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ConsoleApp.hpp.bak
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#pragma once
// LIPScan3D ConsoleApp.cpp : 此檔案包含 'main' 函式。程式會於該處開始執行及結束執行。
//
#include <string>
#include <iostream>
#include <filesystem>
#include <windows.h>
#include <stdio.h>
#include <direct.h>
#include <gl/GL.h>
#include <gl/GLU.h>
#pragma region//LIPScan3D SDK console application, eason-20210813//
//#include "source/winui.h"
//#include "librealsense/configParser.h"
//#include "librealsense/lips_camera.h"
//#include "librealsense/lips_camera_set.h"
//#include "liblipscan3d/lips_scanner.h"
//#include "liblipscan3d/lips_scanner_set.h"
//#include "liblipscan3d/lips_object3d.h"
//#include "liblipscan3d/lips_model_edit.h"
//#include "liblipscan3d/algorithm.h"
#include "configParser.h"
#include "lips_camera.h"
#include "lips_camera_set.h"
#include "lips_scanner.h"
#include "lips_scanner_set.h"
#include "lips_object3d.h"
#include "lips_model_edit.h"
#include "algorithm.h"
#ifdef LIPS_CLOUDCOMPARE
//#include "liblipscan3d/lips_cloud_compare.h"
#include "lips_cloud_compare.h"
#endif
//#ifndef _DEBUG
//#pragma comment(lib,"librealsense.lib")
//#pragma comment(lib,"liblipscan3d.lib")
//#pragma comment(lib, "Opengl32.lib")
//#pragma comment(lib, "glu32.lib")
//#endif
using namespace std;
using namespace lips;
#define LIPSCAN3D_PROCESS
#define DEPTH_TO_POINT
#define DepthEvaluation
#define ICP_3D
#define FINISH_3DSCAN
#define VIEWER_CAMERA
#define VIEWER_3DSCAN
#define MESHCOMPARISON_COLORGAUGE
#define DEFECTS_2D_DETECTION
#pragma region Process const char array
typedef std::uint64_t hash_t;
constexpr hash_t prime = 0x100000001B3ull;
constexpr hash_t basis = 0xCBF29CE484222325ull;
hash_t hash_(char const* str)
{
hash_t ret{ basis };
while (*str) {
ret ^= *str;
ret *= prime;
str++;
}
return ret;
}
constexpr hash_t hash_compile_time(char const* str, hash_t last_value = basis)
{
return *str ? hash_compile_time(str + 1, (*str ^ last_value) * prime) : last_value;
}
#pragma endregion
// Configurations of Realsense Camera
bool FirstRun = true;
char RootDirectory[512];
typedef vector<string> RealsenseCfgVector;
typedef map<lips::RangeParam_lib, RealsenseCfgVector> Scan3dCfgMap;
typedef struct SIZE_MODE_CONFIG
{
string scanner;
string realsense;
};
typedef std::map<string, SIZE_MODE_CONFIG> SIZE_MODE_CONFIG_MAP;
SIZE_MODE_CONFIG_MAP camera_cfg_map;
SIZE_MODE_CONFIG_MAP Init3DscanConfig(const char* rootdir, const char* devicename, const char* resolution);
// Object for Implement stereo 3D reconstruction
bool connect_camera;
int camera_slot;
string camera_resolution;
char* camera_devicename = new char[100];
int frame_width;
int frame_height;
lips::RangeParam_lib gScan_range = lips::RangeParam_lib::RangeParam_lib_MEDIUM; //default scan mode: 25~40 cm
lips::Camera* gCamera = NULL; //high-level API class of AE400
lips::DepthmapProcess* gDepthpostproc = NULL; // depth image post-rocessing API class
lips::ScannerProcess gReconstructor; //point cloud registraion & triangulation API class
lips::Rect frame_roi;
cv::Rect cv_frame_roi;
//--- Initialize & Release LIPScan 3D SDK ---
bool InitLIPScan3D(char*, int&, int&); //Initialize API object
void ReleaseLIPScan3D(void); //Release API object
