int Preprocessor::resize(){
string src = para.res_src;
string dst = para.res_dst;
string in_pre = para.res_in_pre;
string in_post = para.res_in_post;
string out_pre = para.res_out_pre;
string out_post = para.res_out_post;
unsigned int serial_beg = para.serial_beg;
unsigned int serial_end = para.serial_end, serial_bits = para.serial_bits, thread_num = para.thread_num;
double res_fx = para.res_fx;
double res_fy = para.res_fy;
string sys_del = para.sys_del;
#pragma omp parallel for num_threads(thread_num)
for(int serial_num = serial_beg; serial_num <= int(serial_end); ++ serial_num){
string serial_str(""), in_path(""), out_path("");
stringstream str_buffer;
cv::Mat in_image, out_image;
str_buffer<<setw(serial_bits)<<setfill('0')<<serial_num;
str_buffer>>serial_str;
str_buffer.clear();
cout<<serial_str<<endl;
in_path = src + sys_del + in_pre + serial_str + in_post;
//cout<<in_path<<endl;
out_path = dst + sys_del + out_pre + serial_str + out_post;
//cout<<in_path<<endl;
in_image = cv::imread(in_path, CV_LOAD_IMAGE_UNCHANGED);
cv::resize(in_image, out_image, cv::Size(), res_fx, res_fy, cv::INTER_LINEAR);
cv::imwrite(out_path, out_image);
}
return 0;
}
shared_ptr<temp_dir> testcase::_prepare_dir(judge::pool &pool, const compiler::result &cr)
{
shared_ptr<temp_dir> dir = pool.create_temp_dir("test_");
path_a in_path(cr.dir->path());
in_path.push(cr.compiler->target_filename().c_str());
path_a out_path(dir->path());
out_path.push(cr.compiler->target_filename().c_str());
file_copy(in_path, out_path);
return dir;
}
void global_settings_io::export_settings(const std::string& output_dir)
{
if(!settings_file_name_.empty())
{
namespace fs = boost::filesystem;
std::string config_dir = output_dir + "/config";
fs::path out_path(config_dir);
fs::create_directory(out_path);
utils::copy_file(settings_file_name_, config_dir);
}
}
int main(int argc, char** argv)
{
std::string seg_path("data/ln_joint/");
std::string gt_path("final_joint_gt/");
std::string out_path("");
//pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer());
//viewer->initCameraParameters();
//viewer->addCoordinateSystem(0.1);
//viewer->setCameraPosition(0, 0, 0.1, 0, 0, 1, 0, -1, 0);
int c1 = 0, c2 = -1;
pcl::console::parse_argument(argc, argv, "--gt", gt_path);
pcl::console::parse_argument(argc, argv, "--eg", seg_path);
pcl::console::parse_argument(argc, argv, "--o", out_path);
pcl::console::parse_argument(argc, argv, "--c1", c1);
pcl::console::parse_argument(argc, argv, "--c2", c2);
if( out_path.empty() == false && exists_dir(out_path) == false )
boost::filesystem::create_directories(out_path);
float acc = 0;
int acc_count = 0;
for(int i = c1 ; i <= c2 ; i++ )
{
std::stringstream ss;
ss << i;
std::string pcd_file(seg_path + "seg_" + ss.str() + ".pcd");
std::string link_pose_file(gt_path + "link_gt_" + ss.str() + ".csv");
std::string node_pose_file(gt_path + "node_gt_" + ss.str() + ".csv");
std::cerr << "Loading... " << pcd_file << std::endl;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
pcl::io::loadPCDFile(pcd_file, *cloud);
if( cloud->empty() == true )
break;
acc_count++;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::vector<poseT> all_poses;
readCSV(link_pose_file, "link", all_poses);
