mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Merged Audio branch to trunk
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
32
tools/ColorIndexesGenerator/CMakeLists.txt
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32
tools/ColorIndexesGenerator/CMakeLists.txt
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SET(SRC_FILES
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main.cpp
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)
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SET(INCLUDE_DIRS
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${PROJECT_SOURCE_DIR}/corelib/include
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${CMAKE_CURRENT_SOURCE_DIR}
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${UTILITE_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${ZLIB_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${UTILITE_LIBRARIES}
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${OpenCV_LIBRARIES}
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${ZLIB_LIBRARIES}
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)
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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ADD_EXECUTABLE(colorIndexesGenerator ${SRC_FILES})
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TARGET_LINK_LIBRARIES(colorIndexesGenerator rtabmap_corelib ${LIBRARIES})
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SET_TARGET_PROPERTIES( colorIndexesGenerator
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-colorIndexesGenerator)
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INSTALL(TARGETS colorIndexesGenerator
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RUNTIME DESTINATION bin COMPONENT runtime
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LIBRARY DESTINATION lib COMPONENT devel
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ARCHIVE DESTINATION lib COMPONENT devel)
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228
tools/ColorIndexesGenerator/main.cpp
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228
tools/ColorIndexesGenerator/main.cpp
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#include <opencv2/core/core.hpp>
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#include <iostream>
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#include <fstream>
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#include <utilite/ULogger.h>
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#include <utilite/UTimer.h>
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#include "rtabmap/core/ColorTable.h"
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#include "rtabmap/core/NearestNeighbor.h"
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#include <zlib.h>
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#include <utilite/UConversion.h>
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#define FILE_NAME_PREFIX "ColorIndexes"
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#define FILE_NAME_SUFFIX ".bin"
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#define CHUNK 16384
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-colorIndexesGenerator size\n"
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" size Supported : 8, 16, 32, 64, 128, 256, 512, 1024, 65536\n");
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exit(1);
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}
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cv::Mat generateColorTable()
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{
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cv::Mat colorTable(256*256*256, 3, CV_32F);
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for(int b=0; b<256; ++b)
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{
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for(int g=0; g<256; ++g)
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{
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for(int r=0; r<256; ++r)
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{
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colorTable.at<float>(b*256*256 + g*256 + r, 0) = (float)r;
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colorTable.at<float>(b*256*256 + g*256 + r, 1) = (float)g;
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colorTable.at<float>(b*256*256 + g*256 + r, 2) = (float)b;
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UDEBUG("r=%f, g=%f, b=%f", (float)r , (float)g, (float)b);
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}
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}
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}
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return colorTable;
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}
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/* report a zlib or i/o error */
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void zerr(int ret)
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{
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fputs("zpipe: ", stderr);
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switch (ret) {
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case Z_ERRNO:
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if (ferror(stdin))
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fputs("error reading stdin\n", stderr);
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if (ferror(stdout))
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fputs("error writing stdout\n", stderr);
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break;
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case Z_STREAM_ERROR:
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fputs("invalid compression level\n", stderr);
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break;
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case Z_DATA_ERROR:
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fputs("invalid or incomplete deflate data\n", stderr);
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break;
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case Z_MEM_ERROR:
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fputs("out of memory\n", stderr);
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break;
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case Z_VERSION_ERROR:
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fputs("zlib version mismatch!\n", stderr);
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break;
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}
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UFATAL("");
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}
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/* Compress from file source to file dest until EOF on source.
