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read registration output

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This commit is contained in:
Tim Wundenberg
2021-08-26 19:35:24 +02:00
parent 5c48abfbd0
commit 051ea83a26
4 changed files with 72 additions and 74 deletions
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2
PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloud.cs
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@@ -90,7 +90,7 @@ namespace PointCloudWeb.Server.Models
stringBuilder.Append("ply\n");
stringBuilder.Append("format ascii 1.0\n");
stringBuilder.Append($"element vertex COUNT_PLACEHOLDER {Points.Count}\n");
stringBuilder.Append("element vertex COUNT_PLACEHOLDER\n");
stringBuilder.Append("property float x\n");
stringBuilder.Append("property float y\n");
stringBuilder.Append("property float z\n");

119
PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudRegistrationServiceTeaerPp.cs
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@@ -1,8 +1,13 @@
using System;
using System.Diagnostics;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Numerics;
using PointCloudWeb.Server.Models;
using PointCloudWeb.Server.Utils;
// ReSharper disable PossibleMultipleEnumeration
namespace PointCloudWeb.Server.Services
{
@@ -13,92 +18,66 @@ namespace PointCloudWeb.Server.Services
var sourceFileName = Globals.TempPath + $"/{source.Id}.ply";
var targetFileName = Globals.TempPath + $"/{target.Id}.ply";
var outputFileName = Globals.TempPath + $"/{target.Id}.txt";
var maxPoints = 5_000;
// var p = new Process();
// var info = new ProcessStartInfo
// {
// FileName = "cmd.exe",
// RedirectStandardInput = true,
// RedirectStandardOutput = true,
// UseShellExecute = false,
// Verb = "OPEN",
// CreateNoWindow = false,
// WindowStyle = ProcessWindowStyle.Normal
// };
// p.StartInfo = info;
// p.Start();
//
// using var sw = p.StandardInput;
// if (sw.BaseStream.CanWrite)
// {
// // sw.Write("wsl \n");
// // sw.Write("echo \"Test\" \n");
// // sw.Write("echo curl https://www.google.de \n");
// // sw.Write("exit \n");
// // sw.Write("exit \n");
//
// //sw.Write("wsl curl https://www.google.de & exit \n");
//
// sw.Write("wsl echo \"Test\" >> /mnt/c/Users/timwu/test.txt & exit \n");
//
// }
//
//
// var outputN = p.StandardOutput.ReadToEnd();
// Console.WriteLine(outputN[..Math.Min(outputN.Length, 100)]);
//
// p.WaitForExit();
//
// Console.WriteLine($"RegistrationExitCode: {p.ExitCode}");
source.WriteToPly(sourceFileName, maxPoints);
target.WriteToPly(targetFileName, maxPoints);
// var teaserPp = new Process();
// teaserPp.StartInfo.FileName = "C:\\Windows\\System32\\wsl.exe";
// // teaserPp.StartInfo.FileName = "wsl";
// teaserPp.StartInfo.Arguments = "curl https://www.google.de";
// // teaserPp.StartInfo.Arguments = $"\"{sourceFileName}\" \"{targetFileName}\"";
// //teaserPp.StartInfo.Arguments = $" ls "; //{Globals.ToWslPath(Globals.TeaserPp)} ";// +
// //"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c4b9b7fc-0b97-4f52-ad1b-737aeca5ba97.ply\" " +
// //"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c620b175-ace8-42e5-bf29-55b6c99372bc.ply\" ";
//
// teaserPp.StartInfo.RedirectStandardOutput = true;
// teaserPp.Start();
//
//
// var output = teaserPp.StandardOutput.ReadToEnd();
// Console.WriteLine(output[..Math.Min(output.Length, 100)]);
//
//
// teaserPp.WaitForExit();
//
// Console.WriteLine($"RegistrationExitCode: {teaserPp.ExitCode}");
var teaserPp = new Process();
teaserPp.StartInfo.FileName = "wsl";
teaserPp.StartInfo.Arguments =
$"{Globals.ToWslPath(Globals.TeaserPp)} " +
"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c4b9b7fc-0b97-4f52-ad1b-737aeca5ba97.ply\" " +
"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c620b175-ace8-42e5-bf29-55b6c99372bc.ply\" ";
$"\"{Globals.ToWslPath(outputFileName)}\" " +
$"\"{Globals.ToWslPath(sourceFileName)}\" " +
$"\"{Globals.ToWslPath(targetFileName)}\" ";
// teaserPp.StartInfo.RedirectStandardOutput = true;
teaserPp.Start();
// var output = teaserPp.StandardOutput.ReadToEnd();
// Console.WriteLine(output[..Math.Min(output.Length, 100)]);
teaserPp.WaitForExit();
Console.WriteLine($"RegistrationExitCode: {teaserPp.ExitCode}");
//Console.WriteLine($"RegistrationExitCode: {teaserPp.ExitCode}");
var result = new RegistrationResult();
// if (teaserPp.ExitCode != 0)
// return result;
var lines = File.ReadAllLines(outputFileName).ToList();
while (lines.Any(s => s.Contains(" ")))
lines = lines.Select(s =>
{
var newString = s.Replace(" ", " ");
if (newString.Length > 0 && newString[0] == ' ')
newString = newString.Remove(0, 1);
return newString;
}).ToList();
var rotationIndex = lines.FindIndex(s => s.Contains("Estimated rotation:"));
var translationIndex = lines.FindIndex(s => s.Contains("Estimated translation:"));
var ci = CultureInfo.InvariantCulture;
var rotationMatrix = Matrix4x4.Identity;
rotationMatrix.M11 = float.Parse(lines[rotationIndex + 1].Split(' ')[0], ci);
rotationMatrix.M12 = float.Parse(lines[rotationIndex + 1].Split(' ')[1], ci);
rotationMatrix.M13 = float.Parse(lines[rotationIndex + 1].Split(' ')[2], ci);
rotationMatrix.M21 = float.Parse(lines[rotationIndex + 2].Split(' ')[0], ci);
rotationMatrix.M22 = float.Parse(lines[rotationIndex + 2].Split(' ')[1], ci);
rotationMatrix.M23 = float.Parse(lines[rotationIndex + 2].Split(' ')[2], ci);
rotationMatrix.M31 = float.Parse(lines[rotationIndex + 3].Split(' ')[0], ci);
rotationMatrix.M32 = float.Parse(lines[rotationIndex + 3].Split(' ')[1], ci);
rotationMatrix.M33 = float.Parse(lines[rotationIndex + 3].Split(' ')[2], ci);
result.Rotation = MatrixUtils.RotationMatrixToAngles(rotationMatrix);
var transformation = Vector3.Zero;
transformation.X = float.Parse(lines[translationIndex + 1], ci);
transformation.Y = float.Parse(lines[translationIndex + 2], ci);
transformation.Z = float.Parse(lines[translationIndex + 3], ci);
result.Transformation = transformation;
return result;
}
}

