/*
* Entry point
*/
int main(int argc, char** argv) {
// Check if enough parameters were supplied
if (argc < 3) {
std::cout << "USAGE: " << argv[0] << " <input image> <output image>\n";
return -1;
}
// These are our file names
std::string input_path(argv[1]);
std::string output_path(argv[2]);
// Read image into memory
NICE::ImageFile source_file(input_path);
NICE::Image image;
source_file.reader(&image);
// Calculate pseudocolors
NICE::ColorImage pseudo_image(image.width(), image.height());
NICE::imageToPseudoColor(image, pseudo_image);
// Write image to disk
NICE::ImageFile dest_image(output_path);
dest_image.writer(&pseudo_image);
return 0;
}
/*
* Entry point
*/
int main(int argc, char** argv) {
// Check if enough parameters were supplied
if (argc < 3) {
std::cout << "USAGE: " << argv[0] << " <input image> <output image>\n";
return -1;
}
// These are our file names
std::string input_path(argv[1]);
std::string output_path(argv[2]);
// Read file header and display header information
NICE::ImageFile source_file(input_path);
// Read image into memory
NICE::Image image;
source_file.reader(&image);
// Allocate memory for result image
NICE::Image result(image.width(), image.height());
// Put together a simple convolution kernel for our motion blur effect
NICE::Matrix kernel(10,10);
kernel.set(0);
kernel.addIdentity(0.1);
// Filter the image
NICE::Filter::filter(image, kernel, result);
// Write image to disk
NICE::ImageFile dest_image(output_path);
dest_image.writer(&result);
return 0;
}
bool compile()
{
//shell
shell(compiler_command());
if(!output_path().is_file())
return false;
//ldd
shell("ldd",output_path());
//du
//shell("du","-h",output_path());
return true;
}
void deprecated_bind(std::string msg, ParserState pstate)
{
std::string cwd(Sass::File::get_cwd());
std::string abs_path(Sass::File::rel2abs(pstate.path, cwd, cwd));
std::string rel_path(Sass::File::abs2rel(pstate.path, cwd, cwd));
std::string output_path(Sass::File::path_for_console(rel_path, abs_path, pstate.path));
std::cerr << "WARNING: " << msg << std::endl;
std::cerr << " on line " << pstate.line+1 << " of " << output_path << std::endl;
std::cerr << "This will be an error in future versions of Sass." << std::endl;
}
void acceleratet::restrict_traces()
{
trace_automatont automaton(program);
for(subsumed_pathst::iterator it=subsumed.begin();
it!=subsumed.end();
++it)
{
if(!it->subsumed.empty())
{
#ifdef DEBUG
namespacet ns(symbol_table);
std::cout << "Restricting path:\n";
output_path(it->subsumed, program, ns, std::cout);
#endif
automaton.add_path(it->subsumed);
}
patht double_accelerator;
patht::iterator jt=double_accelerator.begin();
double_accelerator.insert(
jt, it->accelerator.begin(), it->accelerator.end());
double_accelerator.insert(
jt, it->accelerator.begin(), it->accelerator.end());
#ifdef DEBUG
namespacet ns(symbol_table);
std::cout << "Restricting path:\n";
output_path(double_accelerator, program, ns, std::cout);
#endif
automaton.add_path(double_accelerator);
}
std::cout << "Building trace automaton...\n";
automaton.build();
insert_automaton(automaton);
}
void deprecated(std::string msg, std::string msg2, ParserState pstate)
{
std::string cwd(Sass::File::get_cwd());
std::string abs_path(Sass::File::rel2abs(pstate.path, cwd, cwd));
std::string rel_path(Sass::File::abs2rel(pstate.path, cwd, cwd));
std::string output_path(Sass::File::path_for_console(rel_path, pstate.path, pstate.path));
std::cerr << "DEPRECATION WARNING on line " << pstate.line + 1;
if (output_path.length()) std::cerr << " of " << output_path;
std::cerr << ":" << std::endl;
std::cerr << msg << " and will be an error in future versions of Sass." << std::endl;
if (msg2.length()) std::cerr << msg2 << std::endl;
std::cerr << std::endl;
}
void Converter::ConvertPhoto(Photo& photo, const wxString& root,
const wxString& group_name, const wxString& extension) {
boost::scoped_ptr<Bitmap> bitmap(Bitmap::Read(photo.m_path.GetFullPath()));
wxFileName output_path(root, photo.m_path.GetName());
output_path.MakeAbsolute();
output_path.AppendDir(group_name);
output_path.SetExt(extension);
if (!MakeSureDirExists(output_path)) {
m_listener.OnConvertFail(photo);
return;
}
if (bitmap.get() == NULL) {
m_listener.OnConvertFail(photo);
return;
}
if (!photo.IsSizeSet()) {
photo.m_size = bitmap->GetSize();
}
// wxRect rect = m_project.HasPhotoCrop(photo) ?
