bool fileHandler::readFile(){
FILE *fp;
if ((fp = fopen(mPath.c_str(), "rb+")) == NULL)
{
fprintf(stderr, "Can't open:<%s>\n", mPath);
return false;
}
bool res = false;
switch (mType){
case img:
res = readImg(fp);
break;
case hdr:
readHdr(fp);
res = true;
break;
default:
std::cerr << "not supported file type!" << std::endl;
break;
}
fclose(fp);
return res;
}
void MjpegPlayer::start(const QString &complete_url)
{
m_connStatus = Stream::Playing;
m_finishedConnection = false;
m_reply = m_manager->get(QNetworkRequest(QUrl(complete_url)));
connect( m_reply, SIGNAL(readyRead()), this, SLOT(readImg()) );
connect( m_reply, SIGNAL(error(QNetworkReply::NetworkError)),
this, SLOT(readError(QNetworkReply::NetworkError)) );
connect( m_reply, SIGNAL(finished()), this, SLOT(finishedConnection()) );
}
void MjpegPlayer::stop()
{
m_connStatus = Stream::Stopped;
m_finishedConnection = true;
if (m_reply) {
disconnect( m_reply, SIGNAL(readyRead()), this, SLOT(readImg()) );
disconnect( m_reply, SIGNAL(error(QNetworkReply::NetworkError)),
this, SLOT(readError(QNetworkReply::NetworkError)) );
disconnect( m_reply, SIGNAL(finished()), this, SLOT(finishedConnection()) );
}
}
void
srf_read(FILE * const ifP,
bool const verbose,
struct srf * const srfP) {
uint8_t trialCsum;
size_t padLen;
unsigned char pad[256];
unsigned int i;
if (!readHeader(ifP, &srfP->header))
pm_error("short srf header");
if (!checkHeader(&srfP->header))
pm_error("invalid srf header");
if (verbose)
pm_message("reading srf ver %s with prod code %s and %u images",
srfP->header.ver.val, srfP->header.prod.val,
srfP->header.img_cnt);
MALLOCARRAY(srfP->imgs, srfP->header.img_cnt);
if (!srfP->imgs)
pm_error("Could not allocate memory for %u images",
srfP->header.img_cnt);
for (i = 0; i < srfP->header.img_cnt; ++i)
if (!readImg(ifP, verbose, i, &srfP->imgs[i]))
pm_error("invalid srf image %u", i);
padLen = fread(pad, 1, sizeof(pad), ifP);
if (!feof(ifP)) {
pm_errormsg("excess data at end of file");
return;
}
trialCsum = csum(srfP, 0); /* initial value */
for (i = 0; i < padLen; ++i)
trialCsum += pad[i];
if (trialCsum != 0)
pm_errormsg("checksum does not match");
}
int main (int argc, char** argv)
{
double f;
double vd;
double r;
int iter;
double h;
// argiment parsing
if (pcl::console::parse_argument (argc, argv, "-r", r) >= 0)
{
MIN_DISTANCE = r;
cout << "adjust the registration threshold to " << r << endl;
}
if (pcl::console::parse_argument (argc, argv, "-giter", iter) >= 0)
{
GITER = iter;
cout << "adjust global alignment iterations to " << iter <<" iterations"<< endl;
}
if (pcl::console::parse_argument (argc, argv, "-hessian", h) >= 0)
{
HESSIAN=h;
cout << "adjust SIFT matching threshold to " << h << endl;
}
if (pcl::console::find_argument (argc, argv, "-h") >= 0 || argc == 1)
{
printUsage (argv[0]);
return 0;
}
if (pcl::console::find_argument (argc, argv, "-g") >= 0)
{
GLOBAL_FLAG = 1;
cout << "Global Reistration is ON" << endl;
}
if (pcl::console::find_argument (argc, argv, "-lcoff") >= 0)
{
LOOP_CLOSURE = 0;
cout << "Loop CLosure Detection is OFF" << endl;
}
if (pcl::console::find_argument (argc, argv, "-m") >= 0)
{
MLS = 1;
cout << "Moving least square smoothing is ON" << endl;
}
if (pcl::console::find_argument (argc, argv, "-dn") >= 0)
{
DENOISING= 1;
cout << "De-noising (statistic) is ON" << endl;
}
if (pcl::console::parse_argument (argc, argv, "-vd", vd) >= 0)
{
DEPTH_AVG = 1;
cout << "Down-sampling is ON" << endl;
if (vd>0.00001)
{
DOWN_SAMPLE = vd;
cout<<"Down sample threshold is changed to "<<DOWN_SAMPLE<<endl;
}
}
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > data;
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > key3data;
vector<vector<KeyPoint> > key2data;
vector<pcl::CorrespondencesPtr> correspondencesdata;
