src/tools/lvr2_cl_sor/Main.cpp

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#include <boost/filesystem.hpp>
 
#include "lvr2/reconstruction/opencl/ClStatisticalOutlierFilter.hpp"
#include "lvr2/io/ModelFactory.hpp"
#include "lvr2/io/DataStruct.hpp"
#include "lvr2/io/Timestamp.hpp"
#include "lvr2/io/IOUtils.hpp"
//#include "Options.hpp"
 
 
using namespace lvr2;
 
void filter(lvr2::PointBufferPtr& cloud, lvr2::indexArray& inlier, size_t j)
{
    lvr2::PointBufferPtr cloud_filtered(new lvr2::PointBuffer());
    int type;
    std::map<std::string, lvr2::Channel<float> > floatChannels;
    type = cloud->getAllChannelsOfType<float>(floatChannels);
 
    std::vector<lvr2::FloatChannelPtr> channels;
    for(auto channelPair: floatChannels)
    {
        std::string name = channelPair.first;
        auto channel2 = channelPair.second;
        lvr2::FloatChannelPtr filtered(new lvr2::FloatChannel(j, channel2.width()));
        channels.push_back(filtered);
        for(size_t i = 0; i < j; ++i)
        {
            size_t index = inlier[i];
            for(size_t k = 0; k < channel2.width(); ++k)
            {
                (*filtered)[i][k] = channel2[index][k];
            }
        }
//        cloud->removeFloatChannel(name);
        cloud_filtered->addFloatChannel(filtered, name);
        
    }
    
    std::vector<lvr2::UCharChannelPtr> channels_uchar;
    std::map<std::string, lvr2::Channel<unsigned char> >  uCharChannels;
    int ucharType = cloud->getAllChannelsOfType<unsigned char>(uCharChannels);
    for(auto channelPair: uCharChannels)
    {
        std::string name = channelPair.first;
        auto channel2 = channelPair.second;
        lvr2::UCharChannelPtr filtered(new lvr2::UCharChannel(j, channel2.width()));
        channels_uchar.push_back(filtered);
        for(size_t i = 0; i < j; ++i)
        {
            size_t index = inlier[i];
            for(size_t k = 0; k < channel2.width(); ++k)
            {
                (*filtered)[i][k] = channel2[index][k];
            }
        }
//        cloud->removeUCharChannel(name);
        cloud_filtered->addUCharChannel(filtered, name);
    }
 
    cloud = cloud_filtered;
}
 
int main(int argc, char** argv){
    ModelPtr model = ModelFactory::readModel(argv[1]);
    size_t num_points;
 
 
    UCharChannelOptional colorsOpt = model->m_pointCloud->getUCharChannel("colors"); 
 
    // filter based on grayscale from rgb
    // 
//    if(colorsOpt)
//    {
//              lvr2::uintArr inlier2 = lvr2::uintArr(new unsigned int[model->m_pointCloud->numPoints()]);
//            std::cout << timestamp << "filter based on grayscale" << std::endl;
//            size_t k = 0;
//            for(size_t i = 0; i < colorsOpt->numElements(); ++i)
//            {
//                  int scalar = (*colorsOpt)[i][0] +
//                               (*colorsOpt)[i][1] +
//                               (*colorsOpt)[i][2];
//                  scalar /= 3;
//                  if(scalar < 255)
//                  {
//                      inlier2[k++] = i;
//                  }
//            }
//
//          std::cout << timestamp << "outliers " << model->m_pointCloud->numPoints() - k << std::endl;
//          std::cout << timestamp << "inliers " << k << std::endl;
//          filter(model->m_pointCloud, inlier2, k);
//    }
 
    floatArr points;
    if (model && model->m_pointCloud )
    {
        num_points = model->m_pointCloud->numPoints();
        points = model->m_pointCloud->getPointArray();
        cout << timestamp << "Read " << num_points << " points from " << argv[1] << endl;
    }
    else
    {
        cout << timestamp << "Warning: No point cloud data found in " << argv[1] << endl;
        return 0;
    }
 
    lvr2::uintArr inlier = lvr2::uintArr(new unsigned int[num_points]);
 
    cout << timestamp << "Constructing kd-tree..." << endl;
    ClSOR sor(points, num_points, 20);
    cout << timestamp << "Finished kd-tree construction." << endl;
 
 
    sor.calcDistances();
    cout << timestamp << "Got Nearest Neighbors" << std::endl;
    sor.calcStatistics();
    cout << timestamp << "Got Statistics" << std::endl;
    sor.setMult(1.5);
 
    int j  = sor.getInliers(inlier);
 
    std::cout << timestamp << "outliers " << num_points - j << std::endl;
    std::cout << timestamp << "inliers " << j << std::endl;
    
    filter(model->m_pointCloud, inlier, j);
 
//    lvr2::PointBufferPtr cloud = model->m_pointCloud;
//    lvr2::PointBufferPtr cloud_filtered(new lvr2::PointBuffer());
//    int type;
//    std::map<std::string, lvr2::Channel<float> > floatChannels;
//    type = cloud->getAllChannelsOfType<float>(floatChannels);
//
//    std::vector<lvr2::FloatChannelPtr> channels;
//    for(auto channelPair: floatChannels)
//    {
//        std::string name = channelPair.first;
//        auto channel2 = channelPair.second;
//        lvr2::FloatChannelPtr filtered(new lvr2::FloatChannel(j, channel2.width()));
//        channels.push_back(filtered);
//        for(size_t i = 0; i < j; ++i)
//        {
//            size_t index = inlier[i];
//            for(size_t k = 0; k < channel2.width(); ++k)
//            {
//                (*filtered)[i][k] = channel2[index][k];
//            }
//        }
//        cloud_filtered->addFloatChannel(filtered, name);
//        
//    }
//    
//    std::vector<lvr2::UCharChannelPtr> channels_uchar;
//    std::map<std::string, lvr2::Channel<unsigned char> >  uCharChannels;
//    int ucharType = cloud->getAllChannelsOfType<unsigned char>(uCharChannels);
//    for(auto channelPair: uCharChannels)
//    {
//        std::string name = channelPair.first;
//        auto channel2 = channelPair.second;
//        lvr2::UCharChannelPtr filtered(new lvr2::UCharChannel(j, channel2.width()));
//        channels_uchar.push_back(filtered);
//        for(size_t i = 0; i < j; ++i)
//        {
//            size_t index = inlier[i];
//            for(size_t k = 0; k < channel2.width(); ++k)
//            {
//                (*filtered)[i][k] = channel2[index][k];
//            }
//        }
//        cloud_filtered->addUCharChannel(filtered, name);
//    }
//    lvr2::ModelPtr model_filtered(new lvr2::Model(cloud_filtered, lvr2::MeshBufferPtr()));
    lvr2::ModelFactory::saveModel(model, argv[2]);
 
    return 0;
 
}