readCSV(node_pose_file, "node", all_poses);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//read meshes
ModelT link_mesh = LoadMesh(link_mesh_name, "link");
ModelT node_mesh = LoadMesh(node_mesh_name, "node");
std::vector<ModelT> mesh_set;
mesh_set.push_back(link_mesh);
mesh_set.push_back(node_mesh);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//viewer->removePointCloud("cloud");
//viewer->addPointCloud(cloud, "cloud");
//viewer->spin();
float cur_acc = segAcc(mesh_set, all_poses, cloud);
std::cerr << "P: " << cur_acc << std::endl;
acc += cur_acc;
if( out_path.empty() == false )
pcl::io::savePCDFile(out_path + "seg_" + ss.str() + ".pcd", *cloud, true);
//viewer->removePointCloud("cloud");
//viewer->addPointCloud(cloud, "cloud");
//viewer->spin();
/*
cv::Mat gt_label, seg_label, uv;
int gt_num = MeshOn2D(mesh_set, all_poses, gt_label);
int seg_num = segProj(cloud, seg_label, uv);
int true_pos = overlapGT(gt_label, seg_label, uv);
std::cerr << "P: " << (true_pos+0.0) / seg_num << std::endl;
acc += (true_pos+0.0) / seg_num;
//*
showLabel(gt_label, "GT");
showLabel(seg_label, "Seg");
//*/
}
std::cerr << "Seg-Acc: " << acc / acc_count << std::endl;
/*************************************************************************************************************************/
return 0;
}
int main(int argc, char** argv)
{
std::string path("/home/chi/arco/test/build/temp/");
std::string filename("temp_0_0");
pcl::console::parse_argument(argc, argv, "--f", filename);
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
pcl::io::loadPCDFile(path+filename+".pcd", *cloud);
int w = cloud->width;
int h = cloud->height;
cv::Mat img = cv::Mat::zeros(h, w, CV_8UC3);
for( size_t i = 0 ; i < cloud->size() ; i++ )
{
int r = i / w;
int c = i % w;
uint32_t rgb_tmp = cloud->at(i).rgba;
img.at<uchar>(r, c*3+2) = (rgb_tmp >> 16) & 0x0000ff;
img.at<uchar>(r, c*3+1) = (rgb_tmp >> 8) & 0x0000ff;
img.at<uchar>(r, c*3+0) = (rgb_tmp) & 0x0000ff;
}
cv::imwrite(filename+".png", img);
return 0;
std::string in_path("/home/chi/JHUIT/raw/");
std::string out_path("img_tmp/");
std::string inst_name("driller_kel_0");
std::string seq_id("1");;
float elev = ELEV;
int max_frames = 200;
pcl::console::parse_argument(argc, argv, "--p", in_path);
pcl::console::parse_argument(argc, argv, "--s", seq_id);
pcl::console::parse_argument(argc, argv, "--i", inst_name);
pcl::console::parse_argument(argc, argv, "--elev", elev);
pcl::console::parse_argument(argc, argv, "--max", max_frames);
std::cerr << "Loading-"<< inst_name << std::endl;
if( exists_dir(out_path) == false )
boost::filesystem::create_directories(out_path);
std::ifstream fp;
fp.open((in_path+"/PlaneCoef_"+ seq_id + ".txt").c_str(), std::ios::in);
if( fp.is_open() == false )
{
std::cerr << "Failed to open: " << in_path+"/PlaneCoef_"+ seq_id + ".txt" << std::endl;
exit(0);
}
pcl::ModelCoefficients::Ptr planeCoef(new pcl::ModelCoefficients());
planeCoef->values.resize(4);
fp >> planeCoef->values[0] >> planeCoef->values[1] >> planeCoef->values[2] >> planeCoef->values[3];
fp.close();
std::vector< pcl::PointCloud<PointT>::Ptr > cloud_set;
std::vector< KEYSET > keypt_set;
std::vector< cv::Mat > keydescr_set;
for( size_t j = 0 ; j < max_frames ; j++ )
