int main(int argc, char *argv[]) {
QString title;
title = title + " ****************************************************************** \n";
title = title + " * odkdatatomysql 1.0 * \n";
title = title + " * This tool converts ODK data into MySQL. * \n";
title = title + " * The tool uses manifest xml file and ODK xml data file * \n";
title = title + " * Outputs data into a MySQL database and generates a log file * \n";
title = title + " * This tool is part of ODK Tools (c) ILRI, 2014 * \n";
title = title + " ****************************************************************** \n";
TCLAP::CmdLine cmd(title.toLatin1().constData(), ' ', "1.0 (Beta 1)");
//Required arguments
TCLAP::ValueArg<std::string> mysqlHostArg("H","mysqlHost","MySQL server host",true,"","string");
TCLAP::ValueArg<std::string> userNameArg("u","userName","MySQL server user name",true,"","string");
TCLAP::ValueArg<std::string> passwordArg("p","password","MySQL server user password",true,"","string");
TCLAP::ValueArg<std::string> schemaArg("s","schema","Schema name in MySQL host",true,"","string");
TCLAP::ValueArg<std::string> manifestMainTableArg("t","manifestMainTable","Manifest main table within the schema",true,"","string");
TCLAP::ValueArg<std::string> manifestMainVariableArg("v","manifestMainVariable","Manifest main variable in main table. Identifies unique record",true,"","string");
TCLAP::ValueArg<std::string> manifestXMLArg("f","manifestXML","ODK manifest XML file",true,"","string");
TCLAP::ValueArg<std::string> datafileXMLArg("d","datafileXML","ODK data XML file",true,"","string");
TCLAP::ValueArg<std::string> datafileBaseNodeArg("b","datafileBaseNode","ODK data file XML base node. Node just after the <?xml version=1.0?>",true,"","string");
TCLAP::ValueArg<std::string> sqlInsertsFileArg("q","sqlInsertsFile","SQL output file. Default ./sqlInsertFile.sql",true,"./sqlInsertFile.sql","string");
TCLAP::ValueArg<std::string> logFileArg("l","logFile","Log file for errors. Default ./logfile.csv",true,"./logFile.csv","string");
TCLAP::ValueArg<std::string> prefixArg("r","prefix","Prefix for each table. _ is added to the prefix. Default no prefix",false,"","string");
cmd.add(mysqlHostArg);
cmd.add(userNameArg);
cmd.add(passwordArg);
cmd.add(schemaArg);
cmd.add(manifestMainTableArg);
cmd.add(manifestMainVariableArg);
cmd.add(manifestXMLArg);
cmd.add(datafileXMLArg);
cmd.add(datafileBaseNodeArg);
cmd.add(sqlInsertsFileArg);
cmd.add(logFileArg);
cmd.add(prefixArg);
//Parsing the command lines
cmd.parse( argc, argv );
vMysqlHost = QString::fromUtf8(mysqlHostArg.getValue().c_str());
vUserName = QString::fromUtf8(userNameArg.getValue().c_str());
vPassword = QString::fromUtf8(passwordArg.getValue().c_str());
vSchema = QString::fromUtf8(schemaArg.getValue().c_str());
vManifestMainTable = QString::fromUtf8(manifestMainTableArg.getValue().c_str());
vManifestMainVariable = QString::fromUtf8(manifestMainVariableArg.getValue().c_str());
vManifestXML = QString::fromUtf8(manifestXMLArg.getValue().c_str());
vDatafileXML = QString::fromUtf8(datafileXMLArg.getValue().c_str());
vDatafileBaseNode = QString::fromUtf8(datafileBaseNodeArg.getValue().c_str());
vSqlInsertsFile = QString::fromUtf8(sqlInsertsFileArg.getValue().c_str());
vLogFile = QString::fromUtf8(logFileArg.getValue().c_str());
vPrefix = QString::fromUtf8(prefixArg.getValue().c_str());
//Check if any prefix specified and if not clear prefix
vPrefix = vPrefix + "_";
if (vPrefix == "_")
vPrefix = "";
count = 0;
//Call the processing of the manifest file
processManifestXML();
return 0;
}
int main(int argc, char *argv[])
{
TCLAP::CmdLine cmd("LINE3D++");
TCLAP::ValueArg<std::string> inputArg("i", "input_folder", "folder containing the images", true, ".", "string");
cmd.add(inputArg);
TCLAP::ValueArg<std::string> mavmapArg("b", "mavmap_output", "full path to the mavmap output (image-data-*.txt)", true, "", "string");