// m_project.GetPhotoCrop(photo) :
// wxRect(wxPoint(-1, -1), m_project.GetResizer().GetSize(photo.m_size));
// if (wxPoint(-1, -1) == rect.GetPosition()) {
// bitmap->Scale(rect.GetSize());
// } else {
// bitmap->Crop(rect);
// }
const Resizer& resizer = m_project.GetResizer();
if (resizer.NeedsCrop(photo.m_size)) {
wxRect crop = m_project.HasPhotoCrop(photo) ?
m_project.GetPhotoCrop(photo) :
wxRect(wxPoint(0, 0), resizer.GetCropSize(photo.m_size));
bitmap->Crop(crop);
}
if (resizer.NeedsRescale(photo.m_size)) {
bitmap->Scale(resizer.GetScaleSize(photo.m_size));
}
if (!bitmap->Write(output_path.GetFullPath())) {
m_listener.OnConvertFail(photo);
return;
}
Photo dest(output_path.GetFullPath());
dest.m_size = bitmap->GetSize();
m_listener.OnConvertSuccess(photo, dest);
// Log::d << "ConvertPhoto to [" << output_path.GetFullPath() << "]." << Log::ENDL;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "stereo_to_matlab");
ros::NodeHandle node = ros::NodeHandle();
ros::NodeHandle pnode = ros::NodeHandle("~");
std::string str_output_path, output_folder_prefix;
if(node.getNamespace() == "/") {
ROS_WARN("Started in global namespace! Use ROS_NAMESPACE=my_camera rosrun stereo_extractor stereo_extractor");
}
pnode.param<std::string>("output_folder_prefix", output_folder_prefix, "data");
if(!pnode.getParam("output_path", str_output_path)) {
ROS_ERROR("Failed to get param 'output_path'");
// todo: is this clean?
ros::shutdown();
return 1;
}
boost::filesystem::path output_path(str_output_path);
try {
if(!boost::filesystem::exists(output_path) || !is_directory(output_path)) {
ROS_ERROR_STREAM("Output path '"<<str_output_path<<"; cannot be found or is not a directory");
ros::shutdown();
}
} catch(const boost::filesystem::filesystem_error& ex) {
ROS_ERROR("Error while resolving output path: %s", ex.what());
ros::shutdown();
}
// construct path
// define exporter
boost::shared_ptr<stereo_extractor::StereoFileExporter> exporter(new stereo_extractor::StereoFileExporter(output_path, output_folder_prefix));
stereo_extractor::StereoExtractor extractor(node, pnode, exporter);
ros::spin();
return 0;
}
static bool start_alembic_export(
const std::string& filepath,
int export_mode,
bool isExportNomals,
bool is_export_uvs,
bool is_use_euler_rotation_camera,
bool is_use_ogawa)
{
const BridgeParameter& parameter = BridgeParameter::instance();
if (parameter.export_fps <= 0)
{
return false;
}
if (!AlembicArchive::instance().archive)
{
std::string output_path(filepath);
if (output_path.empty())
{
output_path = umbase::UMStringUtil::wstring_to_utf8(parameter.base_path) + ("out\\alembic_file.abc");
}
//if (is_use_ogawa) {
// AlembicArchive::instance().archive =
// new Alembic::Abc::OArchive(Alembic::AbcCoreOgawa::WriteArchive(),
// output_path.c_str());
//}
//else
{
AlembicArchive::instance().archive =
new Alembic::Abc::OArchive(Alembic::AbcCoreHDF5::WriteArchive(),
output_path.c_str());
}
AlembicArchive &archive = AlembicArchive::instance();
const double dt = 1.0 / parameter.export_fps;