{
std::stringstream ss;
ss << j;
if( j % 3 != 0 )
continue;
std::string filename(in_path + inst_name + "/" + inst_name + "_" + seq_id + "_" + ss.str() + ".pcd");
if( exists_test(filename) == false )
continue;
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
pcl::io::loadPCDFile(filename, *cloud);
int w = cloud->width;
int h = cloud->height;
//std::cerr << w << " " << h << " " << cloud->size() << std::endl;
cv::Mat rgb = cv::Mat::zeros(h, w, CV_8UC3);
cv::Mat gray = cv::Mat::zeros(h, w, CV_8UC1);
for(size_t i = 0 ; i < cloud->size() ; i++ )
{
int r_idx = i / w;
int c_idx = i % w;
uint32_t rgb_tmp = cloud->at(i).rgba;
rgb.at<uchar>(r_idx, c_idx*3+2) = (rgb_tmp >> 16) & 0x0000ff;
rgb.at<uchar>(r_idx, c_idx*3+1) = (rgb_tmp >> 8) & 0x0000ff;
rgb.at<uchar>(r_idx, c_idx*3+0) = (rgb_tmp) & 0x0000ff;
}
cv::cvtColor(rgb,gray,CV_BGR2GRAY);
//cv::imshow("GRAY", rgb);
//cv::waitKey();
cv::SiftFeatureDetector *sift_det = new cv::SiftFeatureDetector(
0, // nFeatures
4, // nOctaveLayers
0.04, // contrastThreshold
10, //edgeThreshold
1.6 //sigma
);
cv::SiftDescriptorExtractor * sift_ext = new cv::SiftDescriptorExtractor();
KEYSET keypoints;
cv::Mat descriptors;
sift_det->detect(gray, keypoints);
sift_ext->compute(gray, keypoints, descriptors);
printf("%d sift keypoints are found.\n", (int)keypoints.size());
keypt_set.push_back(keypoints);
keydescr_set.push_back(descriptors);
cloud = cropCloud(cloud, planeCoef, 0.114);
cloud_set.push_back(cloud);
//cv::imshow("GRAY", in_rgb);
//cv::waitKey();
//cv::imwrite(out_path + ss.str() + ".jpg", in_rgb);
//viewer->addPointCloud(cloud, "cloud");
//viewer->spin();
//if( show_keys )
/*
{
cv::Mat out_image;
cv::drawKeypoints(gray, keypoints, out_image);
cv::imshow("keypoints", out_image);
cv::waitKey();
}
//*/
}
int total = cloud_set.size();
/*
std::vector< pcl::PointCloud<PointT>::Ptr > first_half, second_half;
std::vector< KEYSET > first_keypt, second_keypt;
std::vector< cv::Mat > first_keydescr, second_keydescr;
first_half.insert(first_half.end(), cloud_set.begin(), cloud_set.begin()+total/2);
first_keypt.insert(first_keypt.end(), keypt_set.begin(), keypt_set.begin()+total/2);
first_keydescr.insert(first_keydescr.end(), keydescr_set.begin(), keydescr_set.begin()+total/2);
second_half.push_back(cloud_set[0]);
second_keypt.push_back(keypt_set[0]);
second_keydescr.push_back(keydescr_set[0]);
for( int i = 1 ; i < total/2 ; i++ )
{
second_half.push_back(cloud_set[total-i]);
second_keypt.push_back(keypt_set[total-i]);
second_keydescr.push_back(keydescr_set[total-i]);
}
pcl::PointCloud<PointT>::Ptr first_model = Meshing(first_half, first_keypt, first_keydescr);
pcl::PointCloud<PointT>::Ptr second_model = Meshing(second_half, second_keypt, second_keydescr);
pcl::PointCloud<PointT>::Ptr full_model (new pcl::PointCloud<PointT>());
full_model->insert(full_model->end(), first_model->begin(), first_model->end());
full_model->insert(full_model->end(), second_model->begin(), second_model->end());
*/
pcl::PointCloud<PointT>::Ptr full_model = Meshing(cloud_set, keypt_set, keydescr_set);
full_model = cropCloud(full_model, planeCoef, elev);
pcl::io::savePCDFile("temp_full.pcd", *full_model);
pcl::PLYWriter ply_writer;
