682 lines
18 KiB
Text
682 lines
18 KiB
Text
/*
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* caliboard implementation
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*
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* Copyright (C) Dorit Borrmann
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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 Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#include <cfloat>
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#include <fstream>
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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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#include <iostream>
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using std::ofstream;
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using std::flush;
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using std::cout;
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using std::string;
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using std::cerr;
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using std::endl;
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#include <errno.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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#include <windows.h>
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#include <direct.h>
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#else
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <strings.h>
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#include <dlfcn.h>
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#endif
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#include "shapes/hough.h"
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#include "slam6d/basicScan.h"
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#include "shapes/shape.h"
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#include "shapes/ransac.h"
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#include "slam6d/icp6D.h"
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#include "slam6d/icp6Dsvd.h"
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#include "slam6d/icp6Dquat.h"
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#ifdef WITH_SCANSERVER
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#include "scanserver/clientInterface.h"
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#endif
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void usage(char* prog) {
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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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<< bold << " -b" << normal << " NR, " << bold << "--bottom=" << normal << "NR" << endl
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<< " trim the scan with lower boundary NR" << 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 << " -p" << normal << " NR, " << bold << "--pattern=" << normal << "NR" << endl
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<< " use pattern NR for plane detection" << endl
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<< " 0: lightbulb pattern" << endl
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<< " 1: chess pattern on cardboard" << endl
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<< " 2: chess pattern on wooden board" << 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 << " -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 " << bold << "-r" << normal <<" or " << bold << "--reduce" << 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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<< bold << " -t" << normal << " NR, " << bold << "--top=" << normal << "NR" << endl
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<< " trim the scan with upper boundary NR" << 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 << " -m 500 -r 5 dat" << endl
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<< " " << prog << " --max=5000 -r 10.2 dat" << endl
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<< " " << prog << " -s 2 -e 10 -r dat" << endl << endl;
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exit(1);
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}
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void writeFalse(string output) {
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ofstream caliout(output.c_str());
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caliout << "failed" << endl;
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caliout.close();
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caliout.clear();
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}
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bool matchPlaneToBoard(vector<double *> &points, double *alignxf, int pattern, string output) {
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double rPos[3] = {0.0,0.0,0.0};
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double rPosTheta[3] = {0.0,0.0,0.0};
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vector<double *> boardpoints;
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double halfwidth;
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double halfheight;
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double w_step = 0.5;
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double h_step = 0.5;
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switch(pattern) {
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case 0:
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halfheight = 28.5;
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halfwidth = 25.0;
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break;
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case 1:
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halfwidth = 18.3;
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halfheight = 18.5;
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w_step = 0.6;
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break;
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case 2:
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case 3:
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halfwidth = 19.0;
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halfheight = 38.0;
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break;
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case 4: //Ostia
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/*
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halfwidth = 14.85;
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halfheight = 21;
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*/
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halfwidth = 22.5;
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halfheight = 30.5;
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break;
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case 5: // Ostia large
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halfwidth = 22.5;
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halfheight = 30.5;
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break;
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}
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for(double i = -halfwidth; i <= halfwidth; i+=w_step) {
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for(double j = -halfheight; j <= halfheight; j+=h_step) {
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double * p = new double[3];
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p[0] = i;
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p[1] = j;
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p[2] = 0.0;
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//cout << p[0] << " " << p[1] << " " << p[2] << " 1" << endl;
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boardpoints.push_back(p);
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}
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}
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int nr_points = boardpoints.size();
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int nr_points2 = points.size();
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Scan * plane = new BasicScan(rPos, rPosTheta, points);
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Scan * board = new BasicScan(rPos, rPosTheta, boardpoints);
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for(int i = 0; i < boardpoints.size(); i++) {
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delete[] boardpoints[i];
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}
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plane->setRangeFilter(-1, -1);
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plane->setReductionParameter(-1, 0);
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plane->setSearchTreeParameter(simpleKD, false);
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board->setRangeFilter(-1, -1);
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board->setReductionParameter(-1, 0);
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board->setSearchTreeParameter(simpleKD, false);
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board->transform(alignxf, Scan::ICP, 0);
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bool quiet = true;
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icp6Dminimizer *my_icp6Dminimizer = 0;
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my_icp6Dminimizer = new icp6D_SVD(quiet);
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icp6D *my_icp = 0;
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double mdm = 50;
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int mni = 50;
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my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false);
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my_icp->match(plane, board);
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delete my_icp;
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mdm = 2;
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mni = 300;
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my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false);
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my_icp->match(plane, board);
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delete my_icp;
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delete my_icp6Dminimizer;
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double sum;
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double centroid_s[3] = {0.0, 0.0, 0.0};
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double centroid_t[3] = {0.0, 0.0, 0.0};
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vector<PtPair> pairs_out;
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Scan::getPtPairs(&pairs_out, plane, board, 1, 0, 3.0, sum, centroid_s, centroid_t);