archive.timesampling = AbcA::TimeSamplingPtr(new AbcA::TimeSampling(dt, 0.0));
archive.archive->addTimeSampling(*archive.timesampling);
archive.is_export_normals = (isExportNomals != 0);
archive.is_export_uvs = (is_export_uvs != 0);
archive.is_use_euler_rotation_camera = (is_use_euler_rotation_camera != 0);
archive.export_mode = export_mode;
return true;
}
return false;
}
void pcl::PHVObjectClassifier<PointT, PointNormalT, FeatureT>::saveToFile() {
// Delete old and create new directory sturcture for output
boost::filesystem::path output_path(database_dir_);
boost::filesystem::path output_models_path(database_dir_ + "models/");
if (boost::filesystem::exists(output_path)) {
boost::filesystem::remove_all(output_path);
}
boost::filesystem::create_directories(output_path);
boost::filesystem::create_directories(output_models_path);
YAML::Emitter out;
out << *this;
std::ofstream f;
f.open((database_dir_ + "database.yaml").c_str());
f << out.c_str();
f.close();
}
void ColladaExporter::save(const TMD::PostProcessed::Data_t& data, const std::vector<CAT::ResourceEntry_t::SubEntry_t>& references) {
boost::filesystem::path output_path(_export_folder);
output_path /= "tmd";
boost::filesystem::path dae_filename(output_path);
dae_filename += _dae_suffix;
/*std::ofstream dae_out;
open_to_write(dae_out, dae_filename);
LeftPad_t pad{ 0 };
PaddedOstream pad_out(dae_out, pad);
write_document(pad_out, data);
dae_out.close();*/
aiScene scene;
create_assimp_scene(scene, data);
Assimp::Exporter exporter;
auto export_format = exporter.GetExportFormatDescription(0);
exporter.Export(&scene, export_format->id, dae_filename.string().c_str());
}
string compiler_command()
{
array<string> result;
//compiler
if(is_gcc())
result=gcc_arguments();
else if(is_clang())
result=clang_arguments();
else
stop();
//common
result.append(compiler_arguments());
//paths
result.push(input_path());
result.push(space("-o",output_path()));
return result.join(" ");
}
int acceleratet::accelerate_loop(goto_programt::targett &loop_header)
{
pathst loop_paths, exit_paths;
goto_programt::targett back_jump=find_back_jump(loop_header);
int num_accelerated=0;
std::list<path_acceleratort> accelerators;
natural_loops_mutablet::natural_loopt &loop =
natural_loops.loop_map[loop_header];
if(contains_nested_loops(loop_header))
{
// For now, only accelerate innermost loops.
#ifdef DEBUG
std::cout << "Not accelerating an outer loop\n";
#endif
return 0;
}
goto_programt::targett overflow_loc;
make_overflow_loc(loop_header, back_jump, overflow_loc);
program.update();
#if 1
enumerating_loop_accelerationt
acceleration(
symbol_table,
goto_functions,
program,
loop,
loop_header,
accelerate_limit);
#else
disjunctive_polynomial_accelerationt
acceleration(symbol_table, goto_functions, program, loop, loop_header);
#endif
path_acceleratort accelerator;
while(acceleration.accelerate(accelerator) &&
(accelerate_limit < 0 ||
num_accelerated < accelerate_limit))
{
// set_dirty_vars(accelerator);
if(is_underapproximate(accelerator))
{
// We have some underapproximated variables -- just punt for now.