ply_writer.write("temp_full.ply", *full_model, true);
/*
pcl::PointCloud<PointT>::Ptr full_model(new pcl::PointCloud<PointT>());
pcl::io::loadPCDFile("temp_full.pcd", *full_model);
std::vector<int> idx_ff;
pcl::removeNaNFromPointCloud(*full_model, *full_model, idx_ff);
pcl::PointCloud<NormalT>::Ptr full_model_normals (new pcl::PointCloud<NormalT>());
computeNormals(full_model, full_model_normals, 0.02);
AdjustCloudNormal(full_model, full_model_normals);
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer());
viewer->initCameraParameters();
viewer->addCoordinateSystem(0.1);
viewer->setCameraPosition(0, 0, 0.1, 0, 0, 1, 0, -1, 0);
//viewer->addPointCloud(full_model, "full_model");
//viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 1.0, 1.0, "full_model");
//viewer->addPointCloudNormals<PointT, NormalT> (full_model, full_model_normals, 5, 0.01, "normals");
//viewer->spin();
pcl::PointCloud<pcl::PointNormal>::Ptr joint_model (new pcl::PointCloud<pcl::PointNormal>());
pcl::copyPointCloud(*full_model, *joint_model);
pcl::copyPointCloud(*full_model_normals, *joint_model);
//std::cerr << full_model->size() << " " << full_model_normals->size() << " " << joint_model->size() << std::endl;
//pcl::concatenateFields (*full_model, *full_model_normals, *joint_model);
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud (joint_model);
pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
pcl::PolygonMesh model_mesh;
gp3.setMu(2.5);
gp3.setMaximumNearestNeighbors(100);
gp3.setSearchRadius(0.03);
gp3.setMaximumSurfaceAngle(M_PI/4); // 45 degrees
gp3.setMinimumAngle(M_PI/18); // 10 degrees
gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
gp3.setNormalConsistency(false);
// Get result
gp3.setInputCloud (joint_model);
gp3.setSearchMethod (tree2);
gp3.reconstruct (model_mesh);
//viewer->addPointCloud(full_model, "model");
viewer->addPolygonMesh(model_mesh, "full_model_mesh");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.55, 0.05, "full_model_mesh");
viewer->spin();
*/
return 0;
}
void Extract(ExtractParameters* extractparams)
{
FileSystem fs;
if (fs.Open(extractparams->file))
{
if (!CreateDir(extractparams->out_path))
{
FILEPACKER_LOGE("ERROR: Unable to create %s\n", extractparams->out_path);
return;
}
std::string out_path(extractparams->out_path);
std::set<std::string> dirs;
auto it = fs.Entries().begin();
for (; it != fs.Entries().end(); it++)
{
const FileEntry& entry = it->second;
size_t found = entry.path.find_last_of("/\\");
if (found != std::string::npos)
{
std::string path = entry.path.substr(0, found);
found = 0;
while (1)
{
found = path.find_first_of("/\\", found);
std::string curr = path.substr(0, found);
if (dirs.find(curr) == dirs.end())
{
std::string full_dir = out_path + "/" + curr;
if (!CreateDir(full_dir.c_str()))
{
FILEPACKER_LOGE("ERROR: Unable to create %s\n", full_dir.c_str());
}
else
{
FILEPACKER_LOGV(" + Created dir %s\n", curr.c_str());
}
dirs.insert(curr);
}
if (found == std::string::npos)
break;
found++;
}
}
unsigned char* buffer = new unsigned char[entry.header.uncompr_size];
fs.Read(entry, buffer);
std::string full_dir = out_path + "/" + entry.path;
FILE* f = fopen(full_dir.c_str(), "wb+");
if (f != NULL)
{
FILEPACKER_LOGV(" + Writing %s\n", entry.path.c_str());
