shared_ptr<gray32F_image_t> SensorAttributeImage::run(const char* attributeName)
{
SensorIndexation sensorIndexation(m_lidarContainer, m_nbCols);
sensorIndexation.setResolution(1);
sensorIndexation.indexData();
const SensorIndexation::GriddedDataType& grid = sensorIndexation.getSpatialIndexation();
shared_ptr<gray32F_image_t> result_image(new gray32F_image_t(grid.GetTaille().x, grid.GetTaille().y));
gray32F_image_t::view_t sensorImage = view(*result_image);
const LidarConstIteratorAttribute<float> beginAttribute = m_lidarContainer->beginAttribute<float>(attributeName);
for(int col = 0; col < sensorImage.width(); ++col)
{
for(int lig = 0; lig < sensorImage.height(); ++lig)
{
if(!grid(col,lig).empty())
{
sensorImage(col,lig) = *(beginAttribute + *grid(col,lig).begin());
}
}
}
return result_image;
}
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);
std::vector<std::string> image_sets;
image_sets.push_back("test_images");
image_sets.push_back("train_images");
for(std::string set : image_sets){
//Get the image list.
std::vector<std::string> image_list = dl.getImageList(set);
//for each image
for(std::string file : image_list){
//load the image data
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_unrectified;
dl.create_cloud(file, cloud, cloud_unrectified);
//voxelize
std::map<int, std::shared_ptr<Voxel> > voxels;
dl.extractVoxels(cloud, cloud_unrectified, voxels);
//Save the image to disk.
//Project
cv::Mat result_image(cloud->height, cloud->width, CV_32SC1, cv::Scalar(0));
for(auto v : voxels){
v.second->drawValueIntoImage<int>(result_image, v.second->getVoxelID());
}
//Save
cv::imwrite(dl.getVoxelName(file), Utils::segmentIdToBgr(result_image));
}
}
return 0;
}
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;
}
