update svn to revision 719

include/scanserver/sharedScan.h

@@ -112,7 +112,12 @@ public:
   
   //! Create a new set of reduced points
   DataXYZ createXYZReduced(unsigned int size);
+
+
+  //! Create a new set of reflectance
+  DataReflectance createReflectance(unsigned int size);
   
+
   //! Reduced untransformed points
   DataXYZ getXYZReducedOriginal();
   

include/slam6d/fbr/fbr_global.h

@@ -12,6 +12,10 @@
 #include <vector>
 #include <fstream>
 #include <opencv2/opencv.hpp>
+//for opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+#include <opencv2/nonfree/nonfree.hpp>
+#endif
 #include <math.h>
 #include <string>
 #include "slam6d/io_types.h"

include/slam6d/fbr/scan_cv.h

@@ -34,6 +34,7 @@ namespace fbr{
     double zMax;
     double zMin;
     IOType sFormat;
+    bool scanserver;
     
   public:
     /**
@@ -41,8 +42,9 @@ namespace fbr{
      * @param dir directory of the input scan file
      * @param number input scan number
      * @param format input scan file format
+     * @param scanServer 
      */
-    scan_cv (string dir, unsigned int number, IOType format);
+    scan_cv (string dir, unsigned int number, IOType format, bool scanServer);
     /**
      * @brief read scan file and convert it to open cv Mat
      */

src/scanserver/CMakeLists.txt

@@ -18,7 +18,7 @@ set(CLIENT_LIBS ${Boost_LIBRARIES} pointfilter)
 
 if(UNIX AND NOT APPLE)
   # boost::interprocess uses pthread, requiring librt                                                                                                                                                           
-  #set(CLIENT_LIBS ${CLIENT_LIBS} rt)
+  set(CLIENT_LIBS ${CLIENT_LIBS} rt)
 endif(UNIX AND NOT APPLE)
 
 target_link_libraries(scanclient ${CLIENT_LIBS})
@@ -40,10 +40,10 @@ add_executable(scanserver ${SERVER_SRCS})
 # scanio for ScanHandler input
 set(SERVER_LIBS ${Boost_LIBRARIES} scanclient scanio)
 
-if(UNIX)
+if(UNIX AND NOT APPLE)
   # boost::interprocess uses pthread, requiring librt
   set(SERVER_LIBS ${SERVER_LIBS} rt)
-endif(UNIX)
+endif(UNIX AND NOT APPLE)
 
 if(WIN32)
   # 3rd party getopt library

src/scanserver/sharedScan.cc

@@ -238,6 +238,13 @@ DataXYZ SharedScan::createXYZReduced(unsigned int size) {
   return m_xyz_reduced->createCacheData<SharedScan::onAllocation>(size*3*sizeof(double));
 }
 
+
+DataReflectance SharedScan::createReflectance(unsigned int size) {
+  // size is in units of double[1], scale to bytes
+  return m_reflectance->createCacheData<SharedScan::onAllocation>(size*1*sizeof(double));
+}
+
+
 DataXYZ SharedScan::getXYZReducedOriginal() {
   return m_xyz_reduced_original->getCacheData<SharedScan::onCacheMiss>();
 }

src/slam6d/fbr/CMakeLists.txt

@@ -4,7 +4,9 @@ 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} fbr_global.cc)
+add_library(fbr_panorama STATIC ${FBR_PANORAMA_SRC})
+#add_library(fbr_panorama STATIC ${FBR_PANORAMA_SRC} fbr_global.cc)
+
 
 SET(FBR_FEATURE_SRC feature.cc)
 add_library(fbr_feature STATIC ${FBR_FEATURE_SRC})
@@ -15,9 +17,12 @@ add_library(fbr_feature_matcher STATIC ${FBR_FEATURE_MATCHER_SRC})
 SET(FBR_REGISTRATION_SRC registration.cc)
 add_library(fbr_registration STATIC ${FBR_REGISTRATION_SRC})
 
+add_library(fbr STATIC ${FBR_IO_SRC} ${FBR_PANORAMA_SRC} ${FBR_FEATURE_SRC} ${FBR_FEATURE_MATCHER_SRC} ${FBR_REGISTRATION_SRC} fbr_global.cc)
+
 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})
+#target_link_libraries(featurebasedregistration fbr_cv_io fbr_panorama fbr_feature fbr_feature_matcher fbr_registration ${FBR_LIBS})
+target_link_libraries(featurebasedregistration fbr ${FBR_LIBS})
 ENDIF(WITH_FBR)

src/slam6d/fbr/feature_based_registration.cc

@@ -30,6 +30,7 @@ struct information{
   feature_descriptor_method dMethod;
   matcher_method mMethod;
   registration_method rMethod;
+  bool scanServer;
   
