rtabmap/tools/ColorIndexesGenerator/main.cpp

#include <opencv2/core/core.hpp>
#include <iostream>
#include <fstream>
#include <utilite/ULogger.h>
#include <utilite/UTimer.h>
#include "rtabmap/core/ColorTable.h"
#include "rtabmap/core/NearestNeighbor.h"
#include <zlib.h>
#include <utilite/UConversion.h>

#define FILE_NAME_PREFIX "ColorIndexes"
#define FILE_NAME_SUFFIX ".bin"
#define CHUNK 16384

void showUsage()
{
	printf("\nUsage:\n"
			"rtabmap-colorIndexesGenerator size\n"
			"  size          Supported : 8, 16, 32, 64, 128, 256, 512, 1024, 65536\n");
	exit(1);
}

cv::Mat generateColorTable()
{
	cv::Mat colorTable(256*256*256, 3, CV_32F);
	for(int b=0; b<256; ++b)
	{
		for(int g=0; g<256; ++g)
		{
			for(int r=0; r<256; ++r)
			{
				colorTable.at<float>(b*256*256 + g*256 + r, 0) = (float)r;
				colorTable.at<float>(b*256*256 + g*256 + r, 1) = (float)g;
				colorTable.at<float>(b*256*256 + g*256 + r, 2) = (float)b;
				UDEBUG("r=%f, g=%f, b=%f", (float)r , (float)g, (float)b);
			}
		}
	}
	return colorTable;
}

/* report a zlib or i/o error */
void zerr(int ret)
{
    fputs("zpipe: ", stderr);
    switch (ret) {
    case Z_ERRNO:
        if (ferror(stdin))
            fputs("error reading stdin\n", stderr);
        if (ferror(stdout))
            fputs("error writing stdout\n", stderr);
        break;
    case Z_STREAM_ERROR:
        fputs("invalid compression level\n", stderr);
        break;
    case Z_DATA_ERROR:
        fputs("invalid or incomplete deflate data\n", stderr);
        break;
    case Z_MEM_ERROR:
        fputs("out of memory\n", stderr);
        break;
    case Z_VERSION_ERROR:
        fputs("zlib version mismatch!\n", stderr);
        break;
    }
    UFATAL("");
}

/* Compress from file source to file dest until EOF on source.
   def() returns Z_OK on success, Z_MEM_ERROR if memory could not be
   allocated for processing, Z_STREAM_ERROR if an invalid compression
   level is supplied, Z_VERSION_ERROR if the version of zlib.h and the
   version of the library linked do not match, or Z_ERRNO if there is
   an error reading or writing the files. */
int def(FILE *source, FILE *dest, int level)
{
    int ret, flush;
    unsigned have;
    z_stream strm;
    unsigned char in[CHUNK];
    unsigned char out[CHUNK];

    /* allocate deflate state */
    strm.zalloc = Z_NULL;
    strm.zfree = Z_NULL;
    strm.opaque = Z_NULL;
    ret = deflateInit(&strm, level);
    if (ret != Z_OK)
        return ret;
    UDEBUG("");
    /* compress until end of file */
    do {
    	UDEBUG("");
        strm.avail_in = fread(in, 1, CHUNK, source);
        if (ferror(source)) {
            (void)deflateEnd(&strm);
            return Z_ERRNO;
        }
        flush = feof(source) ? Z_FINISH : Z_NO_FLUSH;
        strm.next_in = in;

        /* run deflate() on input until output buffer not full, finish
           compression if all of source has been read in */
        do {
        	UDEBUG("");
            strm.avail_out = CHUNK;
            strm.next_out = out;
            ret = deflate(&strm, flush);    /* no bad return value */
            assert(ret != Z_STREAM_ERROR);  /* state not clobbered */
            have = CHUNK - strm.avail_out;
            if (fwrite(out, 1, have, dest) != have || ferror(dest)) {
                (void)deflateEnd(&strm);
                return Z_ERRNO;
            }
        } while (strm.avail_out == 0);
        assert(strm.avail_in == 0);     /* all input will be used */

        /* done when last data in file processed */
    } while (flush != Z_FINISH);
    assert(ret == Z_STREAM_END);        /* stream will be complete */

    /* clean up and return */
    (void)deflateEnd(&strm);
    return Z_OK;
}

int main(int argc, char** argv)
{
	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kInfo);
	ULogger::setPrintWhere(false);

	UTimer timer;

	if(argc<2)
	{
		showUsage();
	}
	int size = atoi(argv[1]);

	rtabmap::FlannKdTreeNN nn;
	cv::Mat colorTable;
	switch(size)
	{
	case 8:
		colorTable = cv::Mat(8, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_8);
		break;
	case 16:
		colorTable = cv::Mat(16, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_16);
		break;
	case 32:
		colorTable = cv::Mat(32, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_32);
		break;
	case 64:
		colorTable = cv::Mat(64, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_64);
		break;
	case 128:
		colorTable = cv::Mat(128, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_128);
		break;
	case 256:
		colorTable = cv::Mat(256, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_256);
		break;
	case 512:
		colorTable = cv::Mat(512, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_512);
		break;
	case 1024:
		colorTable = cv::Mat(1024, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_1024);
		break;
	case 65536:
		colorTable = cv::Mat(65536, 3, CV_8U, rtabmap::ColorTable::INDEXED_TABLE_65536);
		break;
	default:
		printf("\nSize not supported...\n");
		showUsage();
		break;
	}

	cv::Mat data;
	colorTable.convertTo(data, CV_32F);

	if(data.rows > 0x10000)
	{
		UFATAL("Color table is too big (%d > 2^16)", data.rows);
	}

	UINFO("Generating full color cube...");
	cv::Mat queries = generateColorTable();
	UINFO("Generating full color cube... done!");

	cv::Mat dists(queries.rows, 1, CV_32F);
	cv::Mat indices = cv::Mat(queries.rows, 1, CV_32S);

	UINFO("Nearest neighbor searching (queries=%d, indexes=%d)...", queries.rows, data.rows);
	nn.search(data, queries, indices, dists);
	UINFO("Nearest neighbor searching (queries=%d, indexes=%d)... done!", queries.rows, data.rows);

	std::string fileName = uFormat("%s%d%s", FILE_NAME_PREFIX, size, FILE_NAME_SUFFIX);
	UINFO("Saving color indexed table to %s...", fileName.c_str());
	std::ofstream outfile(fileName.c_str(), std::ios_base::out | std::ios_base::binary);
	unsigned short index;
	for(int i=0; i<indices.rows; ++i)
	{
		UDEBUG("%d = %d", i, indices.at<int>(i,0));
		index = (unsigned short)indices.at<int>(i,0); // assume indexes are under 2^16
		outfile.write((const char *)&index, sizeof(unsigned short));
	}
	outfile.close();
	UINFO("Saving color indexed table to %s... done!", fileName.c_str());

	std::string zipFileName = fileName + std::string(".zip");
	UINFO("Compressing file %s to %s...", fileName.c_str(), zipFileName.c_str());
	FILE * input = fopen(fileName.c_str(), "rb");
	FILE * compressed = fopen(zipFileName.c_str(), "wb");

	int result = def(input, compressed, Z_DEFAULT_COMPRESSION);
	if(result != Z_OK)
	{
		zerr(result);
		UERROR("");
	}

	fclose(input);
	fclose(compressed);
	UINFO("Compressing file %s to %s... done!", fileName.c_str(), zipFileName.c_str());

	UINFO("Total time = %f s", timer.getElapsedTime());
    return 0;
}