//--- Export Camera Frame ---
int FrameCount = 0;
bool dirExists(const std::string& path);
void SaveCameraScannerFrames(void);
//--- 3D Scan off-line Process---
unsigned int ColorTable[256];
void InitDepthToColorTable(void);
void DepthToColor(unsigned short*, unsigned char*, int, int);
void ImportCameraRawData(char*, char*, char*, unsigned char*, unsigned short*, float*, int, int);
bool Scan3D_Offline_Process(char*, int, int, int, char*);
//--- Automatically cycling 3D scan process ---
UINT trigger_count;
BOOL trigger_scan_3D;
BOOL finish_scan_3D;
char localtime_str[512];
double scan_3D_duration;
HANDLE auto_cycling_scan3D_thread_handle = NULL;
DWORD auto_cycling_scan3D_ExitCode;
DWORD __stdcall auto_cycling_scan3D_ThreadProc(void);
//--- Variables for 3D reconstruction ---
float* points_data; // Depth data in real world coordinate
//--- Variables for Display Camera Frame ---
IplImage* color_img;
IplImage* depth_output;
IplImage* depth_img; // RGB scale of depth image
unsigned char* color_map = NULL; // RGB image buffer
unsigned short* depth_data = NULL; // Depth image buffer
unsigned char* depth_map = NULL; // Pixel buffer for RGB scale of depth image
//--- Rotate Camera Images ---
void RotateDisplayImage(unsigned char*, int, int, int);
//--- Variables for Display Scanning Model Image -------
unsigned char* copy_color_map = NULL; //avoid bug of display image
IplImage* scan_img; // 3D Model image
unsigned char* scan_map = NULL; // 3D model image pixel data
//----- Variables for Access 3D mesh object ---------
bool bScanFinish = false;
lips::HandleTriMeshModel gHandle_obj3d = NULL; //handle for current 3D reconstruction
//----- OpenGL render mesh model -----
struct PrmLight
{
float Ambient[4];
float Diffuse[4];
float Specular[4];
float Position[4];
float SpotDirection[3];
float SpotExponent;
float SpotCutoff;
float ConstantAttenuation;
float LinearAttenuation;
float QuadraticAttenuation;
};
struct ORTHO_PROJECTION_POSITION
{
GLdouble left;
GLdouble right;
GLdouble bottom;
GLdouble top;
GLdouble znear;
GLdouble zfar;
};
PrmLight *m_pLight = new PrmLight;
ORTHO_PROJECTION_POSITION* orth_position = new ORTHO_PROJECTION_POSITION;
float pointMinHeightVertex[3];
float CameraTrans[3];
float CameraPos[3];
double CameraRotate[9];
double ScaleObj;
UINT RenderMode = 0; // 0:Color, 1:Mesh, 2:WireFrame
void InitGLCamera();
void InitLight(PrmLight *);
void SetLights(PrmLight *);
void ResetObjPosition(lips::HandleTriMeshModel*, int);
void ResetCameraView(float*, float*, double*, float);
void PrepareTransformation(lips::HandleTriMeshModel*, int);
void DrawGLScene(); //3D transformation API provided from liblipscan3d.lib
void ChangeCursor(HINSTANCE hinstance, LPCSTR cursor_name); //Display default cursor
void ChangeCursor_HourGlass(void); //Display hourglass cursor
//--- Mesh Data Buffer for OpenGL rendering ----
struct MeshRenderBuffer
{
MeshRenderBuffer()
{
TriBuf = NULL;
P3dBuf = NULL;
NrmBuf = NULL;
ColorBuf = NULL;
SelBuf = NULL;
}
int TriNum;
int* TriBuf;
float* P3dBuf;
float* NrmBuf;
unsigned char* ColorBuf;
bool* SelBuf;
};
MeshRenderBuffer MeshBuf[10];
void PrepareRenderBuf(lips::HandleTriMeshModel, MeshRenderBuffer&);
void ReleaseRenderBuf(MeshRenderBuffer&);