#ifdef DEBUG
std::cout << "Not inserting accelerator because of underapproximation\n";
#endif
continue;
}
accelerators.push_back(accelerator);
num_accelerated++;
#ifdef DEBUG
std::cout << "Accelerated path:\n";
output_path(accelerator.path, program, ns, std::cout);
std::cout << "Accelerator has "
<< accelerator.pure_accelerator.instructions.size()
<< " instructions\n";
#endif
}
goto_programt::instructiont skip(SKIP);
program.insert_before_swap(loop_header, skip);
goto_programt::targett new_inst=loop_header;
++new_inst;
loop.insert(new_inst);
std::cout << "Overflow loc is " << overflow_loc->location_number << '\n';
std::cout << "Back jump is " << back_jump->location_number << '\n';
for(std::list<path_acceleratort>::iterator it=accelerators.begin();
it!=accelerators.end();
++it)
{
subsumed_patht inserted(it->path);
insert_accelerator(loop_header, back_jump, *it, inserted);
subsumed.push_back(inserted);
num_accelerated++;
}
return num_accelerated;
}
int main(int argc, const char * argv[]) {
namespace prog_opt = boost::program_options;
namespace file_sys = boost::filesystem;
///////////////////////////////////////////////////////////////////////////
/// ///
/// PROGRAM OPTIONS ///
/// ///
///////////////////////////////////////////////////////////////////////////
std::string base_dir_str;
std::string output_path_str;
bool use_int_signals;
std::string climate_signal;
std::vector<std::string> portfolio_signal;
int ari_signal;
int year;
prog_opt::options_description desc("Allowed options");
desc.add_options()
("help,h", "produce help message")
("base-directory,d", prog_opt::value<std::string>(&base_dir_str), "The base directory for the map database")
("climate-signal,c", prog_opt::value<std::string>(&climate_signal)->default_value("1"), "The climate change projection that should be used")
("portfolio-signal,p", prog_opt::value<std::vector<std::string> >(&portfolio_signal), "The mitigation portfolios that should be used. Need to specify exactly the number of portfolios as there are catchments")
("ARI,r", prog_opt::value<int>(&ari_signal)->default_value(20), "The 1:ari value indicating expected frequency of flood hazard")
("year,y", prog_opt::value<int>(&year)->default_value(2015), "specify year in which to calculate flood hazard for")
("output,o", prog_opt::value<std::string>(&output_path_str)->default_value("output.tif"), "The path to print output interpolated map to")
("int-signam,i", prog_opt::value<bool>(&use_int_signals)->default_value(true), "Whether to use string or int representation of mitigation and climate scanario signals");
prog_opt::positional_options_description p;
p.add("portfolio-signal", -1);
prog_opt::variables_map vm;
prog_opt::store(prog_opt::command_line_parser(argc, argv).options(desc).positional(p).run(), vm);
prog_opt::notify(vm);
if (vm.count("help"))
{
std::cout << desc << "\n";
return 1;
}
if (vm.count("portfolio-signal"))
{
std::cout << "Mitigation portfolios are: "
<< vm["portfolio-signal"].as< std::vector<std::string> >() << "\n";
}
file_sys::path base_dir(base_dir_str);
//Check if base directory exists
if (!file_sys::exists(base_dir))
{
std::cerr << "Base directory of database does not exist" << std::endl;
//Could throw an error here instead
}
Database my_data;
processDatabase(my_data, base_dir);
//Read in template map.
fs::path template_map = base_dir / "template.tif";
std::tuple<Map_Double_SPtr, std::string, GeoTransform> gdal_map = read_in_map<double>(template_map, GDT_Float64, NO_CATEGORISATION);
Map_Double_SPtr map(std::get<0>(gdal_map));
std::string & map_WKT_projection = (std::get<1>(gdal_map));
GeoTransform & map_transform = (std::get<2>(gdal_map));
int nrows = map->NRows();
int ncols = map->NCols();
double no_data_val = map->NoDataValue();
//Set number of mitigaiton portfolios and scenarios
int num_of_scenarios = my_data.get_catchment(1)->clim_scnrios_ik.size();
int num_of_portfolios = my_data.get_catchment(1)->get_scenario(1)->mit_prtflios_ik.size();
StitchedMapSet maps;
if (use_int_signals == true)
{
std::vector<int> portfolios;
for (int i = 0; i < num_of_portfolios; ++i)
{
portfolios[i] = std::stoi(portfolio_signal[i]);
}
int scenario = std::stoi(climate_signal);
getMapSet(climate_signal, portfolio_signal, my_data, maps, ncols, nrows, no_data_val);
}
else
{
getMapSet(climate_signal, portfolio_signal, my_data, maps, ncols, nrows, no_data_val);
}
Map_Float_SPtr interped_map = interpolatedmap(ari_signal, year, maps);
/********************************************/
/* Print resultent map */
/********************************************/
//Open template map to get projection and transformation information.
