int main (int argc, char ** argv) {
if(argc <= 2){
throw std::runtime_error("No parameters given. Usage: " + usage(argv[0]));
}
//Parse all parameters
std::map<std::string, std::string> parameter_name_value_map;
bool parse_succeeded = Utils::parseParamters(argc, argv, parameter_name_value_map);
if(!parse_succeeded){
throw std::runtime_error("Mangled command line arguments. " + usage(argv[0]));
}
//check if we found a config file.
if(parameter_name_value_map.count("conf") == 0){
throw std::runtime_error("No config file was given" + usage(argv[0]));
}
std::string config_file = parameter_name_value_map["conf"];
parameter_name_value_map.erase("conf");
Utils::Config conf(config_file, parameter_name_value_map);
Utils::DataLoader dl(conf);
Utils::RgbLabelConversion label_converter = dl.getLabelConverter();
std::vector<std::string> image_names = dl.getImageList(conf.get<std::string>("key","test_images"));
//For each image
for(std::string image_name : image_names){
//Load the image
cv::Mat color = dl.loadColor(image_name);
cv::Mat depth = dl.loadDepth(image_name);
cv::Mat label = dl.loadLabel(image_name);
Utils::Calibration calib = dl.loadCalibration(image_name);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_unrectified;
dl.create_cloud(depth, color, calib, cloud, cloud_unrectified);
//Get the voxels, we don't use the stored ones to easily visualize the change of parameters.
std::map<int, std::shared_ptr<Voxel> > voxels;
dl.extractVoxels(cloud, cloud_unrectified, voxels);
int n = voxels[1]->getFeatures().rows(); //Just to get the size once.
cv::Mat result_image(cloud->height, cloud->width, CV_32FC1, cv::Scalar(0));
for(int j = 0; j < n; j++){
for(auto v : voxels){
libf::DataPoint f = v.second->getFeatures();
v.second->drawValueIntoImage<float>(result_image, f(j));
}
Utils::ShowCvMatHeatMap(result_image);
}
cv::Mat label_image(cloud->height, cloud->width, CV_32SC1, cv::Scalar(-1));
for(auto v : voxels){
v.second->computeLabel(label);
v.second->drawLabelIDIntoImage(label_image);
}
Utils::ShowCvMat(label_converter.labelToRgb(label_image));
}
return 0;
}
void File_Browser::menu_update()
{
//DJV_DEBUG("File_Browser::menu_update");
Menu_Item_Group group;
const List<Shortcut> & shortcut = File_Browser_Prefs::global()->shortcut();
// Menu:
//
// Directory
// * Up
// * Previous
// * Recent
// * ...
// ---
// * Current
// * Home
// * Desktop
// * Root
// ---
// * Reload
//
// Options
// * Image Thumbnails
// * ...
// * File Sequencing
// * ...
// ---
// * File Types
// * ...
// * Hidden Files
// ---
// * Sort By
// * ...
// * Reverse Sort
// * Sort Directories First
// ---
// * Navigate
// * ...
//
// Bookmarks
// * Add
// * Delete
// * Delete All
// ---
// * ...
group.add(menu_directory, 0, 0, 0, Menu_Item::SUB_MENU);
group.add(
menu_directory_up,
shortcut[File_Browser_Prefs::UP].value,
_up_callback,
this);
group.add(
menu_directory_prev,
shortcut[File_Browser_Prefs::PREV].value,
_prev_callback,
this);
group.add(
menu_directory_recent,
0,
0,
0,
Menu_Item::SUB_MENU | Menu_Item::DIVIDER);
_menu_recent = group.add(
File_Browser_Prefs::global()->recent(),
List<int>(),
_recent_callback,
this);
group.end();
group.add(
menu_directory_current,
shortcut[File_Browser_Prefs::CURRENT].value,
_current_callback,
this);
# if ! defined(DJV_WINDOWS)
group.add(
menu_directory_home,
shortcut[File_Browser_Prefs::HOME].value,
_home_callback,
this);
# endif // DJV_WINDOWS
group.add(
menu_directory_desktop,
shortcut[File_Browser_Prefs::DESKTOP].value,
