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