file_sys::path template_path = base_dir / "template.tif";
std::string wKTprojection;
GeoTransform transform;
Map_Float_SPtr template_map;
std::tie(template_map, wKTprojection, transform) = read_in_map<float>(template_path, GDT_Float32, NO_CATEGORISATION);
file_sys::path output_path(output_path_str);
std::cout << "\n\n*************************************\n";
std::cout << "* Saving output file *\n";
std::cout << "*************************************" << std::endl;
std::string driverName = "GTiff";
write_map(output_path, GDT_Float32, interped_map, wKTprojection, transform, driverName);
std::cout << "finished processing database" << std::endl;
std::cout << "Another breakpoint" << std::endl;
}
int main(int argc, char **argv) {
Eigen::initParallel();
args::ArgumentParser parser(
"A utility for setting up merged 4D files for use with FSL randomise etc.\n"
"The group for each input file must be specified with --groups (one per line)\n"
"A value of 0 means ignore this file.\n"
"\nhttp://github.com/spinicist/QUIT");
args::PositionalList<std::string> file_paths(parser, "INPUTS", "Input files to be merged.");
args::HelpFlag help(parser, "HELP", "Show this help message", {'h', "help"});
args::Flag verbose(parser, "VERBOSE", "Print more information", {'v', "verbose"});
args::Flag sort(parser, "SORT", "Sort merged file and GLM in ascending group order",
{'s', "sort"});
args::ValueFlag<std::string> group_path(
parser, "GROUPS", "File to read group numbers from (REQUIRED)", {'g', "groups"});
args::ValueFlag<std::string> output_path(parser, "OUT", "Path for output merged file",
{'o', "out"});
args::ValueFlag<std::string> covars_path(
parser, "COVARS", "Path to covariates file (added to design matrix)", {'C', "covars"});
args::ValueFlag<std::string> design_path(parser, "DESIGN", "Path to save design matrix",
{'d', "design"});
args::ValueFlag<std::string> contrasts_path(parser, "CONTRASTS", "Generate and save contrasts",
{'c', "contrasts"});
args::ValueFlag<std::string> ftests_path(parser, "FTESTS", "Generate and save F-tests",
{'f', "ftests"});
QI::ParseArgs(parser, argc, argv, verbose);
std::ifstream group_file(QI::CheckValue(group_path));
QI::Log(verbose, "Reading group file");
std::vector<int> group_list;
int temp;
while (group_file >> temp) {
group_list.push_back(temp);
}
int n_groups = *std::max_element(group_list.begin(), group_list.end());
int n_images = std::count_if(group_list.begin(), group_list.end(),
[](int i) { return i > 0; }); // Count non-zero elements
if (file_paths.Get().size() != group_list.size()) {
QI::Fail("Group list size and number of files do not match.");
}
std::vector<std::vector<QI::VolumeF::Pointer>> groups(n_groups);
QI::Log(verbose, "Groups = {}, Images = {}", n_groups, n_images);
itk::FixedArray<unsigned int, 4> layout;
layout[0] = layout[1] = layout[2] = 1;
layout[3] = n_images;
auto tiler = itk::TileImageFilter<QI::VolumeF, QI::SeriesF>::New();
tiler->SetLayout(layout);
std::ofstream design_file;
if (design_path) {
QI::Log(verbose, "Design matrix will be saved to: {}", design_path.Get());
design_file = std::ofstream(design_path.Get());
}
std::vector<std::vector<std::vector<std::string>>> covars(n_groups);
std::vector<std::ifstream> covars_files;
if (covars_path) {
QI::Log(verbose, "All covariates: {}", covars_path.Get());
std::istringstream stream_covars(covars_path.Get());
while (!stream_covars.eof()) {
std::string path;
getline(stream_covars, path, ',');
QI::Log(verbose, "Opening covariate file: {}", path);