   int fSPoints, sSPoints, fFNum, sFNum, mNum, filteredMNum;
   double fSTime, sSTime, fPTime, sPTime, fFTime, sFTime, fDTime, sDTime, mTime, rTime; 
@@ -60,6 +61,7 @@ void usage(int argc, char** argv){
   printf("\t\t-r registration \t registration method [ALL|ransac]\n");
   printf("\t\t-V verbose \t\t level of verboseness\n");
   printf("\t\t-O outDir \t\t output directory if not stated same as input\n");
+  printf("\t\t-S scanServer \t\t Scan Server\n");
   printf("\n");
   printf("\tExamples:\n");
   printf("\tUsing Bremen City dataset:\n");
@@ -101,11 +103,12 @@ void parssArgs(int argc, char** argv, information& info){
   info.mMethod = RATIO;
   info.rMethod = RANSAC;
   info.outDir = "";
+  info.scanServer = false;
 
   int c;
   opterr = 0;
   //reade the command line and get the options
-  while ((c = getopt (argc, argv, "F:W:H:p:N:P:f:d:m:D:E:I:M:r:V:O:s:e:")) != -1)
+  while ((c = getopt (argc, argv, "F:W:H:p:N:P:f:d:m:D:E:I:M:r:V:O:s:e:S")) != -1)
     switch (c)
       {
       case 's':
@@ -162,6 +165,9 @@ void parssArgs(int argc, char** argv, information& info){
       case 'O':
 	info.outDir = optarg;
 	break;
+      case 'S':
+	info.scanServer = true;
+	break;
       case '?':
 	cout<<"Unknown option character "<<optopt<<endl;
 	usage(argc, argv);
@@ -292,12 +298,13 @@ void info_yml(information info, double bError, double bErrorIdx, double* bAlign)
 }
 
 int main(int argc, char** argv){
+  cout<<CV_VERSION<<endl;
   string out;
   cv::Mat outImage;
   parssArgs(argc, argv, info);
   if(info.verbose >= 1) informationDescription(info);
 
-  scan_cv fScan (info.dir, info.fScanNumber, info.sFormat);
+  scan_cv fScan (info.dir, info.fScanNumber, info.sFormat, info.scanServer);
   if(info.verbose >= 4) info.fSTime = (double)cv::getTickCount();
   fScan.convertScanToMat();
   if(info.verbose >= 4) info.fSTime = ((double)cv::getTickCount() - info.fSTime)/cv::getTickFrequency();
@@ -328,7 +335,7 @@ int main(int argc, char** argv){
   if(info.verbose >= 4) info.fDTime = ((double)cv::getTickCount() - info.fDTime)/cv::getTickFrequency();
   if(info.verbose >= 2) fFeature.getDescription();
   
-  scan_cv sScan (info.dir, info.sScanNumber, info.sFormat);
+  scan_cv sScan (info.dir, info.sScanNumber, info.sFormat, info.scanServer);
   if(info.verbose >= 4) info.sSTime = (double)cv::getTickCount();
   sScan.convertScanToMat();
   if(info.verbose >= 4) info.sSTime = ((double)cv::getTickCount() - info.sSTime)/cv::getTickFrequency();
@@ -358,7 +365,7 @@ int main(int argc, char** argv){
   sFeature.featureDescription(sPanorama.getReflectanceImage(), info.dMethod);
   if(info.verbose >= 4) info.sDTime = ((double)cv::getTickCount() - info.sDTime)/cv::getTickFrequency();
   if(info.verbose >= 2) sFeature.getDescription();
- 
+
   feature_matcher matcher (info.mMethod, info.mParam);
   if(info.verbose >= 4) info.mTime = (double)cv::getTickCount();
   matcher.match(fFeature, sFeature);