fwrite(buffer, 1, entry.header.uncompr_size, f);
fclose(f);
}
else
{
FILEPACKER_LOGE("ERROR: Unable to write %s\n", entry.path.c_str());
}
}
}
else
{
FILEPACKER_LOGE("ERROR: Unable to open %s\n", extractparams->file);
}
}
// [ref] ${VXL_HOME}/contrib/mul/msm/tools/msm_draw_points_on_image.cxx
int msm_draw_points_on_image_example(int argc, char *argv[])
{
vul_arg<vcl_string> curves_path("-c", "File containing curves");
vul_arg<vcl_string> pts_path("-p", "File containing points");
vul_arg<vcl_string> image_path("-i", "Image");
vul_arg<vcl_string> out_path("-o", "Output path","image+pts.eps");
vul_arg<vcl_string> line_colour("-lc", "Line colour","yellow");
vul_arg<vcl_string> pt_colour("-pc", "Point colour","none");
vul_arg<vcl_string> pt_edge_colour("-pbc", "Point border colour","none");
vul_arg<double> pt_radius("-pr", "Point radius",2.0);
vul_arg<double> scale("-s", "Scaling to apply",1.0);
vul_arg_parse(argc, argv);
if (pts_path() == "")
{
local::print_usage();
return 0;
}
msm_curves curves;
if (curves_path() != "" && !curves.read_text_file(curves_path()))
vcl_cerr << "Failed to read in curves from " << curves_path() << vcl_endl;
msm_points points;
if (!points.read_text_file(pts_path()))
{
vcl_cerr << "Failed to read points from " << pts_path() << vcl_endl;
return 2;
}
vcl_vector<vgl_point_2d<double> > pts;
points.get_points(pts);
//================ Attempt to load image ========
vil_image_view<vxl_byte> image;
if (image_path() != "")
{
image = vil_load(image_path().c_str());
if (image.size() == 0)
{
vcl_cout << "Failed to load image from " << image_path() << vcl_endl;
return 1;
}
vcl_cout << "Image is " << image << vcl_endl;
}
if (scale() > 1.001 || scale() < 0.999)
{
// Scale image and points
vil_image_view<vxl_byte> image2;
image2.deep_copy(image);
if (scale() < 0.51)
vil_gauss_filter_2d(image, image2, 1.0, 3);
vil_resample_bilin(image2, image, int(0.5 + scale() * image.ni()), int(0.5 + scale() * image.nj()));
points.scale_by(scale());
}
// Compute bounding box of points
vgl_box_2d<double> bbox = points.bounds();
bbox.scale_about_centroid(1.05); // Add a border
// If an image is supplied, use that to define bounding box
if (image.size() > 0)
{
bbox = vgl_box_2d<double>(0, image.ni(), 0,image.nj());
}
vgl_point_2d<double> blo = bbox.min_point();
// Translate all points to allow for shift of origin
points.translate_by(-blo.x(), -blo.y());
mbl_eps_writer writer(out_path().c_str(), bbox.width(), bbox.height());
if (image.size() > 0)
writer.draw_image(image, 0, 0, 1, 1);
if (pt_colour() != "none")
{
// Draw all the points
writer.set_colour(pt_colour());
msm_draw_points_to_eps(writer, points, pt_radius());
}
if (pt_edge_colour() != "none")
{
// Draw disks around all the points
writer.set_colour(pt_edge_colour());
msm_draw_points_to_eps(writer, points, pt_radius(), false);
}
if (curves.size() > 0 && line_colour() != "none")
{
// Draw all the lines
writer.set_colour(line_colour());
msm_draw_shape_to_eps(writer, points, curves);
}
writer.close();
vcl_cout << "Graphics saved to " << out_path() << vcl_endl;
return 0;
}
void user_settings_io::export_settings(const std::string& output_dir)
{
if(!settings_file_name_.empty())
{
namespace fs = boost::filesystem;