std::ifstream covars_file(path);
if (!covars_file) {
QI::Fail("Failed to open covariate file: {}", path);
}
covars_files.push_back(std::move(covars_file));
}
}
int out_index = 0;
for (size_t i = 0; i < group_list.size(); i++) {
const int group = group_list.at(i);
if (group > 0) { // Ignore entries with a 0
QI::Log(verbose, "File: {} Group: {}", file_paths.Get().at(i), group);
QI::VolumeF::Pointer ptr = QI::ReadImage(file_paths.Get().at(i), verbose);
groups.at(group - 1).push_back(ptr);
std::vector<std::string> covar;
if (covars_path) {
for (auto &f : covars_files) {
std::string c;
std::getline(f, c);
covar.push_back(c);
}
covars.at(group - 1).push_back(covar);
QI::Log(verbose, "Covariate: {}", fmt::join(covar, ","));
}
if (!sort) {
tiler->SetInput(out_index, ptr);
out_index++;
if (design_path) {
for (int g = 1; g <= n_groups; g++) {
if (g == group) {
design_file << "1\t";
} else {
design_file << "0\t";
}
}
if (covars_path) {
for (auto &c : covar) {
design_file << c << "\t";
}
}
design_file << "\n";
}
}
} else {
QI::Log(verbose, "Ignoring file: {}", file_paths.Get().at(i));
// Eat a line in each covariates file
for (auto &f : covars_files) {
std::string dummy;
std::getline(f, dummy);
}
}
}
if (sort) {
QI::Log(verbose, "Sorting.");
for (int g = 0; g < n_groups; g++) {
for (size_t i = 0; i < groups.at(g).size(); i++) {
tiler->SetInput(out_index, groups.at(g).at(i));
out_index++;
if (design_path) {
for (int g2 = 0; g2 < n_groups; g2++) {
if (g2 == g) {
design_file << "1\t";
} else {
design_file << "0\t";
}
}
if (covars_path) {
for (auto &c : covars.at(g).at(i)) {
design_file << c << "\t";
}
}
design_file << "\n";
}
}
}
}
int n_covars = covars_path ? covars.front().front().size() : 0;
if (contrasts_path) {
QI::Log(verbose, "Generating contrasts");
std::ofstream con_file(contrasts_path.Get());
for (int g = 0; g < n_groups; g++) {
for (int g2 = 0; g2 < n_groups; g2++) {
if (g2 == g) {
con_file << "1\t";
} else if (g2 == ((g + 1) % (n_groups))) {
con_file << "-1\t";
} else {
con_file << "0\t";
}
}
for (int c = 0; c < n_covars; c++) {
con_file << "0\t";
}
con_file << "\n";
}
for (int c = 0; c < 2 * n_covars; c++) {
for (int g = 0; g < n_groups; g++) {
con_file << "0\t";
}
for (int c2 = 0; c2 < n_covars; c2++) {
if ((c / 2) == c2) {
con_file << ((c % 2 == 0) ? "1\t" : "-1\t");
} else {
con_file << "0\t";
}
}
con_file << "\n";
}
}
if (ftests_path) {
QI::Log(verbose, "Generating F-tests");
std::ofstream fts_file(ftests_path.Get());
for (int g = 0; g < n_groups; g++) { // Individual group comparisons
for (int g2 = 0; g2 < n_groups; g2++) {
fts_file << ((g2 == g) ? "1\t" : "0\t");
}
for (int c = 0; c < 2 * n_covars; c++) {
fts_file << "0\t";
}
fts_file << std::endl;
}
if (n_groups > 2) { // Main effect
for (int g = 0; g < (n_groups - 1); g++) {
fts_file << "1\t";
}
fts_file << "0\t";
for (int c = 0; c < 2 * n_covars; c++) {
fts_file << "0\t";
}
fts_file << std::endl;
}
}
tiler->UpdateLargestPossibleRegion();
// Reset space information because tiler messes it up
QI::SeriesF::Pointer output = tiler->GetOutput();
output->DisconnectPipeline();
auto spacing = output->GetSpacing();
auto origin = output->GetOrigin();
auto direction = output->GetDirection();
spacing.Fill(1);
origin.Fill(0);
direction.SetIdentity();
for (int i = 0; i < 3; i++) {
spacing[i] = groups.at(0).at(0)->GetSpacing()[i];
origin[i] = groups.at(0).at(0)->GetOrigin()[i];
for (int j = 0; j < 3; j++) {
direction[i][j] = groups.at(0).at(0)->GetDirection()[i][j];
