@ -24,12 +24,15 @@ namespace po = boost::program_options;
# include "slam6d/fbr/panorama.h"
# include <opencv2/imgproc/imgproc.hpp>
# include <opencv2/imgproc/imgproc_c.h>
# include <sys/stat.h>
# include <sys/types.h>
enum image_type { M_RANGE , M_INTENSITY } ;
enum segment_method { THRESHOLD , ADAPTIVE_THRESHOLD , PYR_MEAN_SHIFT , } ;
enum segment_method { THRESHOLD , ADAPTIVE_THRESHOLD , PYR_MEAN_SHIFT , PYR_SEGMENTATION, WATERSHED} ;
/* Function used to check that 'opt1' and 'opt2' are not specified
at the same time . */
@ -87,6 +90,7 @@ void validate(boost::any& v, const std::vector<std::string>& values,
if ( strcasecmp ( arg . c_str ( ) , " THRESHOLD " ) = = 0 ) v = THRESHOLD ;
else if ( strcasecmp ( arg . c_str ( ) , " ADAPTIVE_THRESHOLD " ) = = 0 ) v = ADAPTIVE_THRESHOLD ;
else if ( strcasecmp ( arg . c_str ( ) , " PYR_MEAN_SHIFT " ) = = 0 ) v = PYR_MEAN_SHIFT ;
else if ( strcasecmp ( arg . c_str ( ) , " PYR_SEGMENTATION " ) = = 0 ) v = PYR_SEGMENTATION ;
else if ( strcasecmp ( arg . c_str ( ) , " WATERSHED " ) = = 0 ) v = WATERSHED ;
else throw std : : runtime_error ( std : : string ( " segmentation method " ) + arg + std : : string ( " is unknown " ) ) ;
}
@ -106,6 +110,23 @@ void validate(boost::any& v, const std::vector<std::string>& values,
}
}
void segmentation_option_dependency ( const po : : variables_map & vm , segment_method stype , const char * option )
{
if ( vm . count ( " segment " ) & & vm [ " segment " ] . as < segment_method > ( ) = = stype ) {
if ( ! vm . count ( option ) ) {
throw std : : logic_error ( string ( " this segmentation option needs " ) + option + " to be set " ) ;
}
}
}
void segmentation_option_conflict ( const po : : variables_map & vm , segment_method stype , const char * option )
{
if ( vm . count ( " segment " ) & & vm [ " segment " ] . as < segment_method > ( ) = = stype ) {
if ( vm . count ( option ) ) {
throw std : : logic_error ( string ( " this segmentation option is incompatible with " ) + option ) ;
}
}
}
/*
* parse commandline options , fill arguments
*/
@ -114,7 +135,8 @@ void parse_options(int argc, char **argv, int &start, int &end,
fbr : : projection_method & ptype , string & dir , IOType & iotype ,
int & maxDist , int & minDist , int & nImages , int & pParam , bool & logarithm ,
float & cutoff , segment_method & stype , string & marker , bool & dump_pano ,
bool & dump_seg , double & thresh , int & maxlevel , int & radius )
bool & dump_seg , double & thresh , int & maxlevel , int & radius ,
double & pyrlinks , double & pyrcluster , int & pyrlevels )
{
po : : options_description generic ( " Generic options " ) ;
generic . add_options ( )
@ -169,7 +191,7 @@ void parse_options(int argc, char **argv, int &start, int &end,
segment . add_options ( )
( " segment,g " , po : : value < segment_method > ( & stype ) - >
default_value ( PYR_MEAN_SHIFT ) , " segmentation method (THRESHOLD, "
" ADAPTIVE_THRESHOLD, PYR_MEAN_SHIFT, WATERSHED)" )
" ADAPTIVE_THRESHOLD, PYR_MEAN_SHIFT, PYR_SEGMENTATION, WATERSHED)" )
( " marker,K " , po : : value < string > ( & marker ) ,
" marker mask for watershed segmentation " )
( " thresh,T " , po : : value < double > ( & thresh ) ,
@ -178,6 +200,13 @@ void parse_options(int argc, char **argv, int &start, int &end,
" maximum level for meanshift segmentation " )
( " radius,R " , po : : value < int > ( & radius ) ,
" radius for meanshift segmentation " )
( " links,l " , po : : value < double > ( & pyrlinks ) ,
" error threshold for establishing the links for pyramid segmentation " )
( " clustering,c " , po : : value < double > ( & pyrcluster ) ,
" error threshold for the segments clustering for pyramid "
" segmentation " )
( " levels,E " , po : : value < int > ( & pyrlevels ) - > default_value ( 4 ) ,
