int main(int argc,char* argv[])
{
/* Parse the command line: */
size_t memoryCache=128;
const char* lidarFileName=0;
float neighborhoodRadius=1.0f;
unsigned int minNumNeighbors=3;
const char* outlierFileName="Outliers.bin";
for(int i=1;i<argc;++i)
{
if(argv[i][0]=='-')
{
if(strcasecmp(argv[i]+1,"cache")==0)
{
++i;
memoryCache=size_t(atoi(argv[i]));
}
else if(strcasecmp(argv[i]+1,"radius")==0)
{
++i;
neighborhoodRadius=float(atof(argv[i]));
}
else if(strcasecmp(argv[i]+1,"minNeighbors")==0)
{
++i;
minNumNeighbors=(unsigned int)atoi(argv[i]);
}
}
else if(lidarFileName==0)
lidarFileName=argv[i];
else if(outlierFileName==0)
outlierFileName=argv[i];
}
if(lidarFileName==0)
{
std::cerr<<"No LiDAR file name provided"<<std::endl;
return 1;
}
/* Open the LiDAR octree file: */
LidarProcessOctree lpo(lidarFileName,memoryCache*size_t(1024*1024));
/* Open the outlier file: */
IO::SeekableFilePtr outlierFile(IO::openSeekableFile(outlierFileName,IO::File::WriteOnly));
outlierFile->setEndianness(Misc::LittleEndian);
/* Write a bogus file header: */
outlierFile->write<unsigned int>(0);
/* Process the LiDAR file: */
OutlierSaver os(lpo,neighborhoodRadius,minNumNeighbors,outlierFile);
lpo.processPoints(os);
/* Finalize the outlier file: */
outlierFile->setWritePosAbs(0);
outlierFile->write<unsigned int>(os.getNumOutliers());
std::cout<<os.getNumOutliers()<<" outlier points written to "<<outlierFileName<<std::endl;
return 0;
}
int Img2IPM::process(Point pt[4], string save_path, int img_cols, int img_rows)
{
int pointNum = 4;
Point2f * srcPoint = new Point2f[pointNum];
Point2f * dstPoint = new Point2f[pointNum];
CvSize ipmSize;
//v2 0514
ipmSize.width = 260;
ipmSize.height = 300;
//sample4 °üº¬³µÍ·
{
/// sample1 and sample3
srcPoint[0] = cvPoint(pt[0].x, pt[0].y);
srcPoint[1] = cvPoint(pt[1].x, pt[1].y);
srcPoint[2] = cvPoint(pt[2].x, pt[2].y);
srcPoint[3] = cvPoint(pt[3].x, pt[3].y);
//v2 0514
dstPoint[0] = cvPoint(105, 284);
dstPoint[1] = cvPoint(154, 284);
dstPoint[2] = cvPoint(154, 11);
dstPoint[3] = cvPoint(105, 11);
}
Mat img2ipmMatrix = getPerspectiveTransform(srcPoint, dstPoint);
Mat ipm2imgMatrix = getPerspectiveTransform(dstPoint, srcPoint);
ofstream ipm2iniFile((save_path + "ipm2ini.txt").c_str());
for (int i = 0; i < ipm2imgMatrix.rows; i++)
{
double * aa = ipm2imgMatrix.ptr<double>(i);
for (int j = 0; j < ipm2imgMatrix.cols; j++)
{
ipm2iniFile<<aa[j]<<" ";
}
ipm2iniFile<<endl;
}
ipm2iniFile.close();
ofstream ini2ipmFile((save_path + "ini2ipm.txt").c_str());
for (int i = 0; i < img2ipmMatrix.rows; i++)
{
double * aa = img2ipmMatrix.ptr<double>(i);
for (int j = 0; j < img2ipmMatrix.cols; j++)
{
ini2ipmFile<<aa[j]<<" ";
}
ini2ipmFile<<endl;
}
ini2ipmFile.close();
ofstream outlierFile((save_path +"outlier.txt").c_str());
vector<Point2f> allIpmPoints;
vector<Point2f> allIpmPoints2IniImg;
int num2 = 0;
for (int m = 0; m < ipmSize.height; m++)
{
for (int n = 0; n < ipmSize.width; n++)
{
allIpmPoints.push_back(cvPoint(n,m));
num2++;
}
}
perspectiveTransform(allIpmPoints, allIpmPoints2IniImg, ipm2imgMatrix);
num2 = 0;
for (int m = 0; m < ipmSize.height; m++)
{
for (int n = 0; n < ipmSize.width; n++)
{
Point2f tmpPt = allIpmPoints2IniImg[num2];
if (tmpPt.x < 5 || tmpPt.x > img_cols - 5 || tmpPt.y < 5 || tmpPt.y > img_rows - 5)
{
// outlier
outlierFile<<n<<" "<<m<<endl;
}
num2++;
}
}
outlierFile.close();
delete [] srcPoint;
delete [] dstPoint;
return 0;
}