std::string config_dir = output_dir + "/config";
fs::path out_path(config_dir);
fs::create_directory(out_path);
YAML::Emitter out;
out << YAML::BeginMap;
out << YAML::Key << usc::fs;
out << YAML::Value << settings_.get_fs();
out << YAML::Key << usc::forces_dynamic;
out << YAML::Value << settings_.get_forces_dynamic();
out << YAML::Key << usc::excitation_time_step;
out << YAML::Value << settings_.get_excitation_time_step();
out << YAML::Key << usc::excitation_time;
out << YAML::Value << settings_.get_excitation_time();
out << YAML::Key << usc::rtss::self;
out << YAML::BeginMap;
out << YAML::Key << usc::rtss::initial_step;
out << YAML::Value << settings_.get_relaxation_time_step_spec().initial_step;
out << YAML::Key << usc::rtss::time_delta;
out << YAML::Value << settings_.get_relaxation_time_step_spec().time_delta;
out << YAML::Key << usc::rtss::coefficient;
out << YAML::Value << settings_.get_relaxation_time_step_spec().coefficient;
out << YAML::EndMap;
out << YAML::Key << usc::simulations_count;
out << YAML::Value << settings_.get_simulations_count();
out << YAML::Key << usc::visualization_nodes;
out << YAML::Value << YAML::BeginSeq;
const auto& vis_nodes = settings_.get_visualization_nodes();
for(auto it = vis_nodes.begin(); it != vis_nodes.end(); ++it)
{
out << *it;
}
out << YAML::EndSeq;
if(!settings_.get_force_application_nodes().empty())
{
out << YAML::Key << usc::force_application_nodes;
out << YAML::Value << YAML::BeginSeq;
const auto& force_nodes = settings_.get_force_application_nodes();
for(auto it = force_nodes.begin(); it != force_nodes.end(); ++it)
{
out << *it;
}
out << YAML::EndSeq;
}
if(settings_.get_cutoff_distance())
{
out << YAML::Key << usc::l0;
out << YAML::Value << *settings_.get_cutoff_distance();
}
if(!settings_.get_network_file_path())
{
if(settings_.get_node_positions())
{
out << YAML::Key << usc::nodes;
const node_positions_type& node_positions = *settings_.get_node_positions();
out << YAML::Value << YAML::BeginSeq;
for(auto it = node_positions.begin(); it != node_positions.end(); ++it)
{
out << YAML::BeginSeq;
out << (*it)[0];
out << (*it)[1];
out << (*it)[2];
out << YAML::EndSeq;
}
out << YAML::EndSeq;
}
if(settings_.get_links())
{
out << YAML::Key << usc::links;
out << YAML::Value << YAML::BeginSeq;
const std::vector<std::pair<std::size_t, std::size_t>>& links = *settings_.get_links();
for(auto it = links.begin(); it != links.end(); ++it)
{
out << YAML::BeginSeq << it->first << it->second << YAML::EndSeq;
}
out << YAML::EndSeq;
}
}
else
{
out << YAML::Key << usc::network_file_path;
/**
* @note Output only network file name as it will anyway be copied to the same directory as user config.
*/
std::string file_name = *settings_.get_network_file_path();
if(std::string::npos != file_name.find_first_of('/'))
{
file_name = file_name.substr(file_name.find_last_of('/')+1);
}
out << YAML::Value << file_name;
}
out << YAML::EndMap;
std::ofstream fout(config_dir + "/config.yaml");
if(!fout.is_open())
{
LOG(logger::error, "Cannot create output config file.");
return;
}
fout << out.c_str() << std::endl;
fout.close();
if(settings_.get_network_file_path())
{
utils::copy_file(*settings_.get_network_file_path(), config_dir);
}
}
}