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int nr_matches = pairs_out.size();
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cout << "Result " << nr_matches << " " << nr_points << " " << nr_points2 << endl;
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const double * pos = board->get_rPos();
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const double * postheta = board->get_rPosTheta();
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const double * transMat = board->get_transMat();
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for(int i = 0; i < 16; i++) {
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cout << transMat[i] << " ";
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}
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cout << endl << endl;
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cout << "Transform new: " << endl;
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for(int i = 0; i < 3; i++) {
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cout << pos[i] << " ";
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}
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cout << endl;
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for(int i = 0; i < 3; i++) {
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cout << deg(postheta[i]) << " ";
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}
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cout << endl;
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cout << "Calipoints Start" << endl;
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ofstream caliout(output.c_str());
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if(nr_matches < nr_points) {
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caliout << "failed" << endl;
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} else {
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caliout << "Calibration" << endl;
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}
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/**
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* write FRAMES
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*/
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/*
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string filename = "tmp.frames";
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ofstream fout(filename.c_str());
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if (!fout.good()) {
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cerr << "ERROR: Cannot open file " << filename << endl;
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exit(1);
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}
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// write into file
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//fout << "frames for scan" << endl;
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//fout << plane->sout.str() << endl;
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//fout << "frames for lightbulbs" << endl;
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fout << board ->sout.str() << endl;
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fout.close();
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fout.clear();
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*/
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/*
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board->saveFrames();
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*/
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/**
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* end write frames
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*/
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switch(pattern) {
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// lightbulb
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case 0:
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for(double y = -25; y < 30; y+=10.0) {
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for(double x = 20; x > -25; x-=10.0) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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//result->push_back(p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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// chessboard on wooden board pattern top
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case 2:
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for(double x = -7.8; x < 10; x+=5.2) {
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for(double y = 4.1; y < 33.0; y+=5.2) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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// chessboard on wooden board pattern bottom
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case 3:
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for(double y = -4.1; y > -33.0; y-=5.2) {
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for(double x = -8.1; x < 10; x+=5.2) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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// chessboard on cardboard
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case 1:
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for(double x = -12; x < 16; x+=4.0) {
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for(double y = -12; y < 16; y+=4.0) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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// Ostia
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case 4:
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for(double x = -12; x < 16; x+=8.0) {
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for(double y = -20; y < 24; y+=8.0) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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break;
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//_|_|_|_|_|_|_
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//4: 1.5*8 = 12
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//6: 2.5*8 = 20
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// Universum
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case 5:
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for(double y = 20; y > -24; y-=8.0) {
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for(double x = -12; x < 16; x+=8.0) {
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double * p = new double[3];
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p[0] = x;
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p[1] = y;
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p[2] = 0.0;
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transform3(transMat, p);
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caliout << p[0] << " " << p[1] << " " << p[2] << endl;
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delete[] p;
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}
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}
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break;
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}
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caliout.close();
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caliout.clear();
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cout << "Calipoints End" << endl;
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delete board;
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delete plane;
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return !(nr_matches < nr_points);
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}
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int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int
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&end, int &pattern, int &maxDist, int &minDist, double &top, double &bottom, int
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&octree, IOType &type, bool &quiet) {
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bool reduced = false;
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int c;
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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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{ "max", required_argument, 0, 'm' },
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{ "min", required_argument, 0, 'M' },
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{ "start", required_argument, 0, 's' },
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{ "reduce", required_argument, 0, 'r' },
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{ "pattern", required_argument, 0, 'p' },
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{ "quiet", no_argument, 0, 'q' },
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{ "octree", optional_argument, 0, 'O' },
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{ "end", required_argument, 0, 'e' },
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{ "top", required_argument, 0, 't' },
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{ "bottom", required_argument, 0, 'b' },
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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:r:s:e:m:M:O:qp:e:t:b:", 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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reduced = true;
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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 '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 'p':
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pattern = atoi(optarg);
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if(pattern < 0 || pattern > 5) { cerr << "Error: choose pattern between 0 and 3!\n"; exit(1); }
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break;
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case 'q':
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quiet = true;
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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 '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 't':
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top = atof(optarg);
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break;
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case 'b':
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bottom = atof(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 '?':
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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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break;
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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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/**
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* Main function. The Hough Transform is called for the scan indicated as
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* argument.