src/slam6d/fbr/feature_matcher.cc

@@ -46,6 +46,11 @@ namespace fbr{
   void feature_matcher::match(feature qFeature, feature tFeature){
     vector< cv::DMatch > qtInitialMatches, tqInitialMatches, gMatches;
     vector<vector<cv::DMatch> > qtInitialMatchesVector, tqInitialMatchesVector;
+    if(qFeature.getFeatures().size() == 0 || tFeature.getFeatures().size() == 0){
+      cout<<"No features has found in one or both scans!!"<<endl;
+      exit(-1);
+    }
+
     //Matching descriptors using one of the mMethods for SURF and SIFT feature descriptors
     if(qFeature.getDescriptorMethod() != tFeature.getDescriptorMethod()){
       cout<<"inputs features don't have the same descriptors!"<<endl;
@@ -98,11 +103,16 @@ namespace fbr{
 	  }
 	}	
       }
-      if(mMethod == BRUTEFORCE){
+      if(mMethod == BRUTEFORCE){	
+	//opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+	cv::BFMatcher matcher (cv::NORM_L2);
+#else  //older version of opencv than 2.4
 	cv::BruteForceMatcher< cv::L2<float> > matcher;
+#endif
 	matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
 	matcher.match(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatches);
-    }
+      }
       if(mMethod == FLANN){
 	cv::FlannBasedMatcher matcher;
 	matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
@@ -123,12 +133,22 @@ namespace fbr{
     //Matching descriptors using BruteFore with Hamming distance for ORB descriptor
     else if(qFeature.getDescriptorMethod() == ORB_DES){
       if(mMethod == KNN){
+	//opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+	cv::BFMatcher matcher (cv::NORM_HAMMING);
+#else  //older version of opencv than 2.4
 	cv::BruteForceMatcher< cv::Hamming > matcher;
+#endif
 	matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, knn);
 	matcher.knnMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, knn);
       }
       if(mMethod == RADIUS){
+	//opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+	cv::BFMatcher matcher (cv::NORM_HAMMING);
+#else  //older version of opencv than 2.4
 	cv::BruteForceMatcher< cv::Hamming > matcher;
+#endif
 	matcher.radiusMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, radius);
 	matcher.radiusMatch(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatchesVector, radius);
       }
@@ -146,7 +166,12 @@ namespace fbr{
 	}
       }
       if(mMethod == RATIO){
+	//opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+	cv::BFMatcher matcher (cv::NORM_HAMMING);
+#else  //older version of opencv than 2.4
 	cv::BruteForceMatcher< cv::Hamming > matcher;
+#endif
 	matcher.knnMatch(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatchesVector, 2);
 	for(unsigned int i = 0; i < qtInitialMatchesVector.size(); i++){
 	  float ratio = qtInitialMatchesVector[i][0].distance/qtInitialMatchesVector[i][1].distance;
@@ -167,7 +192,12 @@ namespace fbr{
 	}
       }
       if(mMethod == BRUTEFORCE){
+	//opencv 2.4
+#if (CV_MAJOR_VERSION >= 2) && (CV_MINOR_VERSION >= 4)
+	cv::BFMatcher matcher (cv::NORM_HAMMING);
+#else  //older version of opencv than 2.4
 	cv::BruteForceMatcher< cv::Hamming > matcher;
+#endif
 	matcher.match(qFeature.getDescriptors(), tFeature.getDescriptors(), qtInitialMatches);
 	matcher.match(tFeature.getDescriptors(), qFeature.getDescriptors(), tqInitialMatches); 
 	for(unsigned int i = 0; i < qtInitialMatches.size(); i++){
@@ -206,7 +236,7 @@ namespace fbr{
   vector<cv::DMatch> feature_matcher::getMatches(){
     return matches;
   }
-
+  
   matcher_method feature_matcher::getMatcherMethod(){
     return mMethod;
   }

src/slam6d/fbr/panorama.cc

@@ -678,7 +678,7 @@ namespace fbr{
           float x = col * 1. / xFactor - fabs(xmin);
           float y = (heightMax - row) * 1. / yFactor - fabs(ymin);
           float theta = asin((C - (x*x + (Rho0 - y) * (Rho0 - y)) * n * n) / (2 * n));
-          float phi = Long0 + (1./n) * atan2(x, Rho0 - y);
+          float phi = Long0 + (1./n) * ::atan2(x, Rho0 - y);
 
           phi *= 180.0 / M_PI;
           phi = 360.0 - phi;

src/slam6d/fbr/scan_cv.cc

@@ -13,17 +13,17 @@ using namespace std;
 
 namespace fbr{
 
-  scan_cv::scan_cv(string dir, unsigned int number, IOType format){
+  scan_cv::scan_cv(string dir, unsigned int number, IOType format, bool scanServer){
     sDir = dir;
     sNumber = number;
     sFormat = format;
     zMax = numeric_limits<double>::min(); 
     zMin = numeric_limits<double>::max();
     nPoints = 0;
-  } 
+    scanserver = scanServer;
-  
+  }
+
   void scan_cv::convertScanToMat(){
-    bool scanserver = false;
     Scan::openDirectory(scanserver, sDir, sFormat, sNumber, sNumber);
     if(Scan::allScans.size() == 0){
       cerr << "No scans found. Did you use the correct format?" <<endl;

src/slam6d/managedScan.cc

@@ -226,8 +226,11 @@ DataPointer ManagedScan::create(const std::string& identifier, unsigned int size
   if(identifier == "xyz reduced original") {
     return m_shared_scan->createXYZReducedOriginal(size / (3*sizeof(double)));
   } else
-  {
+  if(identifier == "reflectance") {
-    throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::create. Upgrade SharedScan for this data field.");
+    return m_shared_scan->createReflectance(size / (1*sizeof(double)));
+  } else
+    {
+      throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::create. Upgrade SharedScan for this data field.");
   }
 }