_desktop_callback,
this);
# if defined(DJV_WINDOWS)
group.add(
menu_directory_drive,
0,
0,
0,
Menu_Item::SUB_MENU | Menu_Item::DIVIDER);
_menu_drive = group.add(
directory::drives(),
List<int>(),
_drive_callback,
this);
group.end();
# else // DJV_WINDOWS
group.add(
menu_directory_root,
shortcut[File_Browser_Prefs::ROOT].value,
_root_callback,
this,
Menu_Item::DIVIDER);
# endif // DJV_WINDOWS
group.add(
menu_directory_reload,
shortcut[File_Browser_Prefs::RELOAD].value,
_reload_callback,
this);
group.end();
group.add(menu_option, 0, 0, 0, Menu_Item::SUB_MENU);
group.add(menu_option_image, 0, 0, 0, Menu_Item::SUB_MENU);
_menu_image = group.add(
label_image(),
List<int>(),
_image_callback,
this,
Menu_Item::RADIO,
_image);
group.end();
group.add(menu_option_seq, 0, 0, 0, Menu_Item::SUB_MENU);
_menu_seq = group.add(
Seq::label_compress(),
List<int>() <<
shortcut[File_Browser_Prefs::SEQ_OFF].value <<
shortcut[File_Browser_Prefs::SEQ_SPARSE].value <<
shortcut[File_Browser_Prefs::SEQ_RANGE].value,
_seq_callback,
this,
Menu_Item::RADIO,
_seq);
group.end();
group.add(menu_option_type, 0, 0, 0, Menu_Item::SUB_MENU);
_menu_type = group.add(
_type_label,
List<int>(),
_type_callback,
this,
Menu_Item::RADIO,
_type + 1);
group.end();
group.add(
menu_option_hidden,
shortcut[File_Browser_Prefs::HIDDEN].value,
_hidden_callback,
this,
Menu_Item::TOGGLE | Menu_Item::DIVIDER,
_hidden);
group.add(menu_option_sort, 0, 0, 0, Menu_Item::SUB_MENU);
_menu_sort = group.add(
label_sort(),
List<int>() <<
shortcut[File_Browser_Prefs::SORT_NAME].value <<
shortcut[File_Browser_Prefs::SORT_SIZE].value <<
# if ! defined(DJV_WINDOWS)
shortcut[File_Browser_Prefs::SORT_USER].value <<
# endif
shortcut[File_Browser_Prefs::SORT_TIME].value,
_sort_callback,
this,
Menu_Item::RADIO,
_sort);
group.end();
group.add(
menu_option_sort_reverse,
shortcut[File_Browser_Prefs::SORT_REVERSE].value,
_sort_reverse_callback,
this,
Menu_Item::TOGGLE,
_sort_reverse);
group.add(
menu_option_sort_directory,
shortcut[File_Browser_Prefs::SORT_DIRECTORY].value,
_sort_directory_callback,
this,
Menu_Item::TOGGLE | Menu_Item::DIVIDER,
_sort_directory);
group.add(menu_option_navigate, 0, 0, 0, Menu_Item::SUB_MENU);
_menu_navigate = group.add(
label_navigate(),
List<int>(),
_navigate_callback,
this,
Menu_Item::RADIO,
File_Browser_Prefs::global()->navigate());
group.end();
group.end();
group.add(menu_bookmark, 0, 0, 0, Menu_Item::SUB_MENU);
group.add(
menu_bookmark_add,
shortcut[File_Browser_Prefs::BOOKMARK_ADD].value,
_bookmark_add_callback,
this);
group.add(
menu_bookmark_del,
0,
_bookmark_del_callback,
this);
group.add(
menu_bookmark_del_all,
0,
_bookmark_del_all_callback,
this,
Menu_Item::DIVIDER);
_menu_bookmark = group.add(
File_Browser_Prefs::global()->bookmark(), List<int>() <<
shortcut[File_Browser_Prefs::BOOKMARK_1].value <<
shortcut[File_Browser_Prefs::BOOKMARK_2].value <<
shortcut[File_Browser_Prefs::BOOKMARK_3].value <<
shortcut[File_Browser_Prefs::BOOKMARK_4].value <<
shortcut[File_Browser_Prefs::BOOKMARK_5].value <<
shortcut[File_Browser_Prefs::BOOKMARK_6].value <<
shortcut[File_Browser_Prefs::BOOKMARK_7].value <<
shortcut[File_Browser_Prefs::BOOKMARK_8].value <<
shortcut[File_Browser_Prefs::BOOKMARK_9].value <<
shortcut[File_Browser_Prefs::BOOKMARK_10].value <<
shortcut[File_Browser_Prefs::BOOKMARK_11].value <<
shortcut[File_Browser_Prefs::BOOKMARK_12].value,
_bookmark_callback,
this);
group.end();
group.end();
_menu->set(group);
}