cmd.add(mavmapArg);
TCLAP::ValueArg<std::string> extArg("t", "image_extension", "image extension (case sensitive), if not specified: jpg, png or bmp expected", false, "", "string");
cmd.add(extArg);
TCLAP::ValueArg<std::string> prefixArg("f", "image_prefix", "optional image prefix", false, "", "string");
cmd.add(prefixArg);
TCLAP::ValueArg<std::string> outputArg("o", "output_folder", "folder where result and temporary files are stored (if not specified --> input_folder+'/Line3D++/')", false, "", "string");
cmd.add(outputArg);
TCLAP::ValueArg<int> scaleArg("w", "max_image_width", "scale image down to fixed max width for line segment detection", false, L3D_DEF_MAX_IMG_WIDTH, "int");
cmd.add(scaleArg);
TCLAP::ValueArg<int> neighborArg("n", "num_matching_neighbors", "number of neighbors for matching", false, L3D_DEF_MATCHING_NEIGHBORS, "int");
cmd.add(neighborArg);
TCLAP::ValueArg<float> sigma_A_Arg("a", "sigma_a", "angle regularizer", false, L3D_DEF_SCORING_ANG_REGULARIZER, "float");
cmd.add(sigma_A_Arg);
TCLAP::ValueArg<float> sigma_P_Arg("p", "sigma_p", "position regularizer (if negative: fixed sigma_p in world-coordinates)", false, L3D_DEF_SCORING_POS_REGULARIZER, "float");
cmd.add(sigma_P_Arg);
TCLAP::ValueArg<float> epipolarArg("e", "min_epipolar_overlap", "minimum epipolar overlap for matching", false, L3D_DEF_EPIPOLAR_OVERLAP, "float");
cmd.add(epipolarArg);
TCLAP::ValueArg<int> knnArg("k", "knn_matches", "number of matches to be kept (<= 0 --> use all that fulfill overlap)", false, L3D_DEF_KNN, "int");
cmd.add(knnArg);
TCLAP::ValueArg<int> segNumArg("y", "num_segments_per_image", "maximum number of 2D segments per image (longest)", false, L3D_DEF_MAX_NUM_SEGMENTS, "int");
cmd.add(segNumArg);
TCLAP::ValueArg<int> visibilityArg("v", "visibility_t", "minimum number of cameras to see a valid 3D line", false, L3D_DEF_MIN_VISIBILITY_T, "int");
cmd.add(visibilityArg);
TCLAP::ValueArg<bool> diffusionArg("d", "diffusion", "perform Replicator Dynamics Diffusion before clustering", false, L3D_DEF_PERFORM_RDD, "bool");
cmd.add(diffusionArg);
TCLAP::ValueArg<bool> loadArg("l", "load_and_store_flag", "load/store segments (recommended for big images)", false, L3D_DEF_LOAD_AND_STORE_SEGMENTS, "bool");
cmd.add(loadArg);
TCLAP::ValueArg<float> collinArg("r", "collinearity_t", "threshold for collinearity", false, L3D_DEF_COLLINEARITY_T, "float");
cmd.add(collinArg);
TCLAP::ValueArg<bool> cudaArg("g", "use_cuda", "use the GPU (CUDA)", false, true, "bool");
cmd.add(cudaArg);
TCLAP::ValueArg<bool> ceresArg("c", "use_ceres", "use CERES (for 3D line optimization)", false, L3D_DEF_USE_CERES, "bool");
cmd.add(ceresArg);
TCLAP::ValueArg<float> constRegDepthArg("z", "const_reg_depth", "use a constant regularization depth (only when sigma_p is metric!)", false, -1.0f, "float");
cmd.add(constRegDepthArg);
// read arguments
cmd.parse(argc,argv);
std::string inputFolder = inputArg.getValue().c_str();
std::string mavmapFile = mavmapArg.getValue().c_str();
std::string outputFolder = outputArg.getValue().c_str();
std::string imgExtension = extArg.getValue().c_str();
std::string imgPrefix = prefixArg.getValue().c_str();
if(outputFolder.length() == 0)
outputFolder = inputFolder+"/Line3D++/";
int maxWidth = scaleArg.getValue();
unsigned int neighbors = std::max(neighborArg.getValue(),2);
bool diffusion = diffusionArg.getValue();
bool loadAndStore = loadArg.getValue();
float collinearity = collinArg.getValue();
bool useGPU = cudaArg.getValue();
bool useCERES = ceresArg.getValue();
float epipolarOverlap = fmin(fabs(epipolarArg.getValue()),0.99f);
float sigmaA = fabs(sigma_A_Arg.getValue());
float sigmaP = sigma_P_Arg.getValue();
int kNN = knnArg.getValue();
unsigned int maxNumSegments = segNumArg.getValue();
unsigned int visibility_t = visibilityArg.getValue();
float constRegDepth = constRegDepthArg.getValue();
if(imgExtension.substr(0,1) != ".")
