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/*
* Simple utility to merge scanned pointsets from mutliple files
* and registration.
* Works with Stanford Scanning Archives file format
* (see https://graphics.stanford.edu/data/3Dscanrep/)
* Note that PLY files need to be in ASCII (some of them
* are in binary and will need to be pre-converted before
* using this utility)
*
* Copyright (c) 2010, Bruno Levy
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* * Neither the name of the ALICE Project-Team nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* If you modify this software, you should include a notice giving the
* name of the person performing the modification, the date of modification,
* and the reason for such modification.
*
* Contact: Bruno Levy
*
* Bruno.Levy@inria.fr
* https://www.loria.fr/~levy
*
* INRIA Nancy Grand-Est, LORIA
* Campus Scientifique, BP 239
* 54506 VANDOEUVRE LES NANCY CEDEX
* FRANCE
*
* Bruno Levy, 2010
*/
/********************************************************/
#include
#include
#include
#include
#include
#include
#include
#include
#include
#ifndef M_PI
#define M_PI 3.14159265
#endif
class LineInput {
public:
LineInput(const std::string& filename) {
F_ = fopen(filename.c_str(), "r" ) ;
ok_ = (F_ != 0) ;
}
~LineInput() {
if(F_ != 0) {
fclose(F_); F_ = 0 ;
}
}
bool OK() const { return ok_ ; }
bool eof() const { return feof(F_) ; }
bool get_line() {
line_[0] = '\0' ;
// Skip the empty lines
while(!isprint(line_[0])) {
if(fgets(line_, MAX_LINE_LEN, F_) == 0) {
return false ;
}
}
// If the line ends with a backslash, append
// the next line to the current line.
bool check_multiline = true ;
int total_length = MAX_LINE_LEN ;
char* ptr = line_ ;
while(check_multiline) {
int L = strlen(ptr) ;
total_length -= L ;
ptr = ptr + L - 2;
if(*ptr == '\\' && total_length > 0) {
*ptr = ' ' ;
ptr++ ;
fgets(ptr, total_length, F_) ;
} else {
check_multiline = false ;
}
}
if(total_length < 0) {
std::cerr
<< "MultiLine longer than "
<< MAX_LINE_LEN << " bytes" << std::endl ;
}
return true ;
}
int nb_fields() const { return field_.size() ; }
char* field(int i) { return field_[i] ; }
int field_as_int(int i) {
int result ;
ok_ = ok_ && (sscanf(field(i), "%d", &result) == 1) ;
return result ;
}
double field_as_double(int i) {
double result ;
ok_ = ok_ && (sscanf(field(i), "%lf", &result) == 1) ;
return result ;
}
bool field_matches(int i, const char* s) {
return !strcmp(field(i), s) ;
}
void get_fields(const char* separators=" \t\r\n") {
field_.resize(0) ;
char* tok = strtok(line_,separators) ;
while(tok != 0) {
field_.push_back(tok) ;
tok = strtok(0,separators) ;
}
}
private:
enum { MAX_LINE_LEN = 65535 } ;
FILE* F_ ;
char line_[MAX_LINE_LEN] ;
std::vector field_ ;
bool ok_ ;
} ;
std::string to_string(int x, int mindigits) {
char buff[100] ;
sprintf(buff, "%03d", x) ;
return std::string(buff) ;
}
double M[4][4] ;
void transform(double* xyz) {
double xyzw[4] ;
for(unsigned int c=0; c<4; c++) {
xyzw[c] = M[3][c] ;
}
for(unsigned int j=0; j<4; j++) {
for(unsigned int i=0; i<3; i++) {
xyzw[j] += M[i][j] * xyz[i] ;
}
}
for(unsigned int c=0; c<3; c++) {
xyz[c] = xyzw[c] / xyzw[3] ;
}
}
bool read_frames_file(int no) {
std::string filename = "scan" + to_string(no,3) + ".frames" ;
std::cerr << "Reading frames from:" << filename << std::endl ;
LineInput in(filename) ;
if(!in.OK()) {
std::cerr << " ... not found" << std::endl ;
return false ;
}
while(!in.eof() && in.get_line()) {
in.get_fields() ;
if(in.nb_fields() == 17) {
int f = 0 ;
for(unsigned int i=0; i<4; i++) {
for(unsigned int j=0; j<4; j++) {
M[i][j] = in.field_as_double(f) ; f++ ;
}
}
}
}
return true ;
}
bool read_pose_file(int no) {
std::string filename = "scan" + to_string(no,3) + ".pose" ;
std::cerr << "Reading pose from:" << filename << std::endl ;
LineInput in(filename) ;
if(!in.OK()) {
std::cerr << " ... not found" << std::endl ;
return false ;
}
double xyz[3] ;
