3dpcp/.svn/pristine/16/16e86bc6017730cb99fa4313a99581e6712cb05d.svn-base
2012-10-05 08:55:14 +02:00

466 lines
14 KiB
Text

/*
* scan_red implementation
*
* Copyright (C) Dorit Borrmann, Razvan-George Mihalyi, Remus Dumitru
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Main program for reducing 3D scans.
*
* Program to reduce scans for use with slam6d
* Usage: bin/scan_red -r <NR> 'dir',
* Use -r for octree based reduction (voxel size=<NR>)
* and 'dir' the directory of a set of scans
* Reduced scans will be written to 'dir/reduced'
*
* @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany.
*/
#ifdef _MSC_VER
#if !defined _OPENMP && defined OPENMP
#define _OPENMP
#endif
#endif
#define WANT_STREAM ///< define the WANT stream :)
#include <string>
using std::string;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <fstream>
using std::ofstream;
#include <errno.h>
#include "slam6d/metaScan.h"
#include "slam6d/io_utils.h"
#include "slam6d/scan.h"
#include "slam6d/fbr/fbr_global.h"
#include "slam6d/fbr/panorama.h"
#include "slam6d/fbr/scan_cv.h"
#include "scanserver/clientInterface.h"
#include "slam6d/globals.icc"
#ifdef _OPENMP
#include <omp.h>
#endif
#ifndef _MSC_VER
#include <getopt.h>
#else
#include "XGetopt.h"
#endif
#ifdef _MSC_VER
#define strcasecmp _stricmp
#define strncasecmp _strnicmp
#include <windows.h>
#include <direct.h>
#else
#include <sys/stat.h>
#include <sys/types.h>
#include <strings.h>
#include <dlfcn.h>
#endif
//Vertical angle of view of scanner
#define MAX_ANGLE 60.0
#define MIN_ANGLE -40.0
#define IMAGE_HEIGHT 1000
#define IMAGE_WIDTH 3600
using namespace fbr;
projection_method strToPMethod(string method){
if(strcasecmp(method.c_str(), "EQUIRECTANGULAR") == 0) return EQUIRECTANGULAR;
else if(strcasecmp(method.c_str(), "CYLINDRICAL") == 0) return CYLINDRICAL;
else if(strcasecmp(method.c_str(), "MERCATOR") == 0) return MERCATOR;
else if(strcasecmp(method.c_str(), "CONIC") == 0) return CONIC;
else throw std::runtime_error(std::string("projection method ") + method + std::string(" is unknown"));
}
/**
* Explains the usage of this program's command line parameters
*/
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
<< bold << "USAGE " << normal << endl
<< " " << prog << " [options] -r <NR> directory" << endl << endl;
cout << bold << "OPTIONS" << normal << endl
<< bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl
<< " start at scan NR (i.e., neglects the first NR scans)" << endl
<< " [ATTENTION: counting naturally starts with 0]" << endl
<< endl
<< bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl
<< " end after scan NR" << endl
<< endl
<< bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl
<< " using shared library F for input" << endl
<< " (choose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl
<< endl
<< bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl
<< " neglegt all data points with a distance larger than NR 'units'" << endl
<< endl
<< bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl
<< " neglegt all data points with a distance smaller than NR 'units'" << endl
<< endl
<< bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl
<< " if NR >= 0, turns on octree based point reduction (voxel size=<NR>)" << endl
<< " if NR < 0, turns on rescaling based reduction" << endl
<< endl
<< bold << " -I" << normal << " NR," << bold << "--rangeimage=" << normal << "NR" << endl
<< " use rescaling of the range image as reduction method" << endl
<< " if NR = 1 recovers ranges from range image" << endl
<< " if NR = 2 interpolates 3D points in the image map" << endl
<< " if NR is omitted, then NR=1 is selected" << endl
<< endl
<< bold << " -p" << normal << " MET," << bold << "--projection=" << normal << "MET" << endl
<< " create range image using the MET projection method" << endl
<< " (choose MET from [EQUIRECTANGULAR|CYLINDRICAL|MERCATOR|CONIC])" << endl
<< bold << " -S, --scanserver" << normal << endl
<< " Use the scanserver as an input method and handling of scan data" << endl
<< endl << endl;
cout << bold << "EXAMPLES " << normal << endl
<< " " << prog << " -m 500 -r 5 dat" << endl
<< " " << prog << " --max=5000 -r 10.2 dat" << endl
<< " " << prog << " -s 2 -e 10 -r dat" << endl
<< " " << prog << " -s 0 -e 1 -r 10 -I=1 dat " << 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 the directory
* @param red using point reduction?