" levels of pyramid segmentation " )
( " dump-seg,D " , po : : bool_switch ( & dump_seg ) ,
" output segmentation image (for debugging) " ) ;
@ -206,6 +235,9 @@ void parse_options(int argc, char **argv, int &start, int &end,
// display help
if ( vm . count ( " help " ) ) {
cout < < cmdline_options ;
cout < < " \n Example usage: \n "
< < " bin/scan2segments -s 0 -e 0 -f riegl_txt --segment PYR_SEGMENTATION -l 50 -c 50 -E 4 -D -i ~/path/to/bremen_city \n "
< < " bin/scan2segments -s 0 -e 0 -f riegl_txt --segment PYR_SEGMENTATION -l 255 -c 30 -E 2 -D -i ~/path/to/bremen_city \n " ;
exit ( 0 ) ;
}
@ -220,37 +252,36 @@ void parse_options(int argc, char **argv, int &start, int &end,
else
itype = M_INTENSITY ;
// option dependencies on segmentation types
if ( stype = = WATERSHED ) {
if ( ! vm . count ( " marker " ) )
throw std : : logic_error ( " watershed segmentation requires --marker to be set " ) ;
if ( vm . count ( " thresh " ) )
throw std : : logic_error ( " watershed segmentation cannot be used with --thresh " ) ;
if ( vm . count ( " maxlevel " ) )
throw std : : logic_error ( " watershed segmentation cannot be used with --maxlevel " ) ;
if ( vm . count ( " radius " ) )
throw std : : logic_error ( " watershed segmentation cannot be used with --radius " ) ;
}
if ( stype = = THRESHOLD ) {
if ( ! vm . count ( " thresh " ) )
throw std : : logic_error ( " threshold segmentation requires --thresh to be set " ) ;
if ( vm . count ( " marker " ) )
throw std : : logic_error ( " threshold segmentation cannot be used with --marker " ) ;
if ( vm . count ( " maxlevel " ) )
throw std : : logic_error ( " threshold segmentation cannot be used with --maxlevel " ) ;
if ( vm . count ( " radius " ) )
throw std : : logic_error ( " threshold segmentation cannot be used with --radius " ) ;
}
if ( stype = = PYR_MEAN_SHIFT ) {
if ( ! vm . count ( " maxlevel " ) )
throw std : : logic_error ( " mean shift segmentation requires --maxlevel to be set " ) ;
if ( ! vm . count ( " radius " ) )
throw std : : logic_error ( " mean shift segmentation requires --radius to be set " ) ;
if ( vm . count ( " thresh " ) )
throw std : : logic_error ( " mean shift segmentation cannot be used with --thresh " ) ;
if ( vm . count ( " marker " ) )
throw std : : logic_error ( " mean shift segmentation cannot be used with --marker " ) ;
}
segmentation_option_dependency ( vm , WATERSHED , " marker " ) ;
segmentation_option_conflict ( vm , WATERSHED , " thresh " ) ;
segmentation_option_conflict ( vm , WATERSHED , " maxlevel " ) ;
segmentation_option_conflict ( vm , WATERSHED , " radius " ) ;
segmentation_option_conflict ( vm , WATERSHED , " links " ) ;
segmentation_option_conflict ( vm , WATERSHED , " clustering " ) ;
segmentation_option_conflict ( vm , WATERSHED , " levels " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " marker " ) ;
segmentation_option_dependency ( vm , THRESHOLD , " thresh " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " maxlevel " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " radius " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " links " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " clustering " ) ;
segmentation_option_conflict ( vm , THRESHOLD , " levels " ) ;
segmentation_option_conflict ( vm , PYR_MEAN_SHIFT , " marker " ) ;
segmentation_option_conflict ( vm , PYR_MEAN_SHIFT , " thresh " ) ;
segmentation_option_dependency ( vm , PYR_MEAN_SHIFT , " maxlevel " ) ;
segmentation_option_dependency ( vm , PYR_MEAN_SHIFT , " radius " ) ;
segmentation_option_conflict ( vm , PYR_MEAN_SHIFT , " links " ) ;
segmentation_option_conflict ( vm , PYR_MEAN_SHIFT , " clustering " ) ;
segmentation_option_conflict ( vm , PYR_MEAN_SHIFT , " levels " ) ;
