和VS2015分支同步

Author: seed93

.gitignore

@@ -1,11 +1,10 @@
 #common files
-*.jpg
 *.svn-base
 reconstruction/x64/
 CloudOptimization/x64/
 Kinect2Cloud/x64/
 BatchProcess/x64/
-dlls/
+lib/opencv/
 .svn/
 
 # Compiled Object files
@@ -37,7 +36,7 @@ dlls/
 #*.lib
 
 # Executables
-*.exe
+#*.exe
 *.out
 *.app
 

CloudOptimization/CCloudOptimization.cpp

@@ -7,11 +7,12 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>)
 vector<Eigen::Vector3f> CamCenter;
 vector<vector<Eigen::Matrix3f>> R;
 vector<vector<Eigen::Vector3f>> T;
-cv::Mat current_img;
+uchar * current_img;
 int current_img_width, current_img_height;
 Eigen::Matrix3f current_R;
 Eigen::Vector3f current_T;
 void texture_color(float x, float y, float z, uchar rgb[]);
+void safe_process(char * cmdLine, DWORD max_time);
 class _declspec(dllexport) CCloudOptimization
 {
 public:
@@ -30,6 +31,11 @@ class _declspec(dllexport) CCloudOptimization
 };
 
 inline void reverse(float &x) { x = -x;}
+inline void reverse_normal(pcl::PointNormal &input) {
+	reverse(input.normal_x);
+	reverse(input.normal_y);
+	reverse(input.normal_z);
+}
 
 void CCloudOptimization::Init(int sor_meank, double sor_stdThres, int outrem_neighbor, double outrem_radius, double mls_radius, CManageData *ImageData, bool isdelete_)
 {
@@ -50,7 +56,6 @@ void CCloudOptimization::Init(int sor_meank, double sor_stdThres, int outrem_nei
 	system(cmd);
 }
 
-
 void CCloudOptimization::InsertPoint(cv::Mat p)
 {
 	cloud_in->push_back(pcl::PointXYZ(p.ptr<double>(0)[0], p.ptr<double>(1)[0], p.ptr<double>(2)[0]));
@@ -80,6 +85,7 @@ void CCloudOptimization::filter(int idx)
 	sor.setStddevMulThresh (m_sor_stdThres);//face 0.3
 	sor.filter (*cloud_filtered);
 	printf("Initial points: %d\n",cloud_in->points.size());
+	
 	/*
 	pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
 	// build the filter
@@ -88,7 +94,7 @@ void CCloudOptimization::filter(int idx)
 	outrem.setMinNeighborsInRadius (m_outrem_neighbor);
 	// apply filter
 	outrem.filter (*cloud_filtered);*/
-
+	
 	std::cerr << "Cloud after filtering: " << std::endl;
 	std::cerr << *cloud_filtered;
 
@@ -104,71 +110,48 @@ void CCloudOptimization::filter(int idx)
 	pcl::PointCloud<pcl::PointNormal>::Ptr cloud_normal (new pcl::PointCloud<pcl::PointNormal>);
 	pcl::concatenateFields(*current_cloud_normals, *cloud_filtered, *cloud_normal);
 