* @param rand use randomized point reduction?
* @param start starting at scan number 'start'
* @param end stopping at scan number 'end'
* @param maxDist - maximal distance of points being loaded
* @param minDist - minimal distance of points being loaded
* @param projection - projection method for building range image
* @param quiet switches on/off the quiet mode
* @param veryQuiet switches on/off the 'very quiet' mode
* @return 0, if the parsing was successful. 1 otherwise
*/
int parseArgs(int argc, char **argv, string &dir, double &red,
int &start, int &end, int &maxDist, int &minDist,
string &projection, int &octree, IOType &type,
int &rangeimage, bool &scanserver)
{
bool reduced = false;
int c;
// from unistd.h:
extern char *optarg;
extern int optind;
WriteOnce<IOType> w_type(type);
WriteOnce<int> w_start(start), w_end(end);
/* options descriptor */
// 0: no arguments, 1: required argument, 2: optional argument
static struct option longopts[] = {
{ "format", required_argument, 0, 'f' },
{ "max", required_argument, 0, 'm' },
{ "min", required_argument, 0, 'M' },
{ "start", required_argument, 0, 's' },
{ "end", required_argument, 0, 'e' },
{ "reduce", required_argument, 0, 'r' },
{ "octree", optional_argument, 0, 'O' },
{ "rangeimage", optional_argument, 0, 'I' },
{ "projection", required_argument, 0, 'p' },
{ "scanserver", no_argument, 0, 'S' },
{ 0, 0, 0, 0} // needed, cf. getopt.h
};
cout << endl;
while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:O:p:", longopts, NULL)) != -1)
switch (c)
{
case 'r':
red = atof(optarg);
reduced = true;
break;
case 's':
w_start = atoi(optarg);
if (w_start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
break;
case 'e':
w_end = atoi(optarg);
if (w_end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
if (w_end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
break;
case 'f':
try {
w_type = formatname_to_io_type(optarg);
} catch (...) { // runtime_error
cerr << "Format " << optarg << " unknown." << endl;
abort();
}
break;
case 'm':
maxDist = atoi(optarg);
break;
case 'O':
if (optarg) {
octree = atoi(optarg);
} else {
octree = 1;
}
break;
case 'M':
minDist = atoi(optarg);
break;
case 'I':
if (optarg) {
rangeimage = atoi(optarg);
} else {
rangeimage = 1;
}
break;
case 'p':
projection = optarg;
break;
case 'S':
scanserver = true;
break;
case '?':
usage(argv[0]);
return 1;
default:
abort ();
}
if(!reduced) {
cerr << "\n*** Reduction method missed ***" << endl;
usage(argv[0]);
}
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
parseFormatFile(dir, w_type, w_start, w_end);
return 0;
}
/**
* Main program for reducing scans.