void RenderMeshList(MeshRenderBuffer*, ORTHO_PROJECTION_POSITION*, int, size_t, bool, bool*);
#pragma region CLOUDCOMPARE_MENU
#ifdef LIPS_CLOUDCOMPARE
//--- define event for mesh comparison pop-up menu ---
#define SWM_ICP WM_APP + 3 // Fine registration (ICP)
#define SWM_DISTANCE WM_APP + 4 // Compute mesh distances
#define SWM_LOAD_COMPMESH WM_APP + 6 // Load Ref and Comp mesh file
#define SWM_LOAD_REFMESH WM_APP + 7 // Matching Point Pair Align
#define SWM_PICK_COMPMESH_POINTS WM_APP + 8
#define SWM_PICK_REFMESH_POINTS WM_APP + 9
#define SWM_MATCHING_POINT_PAIRS WM_APP + 10
#define SWM_EXPORT_MESHDISTANCE_HISTOGRAM WM_APP + 11
#define SWM_EXPORT_DISTANCERGB_MESH WM_APP + 12
#define SWM_CLEAR_COMPMESH_POINTS WM_APP + 13
#define SWM_CLEAR_REFMESH_POINTS WM_APP + 14
#define SWM_RESET_MESHCOMPARISON WM_APP + 15
#define SWM_POSE_COMPMESH WM_APP + 16
#define SWM_POSE_REFMESH WM_APP + 17
#define SWM_COMPMESH_VISIBILITY WM_APP + 18
#define SWM_REFMESH_VISIBILITY WM_APP + 19
#define SWM_RESET WM_APP + 20
#define SWM_COLORSCALE WM_APP + 21
#define SWM_SET_SCAN_COMPMESH WM_APP + 22 // Set Scan Data to Comp Mesh
//----------------------------------------------------
enum MeshComparisonState {
NONE,
LOAD,
POSE,
PICK,
ALIGN,
ICP,
COMPUTE,
EXPORT
};
unsigned int process_mode = 0; //0: 3D Scan, 1:Mesh Comparison
void PopUpMenu_MeshComparison(HWND, MeshComparisonState&, MeshComparison&); //Pop-up mesh for mesh comparison
lips::MeshComparison compare_mesh_tool; //mesh comparison
MeshComparisonState meshcomparer_status = MeshComparisonState::NONE; //status recorder
int ICP_criteria = -5;
int ICP_sampling_num = 50000;
bool bVisibleObj[10] = {0,0,0,0,0,0,0,0,0,0};
bool bTransformObj[10] = { 0,0,0,0,0,0,0,0,0,0 };
string opensavefilename(const char*, HWND, bool);
void load_comp_mesh(MeshComparison&);
void load_ref_mesh(MeshComparison&);
void clear_comp_mesh(MeshComparison&);
void clear_ref_mesh(MeshComparison&);
vector<string> colorscale_names;
unsigned int colorscale_index = 0;
int octree_projection = 0;
bool SelectTriangleAll(int, int, HandleTriMeshModel*, bool*, int, int *, int *, int *);
void ResetObjPositionAll();
void TranslateMeshCompareObj(float m_x, float m_y, float m_z);
void RotateMeshCompareObj(float m_x, float m_y, float m_z);
bool ResizeMeshObj(HandleTriMeshModel, float);
//--- Texture mapping of MeshComparison ---
#define GL_CLAMP_TO_EDGE 0x812F
typedef struct GL_POINT2D
{
int x;
int y;
};
typedef struct RENDER_IMAGE_LOCATION
{
GL_POINT2D p1;
GL_POINT2D p2;
};
ORTHO_PROJECTION_POSITION* orth_image_position = new ORTHO_PROJECTION_POSITION;
void RenderImageTexture(GLuint, ORTHO_PROJECTION_POSITION*, RENDER_IMAGE_LOCATION, int, int);
void ByteArrayToTexture(unsigned char*, GLuint*, int, int);
ColorScaleBar mesh_comparison_gauge;
GLuint lipscan_color_bar_texture;
GLuint* lipscan_color_bar_word_texture = NULL;
RENDER_IMAGE_LOCATION colorbar_word_render_location;
RENDER_IMAGE_LOCATION colorbar_render_location;
const char* csv_filter;
string csv_extension;
string csv_filename;
#endif
#pragma endregion
//--- Win32 window with OpenGL setting ---
LPCSTR main_window_title = NULL;
RECT WindowRect;
WNDCLASS wc;
DWORD dwExStyle;
DWORD dwStyle;
HWND hWnd = NULL;