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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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cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl;
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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 start = 0;
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int end = -1;
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int maxDist = -1;
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int minDist = -1;
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int octree = 0;
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bool quiet = false;
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int pattern = 0;
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double bottom = -5;
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double top = 170;
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IOType type = UOS;
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cout << "Parse args" << endl;
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parseArgs(argc, argv, dir, red, start, end, pattern, maxDist, minDist, top, bottom, octree, type, quiet);
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int fileNr = start;
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string calidir = dir + "/cali";
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#ifdef WITH_SCANSERVER
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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);
|
|
}
|
|
#endif //WITH_SCANSERVER
|
|
|
|
#ifdef _MSC_VER
|
|
int success = mkdir(calidir.c_str());
|
|
#else
|
|
int success = mkdir(calidir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO);
|
|
#endif
|
|
if(success == 0) {
|
|
if(!quiet) {
|
|
cout << "Writing calibration results to " << calidir << endl;
|
|
}
|
|
} else if(errno == EEXIST) {
|
|
cout << "Directory " << calidir << " exists already. CONTINUE" << endl;
|
|
} else {
|
|
cerr << "Creating directory " << calidir << " failed" << endl;
|
|
exit(1);
|
|
}
|
|
|
|
cout << start << " " << end << endl;
|
|
int successes = 0;
|
|
int failures = 0;
|
|
|
|
long calitime = GetCurrentTimeInMilliSec();
|
|
|
|
//#ifndef WITH_SCANSERVER
|
|
while (fileNr <= end) {
|
|
Scan::openDirectory(false, dir, type, fileNr, fileNr);
|
|
Scan::allScans[0]->setRangeFilter(maxDist, minDist);
|
|
Scan::allScans[0]->setHeightFilter(top, bottom);
|
|
Scan::allScans[0]->setSearchTreeParameter(simpleKD, false);
|
|
|
|
string output = calidir + "/scan" + to_string(fileNr,3) + ".3d";
|
|
cout << "Top: " << top << " Bottom: " << bottom << endl;
|
|
|
|
Scan::allScans[0]->toGlobal();
|
|
double id[16];
|
|
M4identity(id);
|
|
for(int i = 0; i < 10; i++) {
|
|
Scan::allScans[0]->transform(id, Scan::ICP, 0); // write end pose
|
|
}
|
|
/*
|
|
#else //WITH_SCANSERVER
|
|
|
|
Scan::readScansRedSearch(type, start, end, dir, filter, red, octree);
|
|
