322 lines
10 KiB
Text
322 lines
10 KiB
Text
/*
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* exportPoints implementation
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*
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* Copyright (C) Jochen Sprickerhof
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*
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* Released under the GPL version 3.
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*
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*/
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/**
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* @file
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* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#include <string>
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using std::string;
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#include <iostream>
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using std::cout;
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using std::cerr;
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using std::endl;
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#include <fstream>
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using std::ifstream;
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#include <stdexcept>
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using std::exception;
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#include <vector>
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#include <map>
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#include "slam6d/scan.h"
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#include "slam6d/globals.icc"
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#ifndef _MSC_VER
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#include <getopt.h>
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#else
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#include "XGetopt.h"
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#endif
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#ifdef _MSC_VER
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#define strcasecmp _stricmp
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#define strncasecmp _strnicmp
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#else
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#include <strings.h>
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#endif
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/**
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* Explains the usage of this program's command line parameters
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*/
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void usage(char* prog)
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{
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#ifndef _MSC_VER
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const string bold("\033[1m");
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const string normal("\033[m");
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#else
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const string bold("");
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const string normal("");
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#endif
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cout << endl
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<< bold << "USAGE " << normal << endl
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<< " " << prog << " [options] directory" << endl << endl;
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cout << bold << "OPTIONS" << normal << endl
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<< endl
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<< bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl
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<< " end after scan NR" << endl
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<< endl
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<< bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl
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<< " using shared library F for input" << endl
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<< " (chose 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
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<< endl
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<< bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl
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<< " neglegt all data points with a distance larger than NR 'units'" << endl
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<< endl
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<< bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl
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<< " neglegt all data points with a distance smaller than NR 'units'" << endl
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<< endl
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<< bold << " -O" << normal << " NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl
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<< " use randomized octree based point reduction (pts per voxel=<NR>)" << endl
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<< " requires -r or --reduce" << endl
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<< endl
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<< bold << " -p, --trustpose" << normal << endl
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<< " Trust the pose file, do not extrapolate the last transformation." << endl
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<< " (just for testing purposes, or gps input.)" << endl
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<< endl
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<< endl
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<< bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl
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<< " turns on octree based point reduction (voxel size=<NR>)" << endl
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<< endl
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<< bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl
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<< " turns on randomized reduction, using about every <NR>-th point only" << endl
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<< endl
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<< bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl
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<< " start at scan NR (i.e., neglects the first NR scans)" << endl
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<< " [ATTENTION: counting naturally starts with 0]" << endl
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<< endl
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<< endl << endl;
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cout << bold << "EXAMPLES " << normal << endl
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<< " " << prog << " -s 2 -e 3 dat" << endl << endl;
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exit(1);
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}
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/** A function that parses the command-line arguments and sets the respective flags.
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* @param argc the number of arguments
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* @param argv the arguments
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* @param dir the directory
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* @param red using point reduction?
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* @param rand use randomized point reduction?
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* @param mdm maximal distance match
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* @param mdml maximal distance match for SLAM
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* @param mni maximal number of iterations
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* @param start starting at scan number 'start'
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* @param end stopping at scan number 'end'
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* @param maxDist - maximal distance of points being loaded
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* @param minDist - minimal distance of points being loaded
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* @param quiet switches on/off the quiet mode
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* @param veryQuiet switches on/off the 'very quiet' mode
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* @param extrapolate_pose - i.e., extrapolating the odometry by the last transformation
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* (vs. taking the pose file as <b>exact</b>)
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* @param meta match against all scans (= meta scan), or against the last scan only???