HINSTANCE hInstance;
HICON main_icon = NULL;
HCURSOR stand_hcur = NULL;
HGLRC hGLRC = NULL;
HDC hDC = NULL;
GLuint PixelFormat;
LRESULT CALLBACK WndProc(HWND, UINT, WPARAM, LPARAM);
bool CreateWin32glWindow(LPCSTR);
int InitGL(GLvoid);
GLvoid ReSizeGLScene(GLsizei, GLsizei);
GLvoid KillGLWindow(GLvoid);
//--- Win32 openGL window interaction ---
bool mouseDownEvent = false;
POINT mouseDown;
POINT mouseUp;
float mouse_x, mouse_y, mouse_dx, mouse_dy;
bool MoveObj = false;
bool MouseMoveMode = false;
void PushMouse(float, float, float); //使用滑鼠平移
void RotateMouse(float, float); //使用滑鼠旋轉
//--- Export Mesh File ---
char Typename[256];
char main_name[256];
char open_model_filename[512];
//--- Information of Camera Stream ---
double fps;
double FPS();
//--- Information of 3D scan proceesing's FPS ---
UINT scan_count;
double scan_fps;
fstream cost_file;
//--- Window name for camera & scanner ---
string camera_color_wnd_name;
string camera_depth_wnd_name;
string scanner_wnd_name;
LPCSTR gl_wnd_name;
LPCSTR gl_wnd_name_cmpmesh;
//--- Win32 basic process ---
char* initalCurrentWorkDirectory(char * directory);
void terminateCurrentProcess();
HANDLE threadStart(HANDLE threadHandle, LPTHREAD_START_ROUTINE thread_function);
int ConsoleAppScript(int argc, char** argv)
{
#pragma region Check Device Connection
if (FirstRun) {
initalCurrentWorkDirectory(RootDirectory);
FirstRun = false;
}
bScanFinish = false;
gCamera = new lips::Camera(camera_slot, camera_devicename);
if (camera_slot == -1)
{
wstring title;
wstring text;
title = L"Error";
text = L"can't found camera";
MessageBoxW(NULL, text.c_str(), title.c_str(), MB_OK);
terminateCurrentProcess();
}
delete gCamera;
gCamera = NULL;
#pragma endregion
#pragma region Print Device Information
std::cout << "-------LIPScan 3D SDK console application--------" << endl;
std::cout << "Device Name : " << camera_devicename << endl;
#pragma endregion
#pragma region GUI for Camera and Scanner
#ifdef VIEWER_CAMERA
camera_color_wnd_name = "Camera Color Frame";
camera_depth_wnd_name = "Camera Depth Frame";
//cvNamedWindow(camera_color_wnd_name.c_str(), CV_WINDOW_AUTOSIZE);
//cvNamedWindow(camera_depth_wnd_name.c_str(), CV_WINDOW_AUTOSIZE);
#endif
#ifdef VIEWER_3DSCAN
scanner_wnd_name = "3D Reconstruction";
gl_wnd_name = "LIPScan3D 3D viewer";
//cvNamedWindow(scanner_wnd_name.c_str(), CV_WINDOW_AUTOSIZE);
#endif
#pragma endregion
#pragma region Choose Operation Mode
do {
std::cout << "Choose program mode by key-in corresponding number and press 'Enter'." << endl;
std::cout << "0 : 3D Scan" << endl;
std::cout << "1 : Mesh Comparison" << endl;
//std::cout << "2 : Automatic cycling 3D Scan" << endl;
std::cin >> process_mode;
} while ( (process_mode!=0) && (process_mode!=1) /*&& (process_mode!=2)*/);
#pragma endregion
#pragma region 3D Scan Opearation
if (process_mode == 0 || process_mode == 2)
{
std::cout << "--- Start 3D Scan Operation ---" << endl;
#pragma region Read Realsense Configuration List
int scanner_resolution_idx = 0; // 1282x720 = 0, 640x480 = 1
switch (process_mode)
{
case 0:
#pragma region Manual Set Camera Resolution
//--- Choose Camera Resolution
do {
std::cout << "Chooose Camera resolution mode, Key in and press Enter : 1280x720 = 0, 640x480 = 1" << endl;