for(std::vector<Scan*>::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it)
|
|
{
|
|
Scan* scan = *it;
|
|
string output = calidir + "/scan" + scan->getIdentifier() + ".3d";
|
|
cout << "Top: " << top << " Bottom: " << bottom << endl;
|
|
// set trimming, don't want to put it into readScansRedSearch too
|
|
scan->trim(top, bottom);
|
|
|
|
double id[16];
|
|
M4identity(id);
|
|
for(int i = 0; i < 10; i++) {
|
|
scan->transform(id, Scan::ICP, 0); // write end pose
|
|
}
|
|
#endif //WITH_SCANSERVER
|
|
*/
|
|
cout << "start plane detection" << endl;
|
|
long starttime = GetCurrentTimeInMilliSec();
|
|
vector<double *> points;
|
|
CollisionPlane<double> * plane;
|
|
plane = new LightBulbPlane<double>(50,120);
|
|
//#ifndef WITH_SCANSERVER
|
|
Ransac(*plane, Scan::allScans[0], &points);
|
|
/*
|
|
#else //WITH_SCANSERVER
|
|
|
|
cout << "S" << endl;
|
|
Ransac(*plane, scan, &points);
|
|
cout << "T" << endl;
|
|
//#endif //WITH_SCANSERVER
|
|
*/
|
|
starttime = (GetCurrentTimeInMilliSec() - starttime);
|
|
|
|
cout << "nr points " << points.size() << endl;
|
|
double nx,ny,nz,d;
|
|
plane->getPlane(nx,ny,nz,d);
|
|
cout << "DONE " << endl;
|
|
|
|
cout << nx << " " << ny << " " << nz << " " << d << endl;
|
|
|
|
if(std::isnan(d)) {
|
|
writeFalse(output);
|
|
failures++;
|
|
} else {
|
|
|
|
if(d < 0) {
|
|
nx = -nx;
|
|
ny = -ny;
|
|
nz = -nz;
|
|
d = -d;
|
|
}
|
|
|
|
double tx, ty, tz;
|
|
tz = 0;
|
|
ty = asin(nx);
|
|
tx = asin(-ny/cos(ty));
|
|
|
|
double rPos[3];
|
|
double rPosTheta[3];
|
|
|
|
for(int i = 0; i < 3; i++) {
|
|
rPosTheta[i] = 0.0;
|
|
}
|
|
|
|
rPosTheta[0] = tx;
|
|
rPosTheta[1] = ty;
|
|
rPosTheta[2] = tz;
|
|
|
|
//rPosTheta[1] = acos(nz);
|
|
// rotate plane model to make parallel with detected plane
|
|
|
|
// transform plane model to center of detected plane
|
|
((LightBulbPlane<double> *)plane)->getCenter(rPos[0], rPos[1], rPos[2]);
|
|
cout << "Angle: " << deg(acos(nz)) << endl;
|
|
for(int i = 0; i < 3; i++) {
|
|
cout << rPos[i] << " ";
|
|
}
|
|
for(int i = 0; i < 3; i++) {
|
|
cout << deg(rPosTheta[i]) << " ";
|
|
}
|
|
cout << endl;
|
|
|
|
double alignxf[16];
|
|
EulerToMatrix4(rPos, rPosTheta, alignxf);
|
|
if(matchPlaneToBoard(points, alignxf, pattern, output)) {
|
|
successes++;
|
|
} else {
|
|
failures++;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
for(int i = points.size() - 1; i > -1; i--) {
|
|
delete[] points[i];
|
|
}
|
|
|
|
|
|
delete plane;
|
|
|
|
cout << "Time for Plane Detection " << starttime << endl;
|
|
//#ifndef WITH_SCANSERVER
|
|
delete Scan::allScans[0];
|
|
Scan::allScans.clear();
|
|
fileNr++;
|
|
//#endif //WITH_SCANSERVER
|
|
}
|
|
calitime = (GetCurrentTimeInMilliSec() - calitime);
|
|
|
|
cout << "Calibration done with " << successes << " successes and " << failures
|
|
<< " failures!" << endl;
|
|
cout << "Time for Calibration " << calitime << endl;
|
|
|
|
/*
|
|
#ifdef WITH_SCANSERVER
|
|
Scan::clearScans();
|
|
ClientInterface::destroy();
|
|
#endif //WITH_SCANSERVER
|
|
*/
|
|
}
|
|
|