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* @param anim selects the rotation representation for the matching algorithm
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* @param mni_lum sets the maximal number of iterations for SLAM
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* @param net specifies the file that includes the net structure for SLAM
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* @param cldist specifies the maximal distance for closed loops
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* @param epsilonICP stop ICP iteration if difference is smaller than this value
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* @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value
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* @param algo specfies the used algorithm for rotation computation
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* @param lum6DAlgo specifies the used algorithm for global SLAM correction
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* @param loopsize defines the minimal loop size
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* @return 0, if the parsing was successful. 1 otherwise
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*/
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int parseArgs(int argc, char **argv, string &dir, double &red, int &rand,
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int &start, int &end, int &maxDist, int &minDist, bool &extrapolate_pose,
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int &octree, IOType &type)
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{
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int c;
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// from unistd.h:
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extern char *optarg;
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extern int optind;
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/* options descriptor */
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// 0: no arguments, 1: required argument, 2: optional argument
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static struct option longopts[] = {
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{ "format", required_argument, 0, 'f' },
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{ "start", required_argument, 0, 's' },
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{ "end", required_argument, 0, 'e' },
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{ "reduce", required_argument, 0, 'r' },
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{ "octree", optional_argument, 0, 'O' },
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{ "random", required_argument, 0, 'R' },
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{ "trustpose", no_argument, 0, 'p' },
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{ 0, 0, 0, 0} // needed, cf. getopt.h
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};
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cout << endl;
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while ((c = getopt_long(argc, argv, "f:s:e:r:O:R:p", longopts, NULL)) != -1)
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switch (c)
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{
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case 'r':
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red = atof(optarg);
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break;
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case 'O':
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if (optarg) {
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octree = atoi(optarg);
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} else {
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octree = 1;
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}
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break;
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case 'R':
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rand = atoi(optarg);
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break;
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case 's':
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start = atoi(optarg);
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if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
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break;
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case 'e':
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end = atoi(optarg);
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if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
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if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
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break;
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case 'm':
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maxDist = atoi(optarg);
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break;
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case 'M':
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minDist = atoi(optarg);
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break;
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case 'p':
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extrapolate_pose = false;
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break;
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case 'f':
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try {
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type = formatname_to_io_type(optarg);
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} catch (...) { // runtime_error
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cerr << "Format " << optarg << " unknown." << endl;
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abort();
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}
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break;
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case '?':
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usage(argv[0]);
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return 1;
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default:
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abort ();
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}
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if (optind != argc-1) {
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cerr << "\n*** Directory missing ***" << endl;
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usage(argv[0]);
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}
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dir = argv[optind];
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#ifndef _MSC_VER
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if (dir[dir.length()-1] != '/') dir = dir + "/";
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#else
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if (dir[dir.length()-1] != '\\') dir = dir + "\\";
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#endif
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return 0;
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}
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void readFrames(string dir, int start, int end, IOType &type)
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{
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ifstream frame_in;
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int fileCounter = start;
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string frameFileName;
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for (;;) {
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if (end > -1 && fileCounter > end) break; // 'nuf read
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frameFileName = dir + "scan" + to_string(fileCounter++,3) + ".frames";
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frame_in.open(frameFileName.c_str());
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// read 3D scan
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if (!frame_in.good()) break; // no more files in the directory
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cout << "Reading Frames for 3D Scan " << frameFileName << "..." << endl;
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// vector <double*> Matrices;
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// vector <Scan::AlgoType> algoTypes;
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double transMat[16];
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int algoTypeInt;
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while (frame_in.good()) {
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try {
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frame_in >> transMat >> algoTypeInt;
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}
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catch (const exception &e) {
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break;
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}
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}
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if(type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) {
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Scan::allScans[fileCounter - start]->transformAll(transMat);
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if(fileCounter == start+1) {
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Scan::allScans[0]->transformAll(transMat);
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}
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} else {
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Scan::allScans[fileCounter - start - 1]->transformAll(transMat);
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}
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frame_in.close();
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frame_in.clear();
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}
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}
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/**
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* program for point export
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* Usage: bin/exportPoints 'dir',
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* with 'dir' the directory of a set of scans
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* ...
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*/
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int main(int argc, char **argv)
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{
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if (argc <= 1) {
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usage(argv[0]);
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}
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// parsing the command line parameters
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// init, default values if not specified
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string dir;
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double red = -1.0;
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int rand = -1;
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int start = 0, end = -1;
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int maxDist = -1;
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int minDist = -1;
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bool eP = true; // should we extrapolate the pose??
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int octree = 0; // employ randomized octree reduction?
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IOType type = UOS;
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// parseArgs(argc, argv, dir, red, rand, start, end,
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// maxDist, minDist, eP, octree, type);
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//
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// // Get Scans
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// Scan::readScans(type, start, end, dir, maxDist, minDist, true);
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//
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// int end_reduction = (int)Scan::allScans.size();
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//#ifdef _OPENMP
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//#pragma omp parallel for schedule(dynamic)
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//#endif
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// for (int iterator = 0; iterator < end_reduction; iterator++) {
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// if (red > 0) {
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// cout << "Reducing Scan No. " << iterator << endl;
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// } else {
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// cout << "Copying Scan No. " << iterator << endl;
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// }
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// // reduction filter for current scan!
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// Scan::allScans[iterator]->calcReducedPoints(red, octree);
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// }
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//
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// if(eP) {
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// readFrames(dir, start, end, type);
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// }
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//
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// cout << "Export all 3D Points to file \"points.pts\"" << endl;
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// ofstream redptsout("points.pts");
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// for(unsigned int i = 0; i < Scan::allScans.size(); i++) {
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// const vector <Point> *points = Scan::allScans[i]->get_points();
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// for(unsigned int j = 0; j < points->size(); j++) {
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// redptsout << points->at(j) << endl;
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// }
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// }
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// redptsout.close();
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// redptsout.clear();
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}
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