* Usage: bin/scan_red -r <NR> 'dir',
* Use -r for octree based reduction (voxel size=<NR>)
* and 'dir' the directory of a set of scans
* Reduced scans will be written to 'dir/reduced'
*
*/
int main(int argc, char **argv)
{
cout << "(c) Jacobs University Bremen, gGmbH, 2012" << endl << endl;
if (argc <= 1) {
usage(argv[0]);
}
// parsing the command line parameters
// init, default values if not specified
string dir;
double red = -1.0;
int start = 0, end = -1;
int maxDist = -1;
int minDist = -1;
string projection = "EQUIRECTANGULAR";
int octree = 0;
IOType type = RIEGL_TXT;
int rangeimage = 0;
bool scanserver = false;
parseArgs(argc, argv, dir, red, start, end, maxDist, minDist, projection,
octree, type, rangeimage, scanserver);
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);
}
}
// Get Scans
string reddir = dir + "reduced";
#ifdef _MSC_VER
int success = mkdir(reddir.c_str());
#else
int success = mkdir(reddir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO);
#endif
if(success == 0) {
cout << "Writing scans to " << reddir << endl;
} else if(errno == EEXIST) {
cout << "Directory " << reddir << " exists already. CONTINUE" << endl;
} else {
cerr << "Creating directory " << reddir << " failed" << endl;
exit(1);
}
Scan::openDirectory(scanserver, dir, type, start, end);
if(Scan::allScans.size() == 0) {
cerr << "No scans found. Did you use the correct format?" << endl;
exit(-1);
}
string scanFileName;
string poseFileName;
/// Use the OCTREE based reduction
if (rangeimage == 0) {
cout << endl << "Reducing point cloud using octrees" << endl;
int scan_number = start;
for(std::vector<Scan*>::iterator it = Scan::allScans.begin();
it != Scan::allScans.end();
++it, ++scan_number) {
Scan* scan = *it;
const double* rPos = scan->get_rPos();
const double* rPosTheta = scan->get_rPosTheta();
scan->setRangeFilter(maxDist, minDist);
scan->setReductionParameter(red, octree);
// get reduced points
DataXYZ xyz_r(scan->get("xyz reduced"));
unsigned int nPoints = xyz_r.size();
const char* id = scan->getIdentifier();
cout << "Writing Scan No. " << id;
cout << " with " << xyz_r.size() << " points" << endl;
scanFileName = reddir + "/scan" + id + ".3d";
poseFileName = reddir + "/scan" + id + ".pose";
ofstream redptsout(scanFileName.c_str());
for(unsigned int j = 0; j < nPoints; j++) {
redptsout << xyz_r[j][0] << " "
<< xyz_r[j][1] << " "
<< xyz_r[j][2] << endl;
}
redptsout.close();
redptsout.clear();
ofstream posout(poseFileName.c_str());
posout << rPos[0] << " "
<< rPos[1] << " "
<< rPos[2] << endl
<< deg(rPosTheta[0]) << " "
<< deg(rPosTheta[1]) << " "
<< deg(rPosTheta[2]) << endl;
posout.close();
posout.clear();
if (scanserver) {
scan->clear("xyz reduced");
}
}
} else { /// use the RESIZE based reduction
cout << endl << "Reducing point cloud by rescaling the range image" << endl;
Scan::openDirectory(false, dir, type, start, end);
if (Scan::allScans.size() <= 0) {
cerr << "No scans found!" << endl;
exit(-1);
}
for (int scan_number = start; scan_number <= end; scan_number++) {
Scan* scan = Scan::allScans[scan_number];
scan->setRangeFilter(maxDist, minDist);
const double* rPos = scan->get_rPos();
const double* rPosTheta = scan->get_rPosTheta();
scanFileName = dir + "reduced/scan" + to_string(scan_number, 3) + ".3d";
poseFileName = dir + "reduced/scan" + to_string(scan_number, 3) + ".pose";
// Create a panorama. The iMap inside does all the tricks for us.
scan_cv sScan(dir, scan_number, type);
sScan.convertScanToMat();
/// Project point cloud using the selected projection method
panorama image(IMAGE_WIDTH, IMAGE_HEIGHT, strToPMethod(projection));
image.createPanorama(sScan.getMatScan());
image.getDescription();
/// Resize the range image, specify desired interpolation method
double scale = 1.0/red;
cv::Mat range_image_resized; // reflectance_image_resized;
string ofilename;
stringstream ss;
ss << setw(3) << setfill('0') << (scan_number);
ofilename = reddir + "/scan" + ss.str() + ".3d";
if (rangeimage == 1) {
resize(image.getRangeImage(), range_image_resized, cv::Size(),
scale, scale, cv::INTER_NEAREST);
// Recover point cloud from image and write scan to file
stringstream ss;
ss << setw(3) << setfill('0') << (scan_number);
image.recoverPointCloud(range_image_resized, ofilename);
} else {
resize(image.getMap(), range_image_resized, cv::Size(),
scale, scale, cv::INTER_NEAREST);
ofstream redptsout(ofilename.c_str());
// Convert back to 3D.
for(int i = 0; i < range_image_resized.rows; i++) {
for(int j = 0; j < range_image_resized.cols; j++) {
cv::Vec3f vec = range_image_resized.at<cv::Vec3f>(i, j);
double x = vec[0];
double y = vec[1];
double z = vec[2];
redptsout << x << " " << y << " " << z << endl;
}
}
}
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();
}
}
cout << endl << endl;
cout << "Normal program end." << endl << endl;
if (scanserver) {
Scan::closeDirectory();
ClientInterface::destroy();
}
}