std::cin >> scanner_resolution_idx;
if (scanner_resolution_idx == 0)
camera_resolution = "1280x720";
else if (scanner_resolution_idx == 1)
camera_resolution = "640x480";
else
std::cout << "Out of range, please choose 0,1!" << endl;
} while (scanner_resolution_idx < 0 || scanner_resolution_idx > 1);
#pragma endregion
break;
case 2:
//--- Choose Camera Resolution for Automatically cycling scan 3D ---
do {
std::cout << "Chooose Camera resolution mode, Key in and press Enter : 1280x720 = 0, 640x480 = 1" << endl;
std::cin >> scanner_resolution_idx;
if (scanner_resolution_idx == 0)
camera_resolution = "1280x720";
else if (scanner_resolution_idx == 1)
camera_resolution = "640x480";
else
std::cout << "Out of range, please choose 0,1!" << endl;
} while (scanner_resolution_idx < 0 || scanner_resolution_idx > 1);
//camera_resolution = "640x480"; //HD resolution
std::cout << "Automatically 3D scan resolution = " << camera_resolution << endl;
break;
default:
std::cout << "Unexpected situation of camera resolution selection." << endl;
terminateCurrentProcess();
break;
}
camera_cfg_map = Init3DscanConfig(RootDirectory, camera_devicename, camera_resolution.c_str());
#pragma endregion
#pragma region Initialize LIPScan3D SDK
//--- Choose Scan 3D Range
int scanner_rgn_idx = 1; //default 'Medium' mode
switch (process_mode)
{
case 0: //
#pragma region Manually Choose 3D Scan Distance
do {
std::cout << "Chooose Scan 3D range mode, Key in and press Enter : Small = 0, Medium = 1, Large = 2" << endl;
std::cin >> scanner_rgn_idx;
if (scanner_rgn_idx < 0 || scanner_rgn_idx > 2)
std::cout << "Out of range, please choose 0,1,2!" << endl;
} while (scanner_rgn_idx < 0 || scanner_rgn_idx > 2);
#pragma endregion
break;
case 2:
//--- Choose Scan 3D Range for automatically cycling scan3D ---
do {
std::cout << "Chooose Scan 3D range mode, Key in and press Enter : Small = 0, Medium = 1, Large = 2" << endl;
std::cin >> scanner_rgn_idx;
if (scanner_rgn_idx < 0 || scanner_rgn_idx > 2)
std::cout << "Out of range, please choose 0,1,2!" << endl;
} while (scanner_rgn_idx < 0 || scanner_rgn_idx > 2);
//scanner_rgn_idx = 1; //Medium distance mode
std::cout << "Automatically 3D scan distance mode = " << scanner_rgn_idx << endl;
break;
default:
std::cout << "Unexpected situation of 3D scan distance mode selection." << endl;
terminateCurrentProcess();
break;
}
gScan_range = lips::RangeParam_lib(scanner_rgn_idx);
//--- Initialize LIPScan3D SDK
string scan_mode;
char cfg_filename[512];
switch (gScan_range)
{
case 0:
scan_mode = "small";
break;
case 1:
scan_mode = "medium";
break;
case 2:
scan_mode = "large";
break;
default:
scan_mode = "";
break;
}
if (InitLIPScan3D((char*)camera_cfg_map[scan_mode].realsense.c_str(), frame_width, frame_height))
std::cout << "Initialize LIPScan 3D SDK successfully." << endl;
else
{
std::cout << "Initialize LIPScan 3D SDK failed." << endl;
terminateCurrentProcess();
}
#pragma endregion
#pragma region Set3DScanQuality
if ((frame_width == 1280 && frame_height == 720) || (frame_width == 1280 && frame_height == 800))
{
double volume_pitch = sqrt(0.5);
lips::SetScannerConfigFloatMember(gReconstructor.handle_context, lips::ScannerConfigParam_FloatMember::VolumePitch, volume_pitch);