segmentation_option_conflict ( vm , PYR_SEGMENTATION , " marker " ) ;
segmentation_option_conflict ( vm , PYR_SEGMENTATION , " thresh " ) ;
segmentation_option_conflict ( vm , PYR_SEGMENTATION , " maxlevel " ) ;
segmentation_option_conflict ( vm , PYR_SEGMENTATION , " radius " ) ;
segmentation_option_dependency ( vm , PYR_SEGMENTATION , " links " ) ;
segmentation_option_dependency ( vm , PYR_SEGMENTATION , " clustering " ) ;
// correct pParam and nImages for certain panorama types
if ( ptype = = fbr : : PANNINI & & pParam = = 0 ) {
@ -430,6 +461,60 @@ cv::Mat calculatePyrMeanShift(vector<vector<cv::Vec3f>> &segmented_points,
return res ;
}
///TODO: need to pass *two* thresh params, see: http://bit.ly/WmFeub
cv : : Mat calculatePyrSegmentation ( vector < vector < cv : : Vec3f > > & segmented_points ,
cv : : Mat & img , vector < vector < vector < cv : : Vec3f > > > extendedMap ,
double thresh1 , double thresh2 , int pyrlevels )
{
int i , j , idx ;
int block_size = 1000 ;
IplImage ipl_img = img ;
IplImage * ipl_original = & ipl_img ;
IplImage * ipl_segmented = 0 ;
CvMemStorage * storage = cvCreateMemStorage ( block_size ) ;
CvSeq * comp = NULL ;
// the following lines are required because the level must not be more
// than log2(min(width, height))
ipl_original - > width & = - ( 1 < < pyrlevels ) ;
ipl_original - > height & = - ( 1 < < pyrlevels ) ;
ipl_segmented = cvCloneImage ( ipl_original ) ;
// apply the pyramid segmentation algorithm
cvPyrSegmentation ( ipl_original , ipl_segmented , storage , & comp , pyrlevels , thresh1 + 1 , thresh2 + 1 ) ;
// mapping of color value to component id
map < int , int > mapping ;
unsigned int segments = comp - > total ;
for ( unsigned int cur_seg = 0 ; cur_seg < segments ; + + cur_seg ) {
CvConnectedComp * cc = ( CvConnectedComp * ) cvGetSeqElem ( comp , cur_seg ) ;
// since images are single-channel grayscale, only the first value is
// of interest
mapping . insert ( pair < int , int > ( cc - > value . val [ 0 ] , cur_seg ) ) ;
}
segmented_points . resize ( segments ) ;
uchar * data = ( uchar * ) ipl_segmented - > imageData ;
int step = ipl_segmented - > widthStep ;
for ( i = 0 ; i < ipl_segmented - > height ; i + + ) {
for ( j = 0 ; j < ipl_segmented - > width ; j + + ) {
idx = mapping [ data [ i * step + j ] ] ;
segmented_points [ idx ] . insert ( segmented_points [ idx ] . end ( ) ,
extendedMap [ i ] [ j ] . begin ( ) ,
extendedMap [ i ] [ j ] . end ( ) ) ;
}
}
// clearing memory
cvReleaseMemStorage ( & storage ) ;
cv : : Mat res ( ipl_segmented ) ;
return res ;
}
/*
* calculate the adaptive threshold
*/
@ -572,11 +657,13 @@ int main(int argc, char **argv)
bool dump_pano , dump_seg ;
double thresh ;
int maxlevel , radius ;
double pyrlinks , pyrcluster ;
int pyrlevels ;
parse_options ( argc , argv , start , end , scanserver , itype , width , height ,
ptype , dir , iotype , maxDist , minDist , nImages , pParam , logarithm ,
cutoff , stype , marker , dump_pano , dump_seg , thresh , maxlevel ,
radius ;
radius , pyrlinks , pyrcluster , pyrlevels );
Scan : : openDirectory ( scanserver , dir , iotype , start , end ) ;
@ -623,6 +710,8 @@ int main(int argc, char **argv)
} else if ( stype = = PYR_MEAN_SHIFT ) {
res = calculatePyrMeanShift ( segmented_points , img , fPanorama . getExtendedMap ( ) ,
maxlevel , radius ) ;
} else if ( stype = = PYR_SEGMENTATION ) {
res = calculatePyrSegmentation ( segmented_points , img , fPanorama . getExtendedMap ( ) , pyrlinks , pyrcluster , pyrlevels ) ;
} else if ( stype = = ADAPTIVE_THRESHOLD ) {
res = calculateAdaptiveThreshold ( segmented_points , img , fPanorama . getExtendedMap ( ) ) ;
} else if ( stype = = WATERSHED ) {
Razvan Mihalyi
12 years ago