DDPFF plane-seg Dockerfile

DDPFF/Dockerfile.raw

@@ -0,0 +1,14 @@
+FROM gcc:latest as build
+
+RUN apt-get update && \
+    apt-get install -y \
+      libeigen3-dev \
+      cmake
+
+ADD . /app/src
+
+WORKDIR /app/build
+
+RUN cmake ../src && make
+
+ENTRYPOINT ["./DDPFFAdoptation"]

DDPFF/globals/include/globals/Config.h

@@ -7,21 +7,9 @@
 
 struct Config
 {
-    real_t systemIterationTime;
-    real_t debugLevel;
-    real_t bufferSize;
 
     int sampleFactor;
 
-    // scene camera parameters
-    real_t sceneCameraRoll;
-    real_t sceneCameraPitch;
-    real_t sceneCameraYaw;
-    real_t sceneCameraX;
-    real_t sceneCameraY;
-    real_t sceneCameraZ;
-    real_t sceneRadius;
-
     // flood fill parameters
     real_t pointThresholdFloodFill_min;
     real_t pointThresholdFloodFill_max;
@@ -45,7 +33,7 @@ struct Config
 	Config();
     ~Config(){}
 
-	void init();
+	void read_ini(const char* cfg_path);
 
 private:
     real_t sink;

DDPFF/globals/src/Config.cpp

@@ -2,6 +2,8 @@
 #include "globals/constants.h"
 
 #include <iostream>
+#include <fstream>
+#include <string>
 
 // The global config object contains application wide configuration variables.
 // Basically, the config object is a globally accessible struct with public
@@ -28,20 +30,8 @@ Config config;
 
 Config::Config()
 {
-    systemIterationTime = 0.05;
-    debugLevel = -1;
-    bufferSize = 10;
     sampleFactor = 1;
 
-    // scene camera parameters
-    sceneCameraRoll = 0;
-    sceneCameraPitch = 0.80;
-    sceneCameraYaw = 0;
-    sceneCameraX = 0;
-    sceneCameraY = 0;
-    sceneCameraZ = 2;
-    sceneRadius = 10;
-
     // flood fill parameters
     pointThresholdFloodFill_min = 0.01;
     pointThresholdFloodFill_max = 0.1;
@@ -61,11 +51,29 @@ Config::Config()
     c_angle = 1;
 }
 
-// The init() method should be called after construction.
-// Here, all config variables are registered to build a descriptor meta
-// structure that allows index and key based access to their values.
-// If you don't want to see a certain member on the gui, there is no
-// need to register it.
-void Config::init()
-{
+void Config::read_ini(const char* cfg_path){
+    std::ifstream input(cfg_path);
+
+    std::string line;
+    while (std::getline(input, line)){
+    	if (line[0] == '[' || line[0] == '\n' || line.empty()) continue;
+        std::string param_name = line.substr(0, line.find('='));
+        real_t value = std::stod(line.substr(line.find('=') + 1));
+        if (param_name == "floodFill.pointThreshold_min") config.pointThresholdFloodFill_min = value;
+        else if (param_name == "floodFill.pointThreshold_max") config.pointThresholdFloodFill_max = value;
+        else if (param_name == "floodFill.planeThreshold_flood") config.planeThresholdFloodFill_flood = value;
+        else if (param_name == "floodFill.planeThreshold_merge") config.planeThresholdFloodFill_merge = value;
+        else if (param_name == "floodFill.planeThreshold_flood_max") config.planeThresholdFloodFill_flood_max = value;
+        else if (param_name == "floodFill.planeThreshold_merge_max") config.planeThresholdFloodFill_merge_max = value;
+        else if (param_name == "floodFill.angleThresholdFloodFill") config.angleThresholdFloodFill = value;
+        else if (param_name == "floodFill.angleThresholdFloodFill_max") config.angleThresholdFloodFill_max = value;
+        else if (param_name == "floodFill.minPlaneSize") config.minPlaneSize = value;
+        else if (param_name == "floodFill.normalSampleDistance_min") config.normalSampleDistance_min = value;
+        else if (param_name == "floodFill.normalSampleDistance_max") config.normalSampleDistance_max = value;
+        else if (param_name == "floodFill.c_plane") config.c_plane = value;
+        else if (param_name == "floodFill.c_plane_merge") config.c_plane_merge = value;
+        else if (param_name == "floodFill.c_point") config.c_point = value;
+        else if (param_name == "floodFill.c_angle") config.c_angle = value;
+        else if (param_name == "floodFill.c_range") config.c_range = value;
+    }
 }

DDPFF/main.cpp

@@ -4,11 +4,13 @@
 #include <string>
 #include <rep/DDPFF.h>
 
-void read_pcd(pointBuffer_t & points_ptr) {
-    std::ifstream infile("result.ply");
+#include "globals/Config.h"
+
+void read_pcd(pointBuffer_t & points_ptr, const char * pcd_path) {
+    std::ifstream infile(pcd_path);
 
     if (!infile.is_open()) {
-        throw std::runtime_error("Input file not found!");
+        throw std::runtime_error("Input file (cloud) not found!");
     }
 
     std::string line;
@@ -34,10 +36,11 @@ void read_pcd(pointBuffer_t & points_ptr) {
         points_ptr[i] = tmp;
         i++;
     }
+    std::cout << "Parsed point cloud with point: " << i << std::endl;
 }
 
 void save_planes(const std::vector<PlanePointNormal> & planes) {
-    std::ofstream output("planes.txt");
+    std::ofstream output("output/planes.txt");
 
     for (const auto & plane : planes) {
         for (auto inlier : plane.inliers) {
@@ -47,15 +50,19 @@ void save_planes(const std::vector<PlanePointNormal> & planes) {
     }
 }
 
-int main() {
+int main(int argc, char** argv) {
+    const char* pcd_name = argv[1];
+    const char* cfg_name = argv[2];
+
+    config.read_ini(("input/" + std::string(cfg_name)).c_str());
 
     auto ddpff = new DDPFF();
     ddpff->init();
 
     auto * points = new pointBuffer_t();
     auto * colors = new colorBuffer_t();
     auto * depth = new depthBuffer_t();
-    read_pcd(*points);
+    read_pcd(*points, ("input/" + std::string(pcd_name)).c_str());
     ddpff->setBuffers(points, colors, depth);
 
     ddpff->compute();