Mat previousrgb;
vector<KeyPoint> previouskey2d;
// read the rgb-d data one by one
ifstream index;
string root_dir = argv[1];
index.open (string(root_dir + "/input.txt").c_str());
int i = 0;
while (!index.eof ())
{
string file;
index >> file;
if (file.empty ())
break;
file = root_dir + "/" + file;
Mat rgbimg;
Mat depimg;
Mat mask;
// read data
readImg (file, "_rgb.png", rgbimg);
readImg (file, "_depth.png", depimg);
readImg (file, "_mask.png", mask);
if (rgbimg.empty () || depimg.empty () || mask.empty ())
{
printf (
"Error: The RGB-D file does not exit. Please note that the right format should be: \n");
printf (
"X_rgb.png, X_depth.png, X_mask.png with the same size. ('X' is your input) \n");
return (0);
}
if (rgbimg.size () != depimg.size () || rgbimg.size () != mask.size ())
{
printf (
"Error: The RGB-D files are not consistent. The rgb, depth and mask images should have the same size. \n");
return (0);
}
cout << "loading: " << file << endl;
// check the image size and the offest coordinate
int x1, y1;
if (rgbimg.rows == 480 && rgbimg.cols == 640)
{
// if the image is full size (480*640), no offset coordinate
x1 = 0;
y1 = 0;
}
else
{
// if not, read the offset file
ifstream loc;
string location1 = file + "_loc.txt";
loc.open (location1.c_str ());
if (!loc.is_open ())
{
if (TOP_LEFT1!=0 && TOP_LEFT2!=0)
{
x1=TOP_LEFT2;
y1=TOP_LEFT1;
}
else
{
cout << "Error! There is no associated off-set location file." << endl;
return 0;
}
}
else
{
char comma;
loc >> x1 >> comma >> y1;
}
loc.close();
}
// perform erosion to remove the noises around the boundary
erosion (mask, 4);
vector<KeyPoint> key2d;
PointCloud pointcloud;
PointCloud keypoints;
// read data and perform surf feature matching
read (rgbimg, depimg, mask, pointcloud, keypoints, key2d, x1, y1, HESSIAN);
filter (pointcloud, 0.001, pointcloud);
data.push_back (pointcloud);
key3data.push_back (keypoints);
key2data.push_back (key2d);
// find the pairwise correspondecnes based on surf feature
if (i >= 1)
{
pcl::CorrespondencesPtr correspondences (new pcl::Correspondences ()); //may have bugs??
vector<DMatch> good_matches;
match (rgbimg, previousrgb, key2d, previouskey2d, good_matches,
correspondences);
correspondencesdata.push_back (correspondences);
correspondences.reset (new pcl::Correspondences);
}
previousrgb = rgbimg;
previouskey2d = key2d;
i++;
}
index.close();
printf ("Loaded %d datasets.\n", (int) data.size ());
PointCloudPtr final (new PointCloud);
vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > matrix_buffer;
// registration: initial+fine+global
//initialize the PCL viewer
p = new pcl::visualization::PCLVisualizer (argc, argv, "3D Moeling example");
p->setSize (480, 640);
p->setPosition (480, 200);
// registration
int first = 0;
int last = 0;
if (!LOOP_CLOSURE)
{
last=(int) data.size ()-1;
}
// need to change back
double threshold = MIN_DISTANCE;
for (int z = 0; z < GITER; z++)
{
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > out;
PointCloudPtr output (new PointCloud);
PointCloudPtr final_temp (new PointCloud);
if (GLOBAL_FLAG)
{
vector<PointCloud, Eigen::aligned_allocator<PointCloud> > out_global;
if (z == 0)
pairwiseAlign (data, correspondencesdata, key3data, *output, out,
matrix_buffer, 1, threshold);
else
{
pairwiseAlign (data, correspondencesdata, key3data, *output, out,
matrix_buffer, 0, threshold);
}
// global optimization
cout << endl << "Global optimization begins ... at iteration " <<z+1<< endl;
globalAlign (out, final_temp, matrix_buffer, out_global, first, last);
data = out_global;
}
else
{
pairwiseAlign (data, correspondencesdata, key3data, *output, out,
matrix_buffer, 1, threshold);
final = output;
break;
}
threshold = threshold * 0.9;
final = final_temp;