19
PointCloudWeb.Server/PointCloudWeb.Server/Utils/MatrixUtils.cs Normal file
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@@ -0,0 +1,19 @@
using System;
using System.Numerics;
namespace PointCloudWeb.Server.Utils
{
public class MatrixUtils
{
public static Vector3 RotationMatrixToAngles(Matrix4x4 m)
{
var result = Vector3.Zero;
result.X = (float)Math.Atan2(m.M32, m.M33);
result.Y = (float)Math.Atan2(-m.M31, Math.Sqrt(m.M32 * m.M32 + m.M33 * m.M33));
result.Z = (float)Math.Atan2(m.M21, m.M11);
return result;
}
}
}

6
PointCloudWeb.Server/Tools/TEASERpp/teaser_cpp_ply.cc
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@@ -23,7 +23,7 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est)
int main(int argc, char **argv)
{
std::ofstream out("/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/build/out.txt");
std::ofstream out(argv[1]);
std::streambuf *coutbuf = std::cout.rdbuf(); //save old buf
std::cout.rdbuf(out.rdbuf()); //redirect std::cout to out.txt!
@@ -34,8 +34,8 @@ int main(int argc, char **argv)
for (int i = 0; i < argc; ++i)
std::cout << argv[i] << "\n";
auto src_fileName = argv[1];
auto tgt_fileName = argv[2];
auto src_fileName = argv[2];
auto tgt_fileName = argv[3];
// Load the .ply file
teaser::PLYReader reader;