//std::cout << "Set 3D reconstruction volume pitch = " << volume_pitch << std::endl;
int avg_times = 3;
lips::SetScannerConfigIntMember(gReconstructor.handle_context, lips::ScannerConfigParam_IntMember::AverageTimes, avg_times);
//std::cout << "Set 3D reconstruction smooth mesh times = " << avg_times << std::endl;
}
#pragma endregion
#pragma region Setting 3D Scan Time Duration
double scan_duration;
switch (process_mode)
{
case 0:
std::cout << "Key-in 3D scan duration(seconds) and press enter : ";
std::cin >> scan_duration;
break;
case 2:
scan_duration = 60.0;
std::cout << "Automatically 3D scan duraion : " << scan_duration << "seconds." << endl;
break;
default:
std::cout << "Unexpected situation of specify 3D scan duration." << endl;
terminateCurrentProcess();
break;
}
#pragma endregion
#pragma region LIPScan 3D SDK process
double time_duration = 0; //Count real 3D scan duration(seconds)
BOOL done = FALSE; //Flag of terminate 3D scan reconstruction
switch (process_mode)
{
case 0: //Manually 3D scan mode
#ifdef LIPSCAN3D_PROCESS
double proc_head, proc_end;
double cycle_head, cycle_end;
MeshNum = 0; // no mesh object before finish 3D scan process
scan_count = 0;// count scan frames for compute average FPS
while (!done) // Loop That Runs Until done=TRUE
{
cycle_head = clock();
if (!gCamera->GetFrame(color_map, depth_data))
terminateCurrentProcess();
memcpy(copy_color_map, color_map, frame_width*frame_height * 3);
#ifdef DEPTH_TO_POINT
lips::convertDepthTo3DWorld(points_data, gCamera, frame_roi);
bool bDepthProc = gDepthpostproc->Process(depth_data, points_data, depth_map);
#endif
#pragma region Display Camera Frame
RotateDisplayImage((unsigned char*)color_img->imageData, frame_height, frame_width, 2);
RotateDisplayImage((unsigned char*)depth_img->imageData, frame_height, frame_width, 2);
cvShowImage(camera_color_wnd_name.c_str(), color_img);
cvShowImage(camera_depth_wnd_name.c_str(), depth_img);
cvWaitKey(1);
#pragma endregion
#ifdef DepthEvaluation
RECT depth_roi;
int DepthPeak;
depth_roi.left = depth_roi.bottom = 0;
depth_roi.right = frame_width;
depth_roi.top = frame_height;
if (strcmp(camera_devicename, "L210") == 0) // depth unit is 100um
DepthPeak = gDepthpostproc->DepthRangeEvaluation(depth_data, 30, 24, 16, depth_roi, 10, 10.0);
else //depth unit is 1mm
DepthPeak = gDepthpostproc->DepthRangeEvaluation(depth_data, 30, 24, 16, depth_roi, 10, 1.0);
#endif
#ifdef ICP_3D
bool bScan3D = gReconstructor.ScanData(copy_color_map, points_data, frame_width, frame_height, scan_map);
#pragma region Display 3D Reconstruction Frame
RotateDisplayImage((unsigned char*)scan_img->imageData, frame_height, frame_width, 2);
cvShowImage(scanner_wnd_name.c_str(), scan_img);
cvWaitKey(1);
#pragma endregion
#endif
scan_count++; //count 3D Scan cycle numbers
cycle_end = clock();
time_duration += ((cycle_end - cycle_head) / CLOCKS_PER_SEC);
// Export 3D Scan Mesh data to file
if (time_duration > scan_duration)
{
#ifdef FINISH_3DSCAN
gHandle_obj3d = gReconstructor.FinishScan();
if (gHandle_obj3d)
{
#pragma region Prepare Rendering Data for 3D Viewer
bScanFinish = true;
MeshNum = 1;
pObj[0] = gHandle_obj3d; //assign mesh address to container in API
bVisibleObj[0] = true;