+	
 #pragma omp parallel for
 	for (int i=0; i<cloud_normal->size(); i++)
 	{
 		Eigen::Vector3f current_camdir = CamCenter[idx] - cloud_normal->points[i].getVector3fMap();
 		Eigen::Vector3f current_direction_normed = cloud_normal->points[i].getNormalVector3fMap();
 		if (current_direction_normed.dot(current_camdir) < 0)
-		{
-			reverse(cloud_normal->points[i].normal_x);
-			reverse(cloud_normal->points[i].normal_y);
-			reverse(cloud_normal->points[i].normal_z);
-		}	
+			reverse_normal(cloud_normal->points[i]);
 	}
-
-
+	
 	*cloud_normals += *cloud_normal;
  	char name[MAX_PATH];
  	pcl::io::savePLYFileBinary("tmp\\cloud_filter.ply", *cloud_normal);
 	system("mesh.bat");
 	current_img_width = m_ImageData->cam[idx][0].image.cols;
 	current_img_height = m_ImageData->cam[idx][0].image.rows;
+	
 	MyPlyIo myPlyIo(texture_color, 'b');
 	sprintf(name, "tmp\\color_%d_0.ply", idx);
-	current_img = m_ImageData->cam[idx][0].image;
+	current_img = m_ImageData->cam[idx][0].image.data;
 	current_R = R[idx][0];
 	current_T = T[idx][0];
+	
 	if (myPlyIo.ReadAndWrite("tmp\\mesh_trimmer.ply", name))
 		std::cout << "fail\n";
 	sprintf(name, "tmp\\color_%d_1.ply", idx);
-	current_img = m_ImageData->cam[idx][1].image;
+	current_img = m_ImageData->cam[idx][1].image.data;
 	current_R = R[idx][1];
 	current_T = T[idx][1];
 	if (myPlyIo.ReadAndWrite("tmp\\mesh_trimmer.ply", name))
 		std::cout << "fail\n";
+
 	cloud_in->clear();
+
 }
 
 void CCloudOptimization::run()
 {
-// 	Eigen::Vector4f centroid;
-// 	pcl::compute3DCentroid (*cloud,centroid);
-// 	Eigen::Vector3f m_ObjectCenter = Eigen::Vector3f(centroid[0]-50, centroid[1], centroid[2]);
-	
-// 	for (int i=0; i<m_ImageData->m_CampairNum; i++)
-// 	{
-// 		boost::shared_ptr<std::vector<int> > indicesptr_temp (new std::vector<int> (cam_indices[i]));
-// 		pcl::ExtractIndices<pcl::PointXYZ> extract;
-// 		extract.setInputCloud (cloud);
-// 		extract.setIndices (indicesptr_temp);
-// 		extract.setNegative (false);
-// 		extract.filter (*cloud_in);
-// 		char name[100];
-// 		sprintf(name, "cloud_filter%d.ply", i+10);
-// 		pcl::io::savePLYFileBinary(name, *cloud_in);
-// 	}
-
 	boost::shared_ptr<std::vector<int> > indicesptr (new vector<int> );
 	if (isdelete)
 	{	
 		//TODO：首先计算法向，假设法向正确，用法向和点到相机方向的夹角来判断所属相机
-//		pcl::io::savePLYFileBinary("tmp\\bigcloud_normal.ply", *cloud_normals);
-// 		pcl::PLYWriter w;
-// 		w.write<pcl::PointNormal>("tmp\\bigcloud_normal.ply", *cloud_normals, false, false);
-// 		system("gen_normals.bat");
-// 		pcl::io::loadPLYFile("tmp\\bigcloud.ply", *cloud_normals);
-// 		cout<<"read succeed"<<endl;
 		std::cerr << "Cloud before deleting: " << std::endl;
 		std::cerr << *cloud_normals;
 		vector<pcl::PointNormal,Eigen::aligned_allocator<pcl::PointNormal>> &points = cloud_normals->points;
@@ -390,57 +373,18 @@ void CCloudOptimization::run()
 		{
 			if (cloud_ms_normals->points[i].getNormalVector3fMap().dot(
 				cloud_normals->points[(*indicesptr)[idx_in_orig[i]]].getNormalVector3fMap()) < 0)
-			{
-				reverse(cloud_ms_normals->points[i].normal_x);
-				reverse(cloud_ms_normals->points[i].normal_y);
-				reverse(cloud_ms_normals->points[i].normal_z);
-			}
+				reverse_normal(cloud_ms_normals->points[i]);
 		}
 	}else{
 #pragma omp parallel for
 		for (int i=0; i<idx_in_orig.size(); i++)
 		{
 			if (cloud_ms_normals->points[i].getNormalVector3fMap().dot(
 				cloud_normals->points[idx_in_orig[i]].getNormalVector3fMap()) < 0)
-			{
-				reverse(cloud_ms_normals->points[i].normal_x);
-				reverse(cloud_ms_normals->points[i].normal_y);
-				reverse(cloud_ms_normals->points[i].normal_z);
-			}
+				reverse_normal(cloud_ms_normals->points[i]);
 		}
 	}
-
-/*
-	Eigen::Vector4f centroid;
-	pcl::compute3DCentroid (*cloud_ms_normals,centroid);
-	Eigen::Vector3f m_ObjectCenter = Eigen::Vector3f(centroid[0]-50, centroid[1], centroid[2]);
-
-#pragma omp parallel for
-	for (int i=0; i<cloud_ms_normals->size(); i++)
-	{
-		Eigen::Vector3f current_point = cloud_ms_normals->points[i].getVector3fMap();
-		Eigen::Vector3f current_direction_normed = m_ObjectCenter-current_point;
-		current_direction_normed /= current_direction_normed.norm();
-		float min_value = FLT_MAX;
-		Eigen::Vector3f best_camdir;
-		for (int j=0; j<m_ImageData->m_CameraNum; j++)
-		{
-			Eigen::Vector3f current_camdir = CamCenter[j]-current_point;
-			float current_value = current_direction_normed.dot(current_camdir)/current_camdir.norm();
-			if (current_value < min_value)
-			{
-				min_value = current_value;
-				best_camdir = current_camdir;
-			}
-		}
-		if (cloud_ms_normals->points[i].getNormalVector3fMap().dot(best_camdir) < 0)
-		{
-			reverse(cloud_ms_normals->points[i].normal_x);
-			reverse(cloud_ms_normals->points[i].normal_y);
-			reverse(cloud_ms_normals->points[i].normal_z);
-		}	
-	}
-	*/
+	cloud_normals->clear();
 