imgExtension = "."+imgExtension;
// since no median depth can be computed without camera-to-worldpoint links
// sigma_p MUST be positive and in pixels!
if(sigmaP < L3D_EPS && constRegDepth < L3D_EPS)
{
std::cout << "sigma_p cannot be negative (i.e. in world coordiantes) when no valid regularization depth (--const_reg_depth) is given!" << std::endl;
std::cout << "reverting to: sigma_p = 2.5px" << std::endl;
sigmaP = 2.5f;
}
// check if mavmap file exists
boost::filesystem::path bf(mavmapFile);
if(!boost::filesystem::exists(bf))
{
std::cerr << "mavmap file '" << mavmapFile << "' does not exist!" << std::endl;
return -1;
}
// create output directory
boost::filesystem::path dir(outputFolder);
boost::filesystem::create_directory(dir);
// create Line3D++ object
L3DPP::Line3D* Line3D = new L3DPP::Line3D(outputFolder,loadAndStore,maxWidth,
maxNumSegments,false,useGPU);
// read mavmap result
std::ifstream mavmap_file;
mavmap_file.open(mavmapFile.c_str());
std::string mavmap_line;
// check for comments...
while(std::getline(mavmap_file,mavmap_line))
{
if(mavmap_line.substr(0,1) != "#")
break;
}
// read camera data (sequentially)
std::vector<std::string> cams_filenames;
std::vector<std::pair<double,double> > cams_focals;
std::vector<Eigen::Matrix3d> cams_rotation;
std::vector<Eigen::Vector3d> cams_translation;
std::vector<Eigen::Vector2d> cams_principle;
do
{
if(mavmap_line.length() < 28)
break;
std::string filename,roll,pitch,yaw;
std::string lat,lon,alt,h;
std::string tx,ty,tz;
std::string camID,camModel,fx,fy,cx,cy;
std::stringstream mavmap_stream(mavmap_line);
mavmap_stream >> filename >> roll >> pitch >> yaw;
mavmap_stream >> lat >> lon >> alt >> h;
mavmap_stream >> tx >> ty >> tz;
mavmap_stream >> camID >> camModel >> fx >> fy >> cx >> cy;
// check camera model
if(camModel.substr(0,camModel.length()-1) != "PINHOLE")
{
std::cout << "only PINHOLE camera model supported..." << std::endl;
return -1;
}
// filename
cams_filenames.push_back(filename.substr(0,filename.length()-1));
// rotation
double r,y,p;
std::stringstream dat_stream(roll.substr(0,roll.length()-1));
dat_stream >> r; dat_stream.str(""); dat_stream.clear();
dat_stream.str(pitch.substr(0,pitch.length()-1));
dat_stream >> p; dat_stream.str(""); dat_stream.clear();
dat_stream.str(yaw.substr(0,yaw.length()-1));
dat_stream >> y; dat_stream.str(""); dat_stream.clear();
Eigen::Matrix3d R = Line3D->rotationFromRPY(r,p,y);
// translation
double Tx,Ty,Tz;
dat_stream.str(tx.substr(0,tx.length()-1));
dat_stream >> Tx; dat_stream.str(""); dat_stream.clear();
dat_stream.str(ty.substr(0,ty.length()-1));
dat_stream >> Ty; dat_stream.str(""); dat_stream.clear();
dat_stream.str(tz.substr(0,tz.length()-1));
dat_stream >> Tz; dat_stream.str(""); dat_stream.clear();
Eigen::Vector3d t(Tx,Ty,Tz);
// invert
Eigen::MatrixXd Rt = Eigen::MatrixXd::Identity(4,4);
Rt.block<3,3>(0,0) = R;
Rt.block<3,1>(0,3) = t;
Eigen::MatrixXd Rt_inv = Rt.inverse().eval().block<3, 4>(0,0);
R = Rt_inv.block<3,3>(0,0);
t = Rt_inv.block<3,1>(0,3);
cams_rotation.push_back(R);
cams_translation.push_back(t);
// focal lengths
double foc_x,foc_y;