double euler[3] ;
in.get_line() ;
in.get_fields() ;
xyz[0] = in.field_as_double(0) ;
xyz[1] = in.field_as_double(1) ;
xyz[2] = in.field_as_double(2) ;
in.get_line() ;
in.get_fields() ;
euler[0] = in.field_as_double(0) * M_PI / 180.0 ;
euler[1] = in.field_as_double(1) * M_PI / 180.0 ;
euler[2] = in.field_as_double(2) * M_PI / 180.0 ;
double sx = sin(euler[0]);
double cx = cos(euler[0]);
double sy = sin(euler[1]);
double cy = cos(euler[1]);
double sz = sin(euler[2]);
double cz = cos(euler[2]);
M[0][0] = cy*cz;
M[0][1] = sx*sy*cz + cx*sz;
M[0][2] = -cx*sy*cz + sx*sz;
M[0][3] = 0.0;
M[1][0] = -cy*sz;
M[1][1] = -sx*sy*sz + cx*cz;
M[1][2] = cx*sy*sz + sx*cz;
M[1][3] = 0.0;
M[2][0] = sy;
M[2][1] = -sx*cy;
M[2][2] = cx*cy;
M[2][3] = 0.0;
M[3][0] = xyz[0];
M[3][1] = xyz[1];
M[3][2] = xyz[2];
M[3][3] = 1.0;
return true ;
}
void setup_transform_from_translation_and_quaternion(
double Tx, double Ty, double Tz,
double Qx, double Qy, double Qz, double Qw
) {
/* for unit q, just set s = 2 or set xs = Qx + Qx, etc. */
double s = 2.0 / (Qx*Qx + Qy*Qy + Qz*Qz + Qw*Qw);
double xs = Qx * s;
double ys = Qy * s;
double zs = Qz * s;
double wx = Qw * xs;
double wy = Qw * ys;
double wz = Qw * zs;
double xx = Qx * xs;
double xy = Qx * ys;
double xz = Qx * zs;
double yy = Qy * ys;
double yz = Qy * zs;
double zz = Qz * zs;
M[0][0] = 1.0 - (yy + zz);
M[0][1] = xy - wz;
M[0][2] = xz + wy;
M[0][3] = 0.0;
M[1][0] = xy + wz;
M[1][1] = 1 - (xx + zz);
M[1][2] = yz - wx;
M[1][3] = 0.0;
M[2][0] = xz - wy;
M[2][1] = yz + wx;
M[2][2] = 1 - (xx + yy);
M[2][3] = 0.0;
M[3][0] = Tx;
M[3][1] = Ty;
M[3][2] = Tz;
M[3][3] = 1.0;
}
bool read_points_file(int no) {
std::string filename = "scan" + to_string(no,3) + ".3d" ;
std::cerr << "Reading points from:" << filename << std::endl ;
LineInput in(filename) ;
if(!in.OK()) {
std::cerr << " ... not found" << std::endl ;
return false ;
}
while(!in.eof() && in.get_line()) {
in.get_fields() ;
double xyz[3] ;
if(in.nb_fields() >= 3) {
for(unsigned int c=0; c<3; c++) {
xyz[c] = in.field_as_double(c) ;
}
transform(xyz) ;
printf("%f %f %f\n",xyz[0],xyz[1],xyz[2]) ;
}
}
return true ;
}
/* only works for ASCII PLY files */
void read_ply_file(char* filename) {
std::cerr << "Reading points from:" << filename << std::endl;
LineInput in(filename) ;
if(!in.OK()) {
std::cerr << filename << ": could not open" << std::endl ;
return;
}
bool reading_vertices = false;
int nb_vertices = 0 ;
int nb_read_vertices = 0 ;
while(!in.eof() && in.get_line()) {
in.get_fields();
if(reading_vertices) {
double xyz[3] ;
for(unsigned int c=0; c<3; c++) {
xyz[c] = in.field_as_double(c) ;
}
transform(xyz) ;
printf("%f %f %f\n",xyz[0],xyz[1],xyz[2]) ;
++nb_read_vertices;
if(nb_read_vertices == nb_vertices) {
return;
}
} else if(
in.field_matches(0,"element") &&
in.field_matches(1,"vertex")
) {
nb_vertices = in.field_as_int(2);
} else if(in.field_matches(0,"end_header")) {
reading_vertices = true;
}
}
}
/* For Stanford scanning repository */
void read_conf_file(char* filename) {
LineInput in(filename) ;
if(!in.OK()) {
std::cerr << filename << ": could not open" << std::endl ;
return;
}
while(!in.eof() && in.get_line()) {
in.get_fields();
if(in.nb_fields() == 0) { continue ; }
if(in.field_matches(0,"bmesh")) {
char* filename = in.field(1);
// Translation vector
double Tx = in.field_as_double(2);
double Ty = in.field_as_double(3);
double Tz = in.field_as_double(4);
/// Quaternion
double Qx = in.field_as_double(5);
double Qy = in.field_as_double(6);
double Qz = in.field_as_double(7);
double Qw = in.field_as_double(8);
setup_transform_from_translation_and_quaternion(Tx,Ty,Tz,Qx,Qy,Qz,Qw);
read_ply_file(filename);
}
}
}
int main(int argc, char** argv) {
if(argc != 2) { return -1 ; }
if(strstr(argv[1],".conf")) {
read_conf_file(argv[1]);
} else {
int max_i = atoi(argv[1]) ;
for(int i=0; i<=max_i; i++) {
if(!read_frames_file(i)) {
read_pose_file(i) ;
}
read_points_file(i) ;
}
}
return 0 ;
}