 	pcl::io::savePLYFileBinary("tmp\\bigcloud.ply", *cloud_ms_normals);
 //	system("gen_normals.bat");
@@ -450,7 +394,7 @@ void CCloudOptimization::run()
 	//texture mapping
 	char cmd[MAX_PATH];
 	sprintf(cmd, "TextureStitcher.exe --in tmp\\bigmesh.ply --scans scans.txt --out %s --useKD --verbose", m_ImageData->outfilename.c_str());
-	system(cmd);
+	safe_process(cmd, 2e4);
 }
 
 void texture_color(float x, float y, float z, uchar rgb[])
@@ -470,8 +414,27 @@ void texture_color(float x, float y, float z, uchar rgb[])
 		rgb[2] = 127;
 		return ;
 	}
-	current_x *= 3;
-	rgb[2] = current_img.ptr<uchar>(current_y)[current_x];
-	rgb[1] = current_img.ptr<uchar>(current_y)[current_x+1];
-	rgb[0] = current_img.ptr<uchar>(current_y)[current_x+2];
-}
+	uchar *base_ptr = current_img + (current_img_width * current_y + current_x) * 3;
+	rgb[2] = base_ptr[0];
+	rgb[1] = base_ptr[1];
+	rgb[0] = base_ptr[2];
+}
+
+void safe_process(char * cmdLine, DWORD max_time) {
+	TCHAR szCmdLine[MAX_PATH];
+#ifdef UNICODE
+	MultiByteToWideChar(CP_ACP, 0, cmdLine, -1, szCmdLine, MAX_PATH);
+#else
+	strcpy(szCmdLine, cmdLine);
+#endif
+	STARTUPINFO si;
+	PROCESS_INFORMATION pi;
+	ZeroMemory(&si, sizeof(si));
+	si.cb = sizeof(si);
+	ZeroMemory(&pi, sizeof(pi));
+	if (CreateProcess(NULL, szCmdLine, 0, 0, FALSE, 0, 0, 0, &si, &pi)) {
+		CloseHandle(pi.hThread);
+		WaitForSingleObject(pi.hProcess, max_time);
+		CloseHandle(pi.hProcess);
+	}
+}