dat_stream.str(fx.substr(0,fx.length()-1));
dat_stream >> foc_x; dat_stream.str(""); dat_stream.clear();
dat_stream.str(fy.substr(0,fy.length()-1));
dat_stream >> foc_y; dat_stream.str(""); dat_stream.clear();
cams_focals.push_back(std::pair<double,double>(foc_x,foc_y));
// principle point
double pp_x,pp_y;
dat_stream.str(cx.substr(0,cx.length()-1));
dat_stream >> pp_x; dat_stream.str(""); dat_stream.clear();
dat_stream.str(cy.substr(0,cy.length()-1));
dat_stream >> pp_y; dat_stream.str(""); dat_stream.clear();
cams_principle.push_back(Eigen::Vector2d(pp_x,pp_y));
}while(std::getline(mavmap_file,mavmap_line));
mavmap_file.close();
// load images (parallel)
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(unsigned int i=0; i<cams_rotation.size(); ++i)
{
// load image
std::string img_filename = imgPrefix+cams_filenames[i];
cv::Mat image;
std::vector<boost::filesystem::wpath> possible_imgs;
if(imgExtension.length() == 0)
{
// look for common image extensions
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".jpg"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".JPG"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".png"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".PNG"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".jpeg"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".JPEG"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".bmp"));
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+".BMP"));
}
else
{
// use given extension
possible_imgs.push_back(boost::filesystem::wpath(inputFolder+"/"+img_filename+imgExtension));
}
bool image_found = false;
unsigned int pos = 0;
while(!image_found && pos < possible_imgs.size())
{
if(boost::filesystem::exists(possible_imgs[pos]))
{
image_found = true;
img_filename = possible_imgs[pos].string();
}
++pos;
}
if(image_found)
{
// load image
image = cv::imread(img_filename,CV_LOAD_IMAGE_GRAYSCALE);
// setup intrinsics
double px = cams_principle[i].x();
double py = cams_principle[i].y();
double fx = cams_focals[i].first;
double fy = cams_focals[i].second;
Eigen::Matrix3d K = Eigen::Matrix3d::Zero();
K(0,0) = fx;
K(1,1) = fy;
K(0,2) = px;
K(1,2) = py;
K(2,2) = 1.0;
// set neighbors
std::list<unsigned int> neighbor_list;
size_t n_before = neighbors/2;
for(int nID=int(i)-1; nID >= 0 && neighbor_list.size()<n_before; --nID)
{
neighbor_list.push_back(nID);
}
for(int nID=int(i)+1; nID < int(cams_rotation.size()) && neighbor_list.size() < neighbors; ++nID)
{
neighbor_list.push_back(nID);
}
// add to system
Line3D->addImage(i,image,K,cams_rotation[i],
cams_translation[i],constRegDepth,neighbor_list);
}
}
// match images
Line3D->matchImages(sigmaP,sigmaA,neighbors,epipolarOverlap,
kNN,constRegDepth);
// compute result
Line3D->reconstruct3Dlines(visibility_t,diffusion,collinearity,useCERES);
// save end result
std::vector<L3DPP::FinalLine3D> result;
Line3D->get3Dlines(result);
// save as STL
Line3D->saveResultAsSTL(outputFolder);
// save as OBJ
Line3D->saveResultAsOBJ(outputFolder);
// save as TXT
Line3D->save3DLinesAsTXT(outputFolder);
// save as BIN
Line3D->save3DLinesAsBIN(outputFolder);
// cleanup
delete Line3D;
}
