiveAKNN(normals,points, k1, k2, rPos);
else
{
// create panorama
fbr::panorama fPanorama(width, height, fbr::EQUIRECTANGULAR, 1, 0, fbr::EXTENDED);
fPanorama.createPanorama(scan2mat(scan));
// the range image has to be converted from float to uchar
img = fPanorama.getRangeImage();
img = float2uchar(img, 0, 0.0);
if(ntype == PANORAMA)
calculateNormalsPANORAMA(normals,points,fPanorama.getExtendedMap(), rPos);
else if(ntype == PANORAMA_FAST)
cout << "PANORAMA_FAST is not working yet" << endl;
// calculateNormalsFAST(normals,points,img,fPanorama.getExtendedMap());
}
// pose file (repeated for the number of segments
writePoseFiles(normdir, rPos, rPosTheta, scanNumber);
// scan files for all segments
writeScanFiles(normdir, points,normals,scanNumber);
scanNumber++;
}
// shutdown everything
if (scanserver)
ClientInterface::destroy();
Scan::closeDirectory();
cout << "Normal program end" << endl;
return 0;
}