PrepareTransformation(pObj, 0);
PrepareRenderBuf(pObj[0], MeshBuf[0]); //copy triangle mesh data to buffer for opengl rendering
#pragma endregion
#pragma region Export 3D Scan Mesh File
strcpy(Typename, "ply");
strcpy(main_name, "LIPScan_SDK_example_scan");
sprintf(open_model_filename, "%s\\%s.%s", RootDirectory, main_name, Typename);
bool bExport = lips::ExportFile(open_model_filename, gHandle_obj3d, 4);
if (bExport)
std::cout << "Finish export mesh file!" << endl;
else
std::cout << "License error, unsopported function." << endl;
#pragma endregion
}
else {
bScanFinish = false; //FinishScan() costruct mesh object failure
std::cout << "Reconstrcut 3D mesh object failure, please check the camera and object setting and repeat operation again." << endl;
}
#endif
done = true;
std::cout << "3D Scan times up : " << time_duration << " Seconds " << endl;
scan_fps = scan_count / time_duration;
std::cout << "Average FPS = " << scan_fps << endl;
}
}
#endif
break;
case 2: //Automatically 3D scan mode
std::cout << "Automatically cycling 3D scan process will trigger when 3D viewer alive." << endl;
break;
default:
std::cout << "Unexpected situation when execute 3D scan process." << endl;
terminateCurrentProcess();
break;
}
#pragma endregion
std::cout << "--- End 3D Scan Operation ---" << endl;
}
#pragma endregion
#pragma region Mesh Comparison Operation
else if(process_mode == 1)
{
std::cout << "--- Start Mesh Comparison Operation ---" << endl;
//Initialize LIPScan3D SDK with default settiing
camera_resolution = "640x480"; //set camera resolution as VGA
camera_cfg_map = Init3DscanConfig(RootDirectory, camera_devicename, camera_resolution.c_str());
gScan_range = lips::RangeParam_lib(1); //set scan range as medium
if (InitLIPScan3D((char*)camera_cfg_map["medium"].realsense.c_str(), frame_width, frame_height))
std::cout << "Initialize LIPScan 3D SDK successfully." << endl;
else
{
std::cout << "Initialize LIPScan 3D SDK failed." << endl;
terminateCurrentProcess();
}
compare_mesh_tool.Init(gCamera->GetSerialNumber());
MeshNum = 10; // no mesh object before mesh comparison process
std::cout << "--- End Mesh Comparison Operation ---" << endl;
}
#pragma endregion
#pragma region Failure Of Operation Selection
else
{
std::cout << "--- Failure Of Operation Selection ---" << endl;
}
#pragma endregion
#pragma region Launch 3D Viewer
#ifdef VIEWER_3DSCAN
std::cout << "Launch 3D Viewer window." << endl;
std::cout << "If user want to repeat 3D Scan process, press 'Esc' button on 3D Viewer window." << endl;
CreateWin32glWindow(gl_wnd_name);
MSG msg;
BOOL done_viewer = FALSE;
while (!done_viewer)
{
#pragma region Start Thread Of Automatically Cycling Scan3D
if ( (process_mode) == 2 && (auto_cycling_scan3D_thread_handle == NULL) )
auto_cycling_scan3D_thread_handle = threadStart(auto_cycling_scan3D_thread_handle, (LPTHREAD_START_ROUTINE)auto_cycling_scan3D_ThreadProc);
#pragma endregion
if (PeekMessage(&msg, NULL, 0, 0, PM_REMOVE))
{
if (msg.message == WM_KEYDOWN && msg.wParam == VK_ESCAPE)
{
#pragma region Terminate Thread Of Automatically Cycling Scan3D
if ((process_mode == 2) && (auto_cycling_scan3D_thread_handle != NULL))
{
TerminateThread(auto_cycling_scan3D_thread_handle, 0); // Dangerous source of errors!