}
}
output->SetSpacing(spacing);
output->SetOrigin(origin);
output->SetDirection(direction);
QI::WriteImage<QI::SeriesF>(output, QI::CheckValue(output_path), verbose);
return EXIT_SUCCESS;
}
int main(int argc, char** argv)
{
if (argc < 5)
{
PCL17_INFO ("Usage %s -input_dir /dir/with/models -output_dir /output/dir [options]\n", argv[0]);
PCL17_INFO (" * where options are:\n"
" -height <X> : simulate scans with sensor mounted on height X\n"
" -noise_std <X> : std of gaussian noise added to pointcloud. Default value 0.0001.\n"
" -distance <X> : simulate scans with object located on a distance X. Can be used multiple times. Default value 4.\n"
" -tilt <X> : tilt sensor for X degrees. X == 0 - sensor looks strait. X < 0 Sensor looks down. X > 0 Sensor looks up . Can be used multiple times. Default value -15.\n"
" -shift <X> : shift object from the straight line. Can be used multiple times. Default value 0.\n"
" -num_views <X> : how many times rotate the object in for every distance, tilt and shift. Default value 6.\n"
"");
return -1;
}
std::string input_dir, output_dir;
double height = 1.5;
double num_views = 6;
double noise_std = 0.0001;
std::vector<double> distances;
std::vector<double> tilt;
std::vector<double> shift;
int full_model_n_points = 30000;
pcl17::console::parse_argument(argc, argv, "-input_dir", input_dir);
pcl17::console::parse_argument(argc, argv, "-output_dir", output_dir);
pcl17::console::parse_argument(argc, argv, "-num_views", num_views);
pcl17::console::parse_argument(argc, argv, "-height", height);
pcl17::console::parse_argument(argc, argv, "-noise_std", noise_std);
pcl17::console::parse_multiple_arguments(argc, argv, "-distance", distances);
pcl17::console::parse_multiple_arguments(argc, argv, "-tilt", tilt);
pcl17::console::parse_multiple_arguments(argc, argv, "-shift", shift);
PCL17_INFO("distances size: %d\n", distances.size());
for (size_t i = 0; i < distances.size(); i++)
{
PCL17_INFO("distance: %f\n", distances[i]);
}
// Set default values if user didn't provide any
if (distances.size() == 0)
distances.push_back(4);
if (tilt.size() == 0)
tilt.push_back(-15);
if (shift.size() == 0)
shift.push_back(0);
// Check if input path exists
boost::filesystem::path input_path(input_dir);
if (!boost::filesystem::exists(input_path))
{
PCL17_ERROR("Input directory doesnt exists.");
return -1;
}
// Check if input path is a directory
if (!boost::filesystem::is_directory(input_path))
{
PCL17_ERROR("%s is not directory.", input_path.c_str());
return -1;
}
// Check if output directory exists
boost::filesystem::path output_path(output_dir);
if (!boost::filesystem::exists(output_path) || !boost::filesystem::is_directory(output_path))
{
if (!boost::filesystem::create_directories(output_path))
{
PCL17_ERROR ("Error creating directory %s.\n", output_path.c_str ());
return -1;
}
}
// Find all .vtk files in the input directory
std::vector<std::string> files_to_process;
PCL17_INFO("Processing following files:\n");
boost::filesystem::directory_iterator end_iter;
for (boost::filesystem::directory_iterator iter(input_path); iter != end_iter; iter++)
{
boost::filesystem::path class_dir_path(*iter);
for (boost::filesystem::directory_iterator iter2(class_dir_path); iter2 != end_iter; iter2++)
{
boost::filesystem::path file(*iter2);
if (file.extension() == ".vtk")
{
files_to_process.push_back(file.c_str());
PCL17_INFO("\t%s\n", file.c_str());
}
}
}
// Check if there are any .vtk files to process
if (files_to_process.size() == 0)
