Real-time Manhattan Frame Rotation Estimation and Segmentation. IROS 2015.

https://github.com/jstraub/rtmf

MIT 2015的IROS工作，用rgb还要让depth提取曼哈顿坐标系和平面分割

代码依赖以下库，还需要安装作者在GPU提取计算法向量以及vMF优化估计曼哈顿系的库，mmf，cudapcl

Ubuntu
14.04. 
- pcl 1.7 (and vtk 5.8)
- Opencv 2 (2.3.1)
- Eigen3 (3.0.5) 
- cuda 5.5 or 6.5 
- Boost (1.52)

The GPU kernels were tested on a Nvidia Quadro K2000M with compute
capability 3.0.

### Install

Once you have those dependencies in place run
```
make checkout && make configure && make 
```
This will checkout dependencies from some of my other repositories 
([jsCore](https://github.com/jstraub/jsCore), 
[mmf](https://github.com/jstraub/mmf), 
[cudePcl](https://github.com/jstraub/cudaPcl)) 

and compile everything to ./build/

代码结构

这里只记录一个分支, 

realtimeMF.cpp

#include <iostream>
#include <fstream>
#include <string>

#include <rtmf/rtmf.hpp>
#include <rtmf/realtimeMF_openni.hpp>


#include <boost/program_options.hpp>
namespace po = boost::program_options;  
//program options是一系列pair<name,value>组成的选项列表,它允许程序通过命令行或配置文件来读取这些参数选项.


int main (int argc, char** argv)
{
  //设置参数 
  //模式为 approx
  string mode = "approx";
  string path = "";
  //存储法向量的变量
  cudaPcl::CfgSmoothNormals cfgNormals;
  //焦距
  cfgNormals.f_d = 540.;
  //?
  cfgNormals.eps = 0.2*0.2;
  //?
  cfgNormals.B = 9;
  cfgNormals.compress = true;
  // 迭代次数
  uint32_t T = 10;
  //优化库
  CfgOptSO3 cfgOptSO3;
  //？
  cfgOptSO3.sigma = 5.0f*M_PI/180.0;

  // 寻找 gpu设备，通过 jscore库
  findCudaDevice(argc,(const char**)argv);
  // 主要的曼哈顿类
  shared_ptr<RealtimeMF> pRtmf;
  std::vector<shared_ptr<RealtimeMF> > pRtmfs;

  // 没有输入图片，就寻找openni设备
  if (path.length() == 0)
  {
    cout<<"no input path -> trying openni"<<endl;
    RealtimeMF_openni rtmfOpenni(pRtmf);
    rtmfOpenni.run();
    cout<<cudaDeviceReset()<<endl;
    return (0);
  }
  else{
    // 读图
    cout<<"reading depth image from "<<path<<endl;
    cv::Mat depth = cv::imread(path, 
        CV_LOAD_IMAGE_ANYDEPTH);
    cout<<"type: "<<int(depth.type()) <<" != "<<int(CV_16U) <<endl;
    //显示
    if(vm.count("display")) 
    {
      cv::Mat dI(depth.rows,depth.cols,CV_8UC1);
      depth.convertTo(dI,CV_8UC1,255./4000.,-19.);
      cv::imshow("d",dI);
      cv::waitKey(0);
    }
    //模式判断，如果模式为 mmfvmf，这里跳过，选下一个模式
    if (mode.compare("mmfvmf") == 0) {
      
    } 
    else {
       //初始化曼哈顿类
      pRtmf = shared_ptr<RealtimeMF>(new RealtimeMF(mode,cfgOptSO3,cfgNormals));
      for(uint32_t i=0; i<T; ++i) {
        // 校对模式 ？？ 不是approx吗？
        if (mode.compare("vmfCF") == 0) {
          //变量初始化
          pRtmf->Reset();
          //计算过程，这个函数在 hpp中对 cudapcl的函数进行继承并重写
          pRtmf->compute(reinterpret_cast<uint16_t*>(depth.data),
              depth.cols,depth.rows);
        }
      }
    }


    cv::Mat dI = pRtmf->smoothDepthImg();
    cv::Mat nI = pRtmf->normalsImg();
    cv::Mat zI = pRtmf->labelsImg();
    //读彩图转灰度
    cv::Mat gray = cv::imread(pathRgb, CV_LOAD_IMAGE_GRAYSCALE);
    // 访问不到，是个库函数
    cv::Mat Iout = pRtmf->overlaySeg(gray,true,true);

    if(vm.count("out"))
    {
      //输出文件
    }
    //显示
    if(vm.count("display")) 
    {
      cv::imshow("dS",dI);
      cv::imshow("normals",nI);
      cv::imshow("zI",zI);
      cv::imshow("out",Iout);
      cv::waitKey(0);
    }

    cout<<cudaDeviceReset()<<endl;
  }
  return (0);
}

realtimeMF.hpp中的compute_()函数

void RealtimeMF::compute_()
{
  // get compressed normals
  tLog_.toctic(1,2);
  int32_t nComp = 0;
  float* d_nComp = normalExtract_->d_normalsComp(nComp);
  cout<<" -- compressed to "<<nComp<<" normals"<<endl;
//      normalsImg_ = normalExtract_->normalsImg();
  // optimize normals
  tLog_.toctic(2,3); 
  optSO3_->updateExternalGpuNormals(d_nComp,nComp,3,0);
  
  residual_ = optSO3_->conjugateGradientCUDA(cRmf_,nCGIter_);
  cRmfs_ = optSO3_->GetRs();
  if (mode_.compare("mmfvmf") == 0 && cRmfs_.size() == 1)
    cRmf_ = cRmfs_[0];
  std::cout << "have " << cRmfs_.size() << " MFs" << std::endl;
  D_KL_ = optSO3_->D_KL_axisUnif();
  cout<<" -- optimized rotation D_KL to unif "<<D_KL_<<endl
    <<cRmf_<<endl;
  tLog_.toc(3); 
//  tLog_.setDt(3,optSO3_->dtPrep());
//  tLog_.setDt(4,optSO3_->dtCG());
  tLog_.logCycle();
  haveLabels_ = false;
};