CloudOptimization/CCloudOptimization.h

@@ -2,43 +2,41 @@
 #define CCloudOptimization_h
 #define _CRT_SECURE_NO_WARNINGS
 #include <iostream>
-#include <pcl/PolygonMesh.h>
 #include <pcl/io/ply_io.h>
-#include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/features/normal_3d_omp.h>
 #include <pcl/surface/mls.h>
-#include <pcl/surface/poisson.h>
+//#include <pcl/surface/poisson.h>
 #include <pcl/filters/statistical_outlier_removal.h>
-#include <pcl/filters/radius_outlier_removal.h>
+//#include <pcl/filters/radius_outlier_removal.h>
 #include <pcl/filters/extract_indices.h>
-#include <pcl/segmentation/sac_segmentation.h>
-#include <pcl/segmentation/extract_clusters.h>
-
+//#include <pcl/segmentation/sac_segmentation.h>
+//#include <pcl/segmentation/extract_clusters.h>
+//#include <pcl/kdtree/kdtree_flann.h>
+//#include <pcl/PolygonMesh.h>
+#include <windows.h>
 
 #include <opencv/eigen.hpp>
 #include "../reconstruction/CManageData.h"
 
 
 #ifdef _DEBUG
-#pragma comment (lib, "../../PCL/lib/pcl_common_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_kdtree_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_io_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_io_ply_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_surface_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_features_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_search_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_filters_debug.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_segmentation_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_common_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_kdtree_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_io_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_io_ply_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_surface_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_features_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_search_debug.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_filters_debug.lib")
 #else
-#pragma comment (lib, "../../PCL/lib/pcl_common_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_kdtree_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_io_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_io_ply_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_surface_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_features_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_search_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_filters_release.lib")
-#pragma comment (lib, "../../PCL/lib/pcl_segmentation_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_common_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_kdtree_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_io_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_io_ply_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_surface_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_features_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_search_release.lib")
+#pragma comment (lib, "../../PCL_1_6_0/lib/pcl_filters_release.lib")
 #endif
 
 

CloudOptimization/CloudOptimization.vcxproj

@@ -96,22 +96,23 @@
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>..\..\PCL\3rdParty\VTK\include\vtk-5.8;..\..\PCL\include\;..\..\PCL\3rdParty\Eigen\include;..\..\PCL\3rdParty\Boost\include;..\..\PCL\3rdParty\FLANN\include;..\include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\..\PCL_1_6_0\include\;..\..\PCL_1_6_0\3rdParty\Eigen\include;..\..\PCL_1_6_0\3rdParty\Boost\include;..\..\PCL_1_6_0\3rdParty\FLANN\include;..\include</AdditionalIncludeDirectories>
       <MultiProcessorCompilation>false</MultiProcessorCompilation>
       <OpenMPSupport>true</OpenMPSupport>
       <RuntimeLibrary>MultiThreaded</RuntimeLibrary>
       <AdditionalOptions>-Zm238 %(AdditionalOptions)</AdditionalOptions>
+      <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>false</EnableCOMDATFolding>
       <OptimizeReferences>false</OptimizeReferences>
-      <AdditionalLibraryDirectories>../../PCL/3rdParty/Boost/lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>../../PCL_1_6_0/3rdParty/Boost/lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <ModuleDefinitionFile>
       </ModuleDefinitionFile>
-      <OutputFile>$(OutDir)../dlls/$(Configuration)/$(TargetName)$(TargetExt)</OutputFile>
+      <OutputFile>$(OutDir)../Demo/$(TargetName)$(TargetExt)</OutputFile>
       <IgnoreSpecificDefaultLibraries>MSVCRT.lib</IgnoreSpecificDefaultLibraries>
       <LargeAddressAware>true</LargeAddressAware>
       <LinkTimeCodeGeneration>UseLinkTimeCodeGeneration</LinkTimeCodeGeneration>