{
PCL17_ERROR("Directory %s has no .vtk files.", input_path.c_str());
return -1;
}
// Iterate over all files
for (size_t i = 0; i < files_to_process.size(); i++)
{
vtkSmartPointer<vtkPolyData> model;
vtkSmartPointer<vtkPolyDataReader> reader = vtkPolyDataReader::New();
vtkSmartPointer<vtkTransform> transform = vtkTransform::New();
pcl17::PointCloud<pcl17::PointXYZ>::Ptr cloud(new pcl17::PointCloud<pcl17::PointXYZ>());
// Compute output directory for this model
std::vector<std::string> st;
boost::split(st, files_to_process.at(i), boost::is_any_of("/"), boost::token_compress_on);
std::string class_dirname = st.at(st.size() - 2);
std::string dirname = st.at(st.size() - 1);
dirname = dirname.substr(0, dirname.size() - 4);
dirname = output_dir + class_dirname + "/" + dirname;
// Check if output directory for this model exists. If not create
boost::filesystem::path dirpath(dirname);
if (!boost::filesystem::exists(dirpath))
{
if (!boost::filesystem::create_directories(dirpath))
{
PCL17_ERROR ("Error creating directory %s.\n", dirpath.c_str ());
return -1;
}
}
// Load model from file
reader->SetFileName(files_to_process.at(i).c_str());
reader->Update();
model = reader->GetOutput();
PCL17_INFO("Number of points %d\n",model->GetNumberOfPoints());
// Coumpute bounds and center of the model
double bounds[6];
model->GetBounds(bounds);
double min_z_value = bounds[4];
double center[3];
model->GetCenter(center);
createFullModelPointcloud(model, full_model_n_points, *cloud);
pcl17::io::savePCDFile(dirname + "/full.pcd", *cloud);
// Initialize PCLVisualizer. Add model to scene.
pcl17::visualization::PCLVisualizer viz;
viz.initCameraParameters();
viz.updateCamera();
viz.setCameraPosition(0, 0, 0, 1, 0, 0, 0, 0, 1);
viz.addModelFromPolyData(model, transform);
viz.setRepresentationToSurfaceForAllActors();
// Iterate over all shifts
for (size_t shift_index = 0; shift_index < shift.size(); shift_index++)
{
// Iterate over all tilts
for (size_t tilt_index = 0; tilt_index < tilt.size(); tilt_index++)
{
// Iterate over all distances
for (size_t distance_index = 0; distance_index < distances.size(); distance_index++)
{
// Iterate over all angles
double angle = 0;
double angle_step = 360.0 / num_views;
for (int angle_index = 0; angle_index < num_views; angle_index++)
{
// Set transformation with distance, shift, tilt and angle parameters.
transform->Identity();
transform->RotateY(tilt[tilt_index]);
transform->Translate(distances[distance_index], shift[shift_index], -(height + min_z_value));
transform->RotateZ(angle);
/*
// Render pointcloud
viz.renderView(640, 480, cloud);
//Add noise
addNoise(cloud, noise_std);
// Compute new coordinates of the model center
double new_center[3];
transform->TransformPoint(center, new_center);
// Shift origin of the poincloud to the model center and align with initial coordinate system.
pcl17::PointCloud<pcl17::PointXYZ>::Ptr cloud_transformed(new pcl17::PointCloud<pcl17::PointXYZ>());
moveToNewCenterAndAlign(cloud, cloud_transformed, new_center, tilt[tilt_index]);
// Compute file name for this pointcloud and save it
std::stringstream ss;
ss << dirname << "/rotation" << angle << "_distance" << distances[distance_index] << "_tilt"
<< tilt[tilt_index] << "_shift" << shift[shift_index] << ".pcd";
PCL17_INFO("Writing %d points to file %s\n", cloud->points.size(), ss.str().c_str());
pcl17::io::savePCDFile(ss.str(), *cloud_transformed);
*/
// increment angle by step
angle += angle_step;
}
}
}
}
}
return 0;
}