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def() returns Z_OK on success, Z_MEM_ERROR if memory could not be
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allocated for processing, Z_STREAM_ERROR if an invalid compression
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level is supplied, Z_VERSION_ERROR if the version of zlib.h and the
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version of the library linked do not match, or Z_ERRNO if there is
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an error reading or writing the files. */
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int def(FILE *source, FILE *dest, int level)
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{
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int ret, flush;
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unsigned have;
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z_stream strm;
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unsigned char in[CHUNK];
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unsigned char out[CHUNK];
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/* allocate deflate state */
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strm.zalloc = Z_NULL;
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strm.zfree = Z_NULL;
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strm.opaque = Z_NULL;
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ret = deflateInit(&strm, level);
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if (ret != Z_OK)
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return ret;
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UDEBUG("");
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/* compress until end of file */
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do {
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UDEBUG("");
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strm.avail_in = fread(in, 1, CHUNK, source);
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if (ferror(source)) {
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(void)deflateEnd(&strm);
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return Z_ERRNO;
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}
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flush = feof(source) ? Z_FINISH : Z_NO_FLUSH;
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strm.next_in = in;
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/* run deflate() on input until output buffer not full, finish
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compression if all of source has been read in */
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do {
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UDEBUG("");
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strm.avail_out = CHUNK;
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strm.next_out = out;
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ret = deflate(&strm, flush); /* no bad return value */
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assert(ret != Z_STREAM_ERROR); /* state not clobbered */
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have = CHUNK - strm.avail_out;
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if (fwrite(out, 1, have, dest) != have || ferror(dest)) {
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(void)deflateEnd(&strm);
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return Z_ERRNO;
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}
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} while (strm.avail_out == 0);
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assert(strm.avail_in == 0); /* all input will be used */
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/* done when last data in file processed */
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} while (flush != Z_FINISH);
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assert(ret == Z_STREAM_END); /* stream will be complete */
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/* clean up and return */
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(void)deflateEnd(&strm);
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return Z_OK;
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}
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int main(int argc, char** argv)
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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ULogger::setPrintWhere(false);
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UTimer timer;
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if(argc<2)
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{
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showUsage();
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}
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int size = atoi(argv[1]);
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rtabmap::FlannKdTreeNN nn;
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cv::Mat colorTable;
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switch(size)
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{
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case 8:
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colorTable = cv::Mat(8, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_8);
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break;
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case 16:
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colorTable = cv::Mat(16, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_16);
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break;
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case 32:
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colorTable = cv::Mat(32, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_32);
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break;
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case 64:
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colorTable = cv::Mat(64, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_64);
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break;
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case 128:
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colorTable = cv::Mat(128, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_128);
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break;
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case 256:
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colorTable = cv::Mat(256, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_256);
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break;
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case 512:
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colorTable = cv::Mat(512, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_512);
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break;
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case 1024:
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colorTable = cv::Mat(1024, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_1024);
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break;
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case 65536:
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colorTable = cv::Mat(65536, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_65536);
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break;
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default:
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printf("\nSize not supported...\n");
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showUsage();
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break;
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}
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cv::Mat data;
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colorTable.convertTo(data, CV_32F);
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if(data.rows > 0x10000)
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{
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UFATAL("Color table is too big (%d > 2^16)", data.rows);
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}
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UINFO("Generating full color cube...");
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cv::Mat queries = generateColorTable();
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UINFO("Generating full color cube... done!");
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cv::Mat dists(queries.rows, 1, CV_32F);
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cv::Mat indices = cv::Mat(queries.rows, 1, CV_32S);
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UINFO("Nearest neighbor searching (queries=%d, indexes=%d)...", queries.rows, data.rows);
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nn.search(data, queries, indices, dists);
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UINFO("Nearest neighbor searching (queries=%d, indexes=%d)... done!", queries.rows, data.rows);
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std::string fileName = uFormat("%s%d%s", FILE_NAME_PREFIX, size, FILE_NAME_SUFFIX);
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UINFO("Saving color indexed table to %s...", fileName.c_str());
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std::ofstream outfile(fileName.c_str(), std::ios_base::out | std::ios_base::binary);
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unsigned short index;
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for(int i=0; i<indices.rows; ++i)
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{
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UDEBUG("%d = %d", i, indices.at<int>(i,0));
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index = (unsigned short)indices.at<int>(i,0); // assume indexes are under 2^16
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outfile.write((const char *)&index, sizeof(unsigned short));
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}
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outfile.close();
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UINFO("Saving color indexed table to %s... done!", fileName.c_str());
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std::string zipFileName = fileName + std::string(".zip");
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UINFO("Compressing file %s to %s...", fileName.c_str(), zipFileName.c_str());
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FILE * input = fopen(fileName.c_str(), "rb");
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FILE * compressed = fopen(zipFileName.c_str(), "wb");
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int result = def(input, compressed, Z_DEFAULT_COMPRESSION);
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if(result != Z_OK)
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{
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zerr(result);
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UERROR("");
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}
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fclose(input);
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fclose(compressed);
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UINFO("Compressing file %s to %s... done!", fileName.c_str(), zipFileName.c_str());
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UINFO("Total time = %f s", timer.getElapsedTime());
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return 0;
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}
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