CloseHandle(auto_cycling_scan3D_thread_handle);
auto_cycling_scan3D_thread_handle = NULL;
}
#pragma endregion
done_viewer = TRUE;
}
else
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
else
{
SendMessage(hWnd, WM_PAINT, 0, 0);
}
DrawGLScene();
SwapBuffers(hDC);
#ifdef VIEWER_FPS
double fps = FPS();
std::cout << "3D Render FPS = " << fps << endl;
#endif
}
#pragma endregion
#pragma region Release Rendering Data Of Mesh Object
switch (process_mode)
{
case 0: //Manually 3D Scan
cvDestroyWindow(camera_color_wnd_name.c_str());
cvDestroyWindow(camera_depth_wnd_name.c_str());
cvDestroyWindow(scanner_wnd_name.c_str());
KillGLWindow();
ReleaseRenderBuf(MeshBuf[0]);
ReleaseLIPScan3D();
MeshNum = 0;
std::cout << "Release resources of manually 3D scan process." << endl;
break;
case 1: //Mesh Comparison
KillGLWindow();
meshcomparer_status = MeshComparisonState::NONE;
compare_mesh_tool.Reset();
if (MeshBuf[0].TriNum > 0) ReleaseRenderBuf(MeshBuf[0]); //clear render buffer of compared mesh
if (MeshBuf[1].TriNum > 0) ReleaseRenderBuf(MeshBuf[1]); //clear render buffer of referenced mesh
ReleaseLIPScan3D();
pObj[0] = NULL; //memeries released by lips::MeshComparison::Reset()
pObj[1] = NULL; //memeries released by lips::MeshComparison::Reset()
RenderMode = 0; //
std::cout << "Release resources of mesh comparison." << endl;
break;
case 2: //Automatically 3D scan mode
cvDestroyWindow(camera_color_wnd_name.c_str());
cvDestroyWindow(camera_depth_wnd_name.c_str());
cvDestroyWindow(scanner_wnd_name.c_str());
KillGLWindow();
Sleep(100);
ReleaseRenderBuf(MeshBuf[0]);
//ReleaseLIPScan3D();
MeshNum = 0;
std::cout << "Release resources of automatically cycling 3D scan process." << endl;
break;
default:
std::cout << "Exit unknown process mode." << endl;
break;
}
std::cout << "Destroy all window." << endl;
#pragma endregion
#endif
#define REPEAT_SCAN3D
#ifdef REPEAT_SCAN3D
char ch;
//std::cout << "Repeat 3D scan agian? (Y/y)" << endl;
std::cout << "Repeat LIPScan3D SDK example operation again? (Y/y)" << endl;
std::cin >> ch;
if (ch == 'Y' || ch == 'y')
return ConsoleAppScript(argc, argv);
#endif
}
char* initalCurrentWorkDirectory(char * directory)
{
GetModuleFileName(NULL, directory, 512);
PathRemoveFileSpec(directory);
if (strstr(directory, "WindowsApps") != NULL)
{
SetCurrentDirectory(directory);
GetCurrentDirectory(512, directory);
}
else
{
GetCurrentDirectory(512, directory);
}
std::cout << "dirname: " << directory << std::endl;
return directory;
}
void terminateCurrentProcess()
{
DWORD pid = GetCurrentProcessId();
HANDLE handle;
handle = OpenProcess(SYNCHRONIZE | PROCESS_TERMINATE, TRUE, pid);
TerminateProcess(handle, 0);
}
HANDLE threadStart(HANDLE threadHandle, LPTHREAD_START_ROUTINE thread_function)
{
threadHandle = CreateThread(NULL, NULL, thread_function, NULL, NULL, NULL);
return threadHandle;
}
SIZE_MODE_CONFIG_MAP Init3DscanConfig(const char* rootdir, const char* devicename, const char* resolution)
{
SIZE_MODE_CONFIG_MAP config_map;
string scan3dconfig_dir = rootdir;
scan3dconfig_dir += "\\Config_files\\";
scan3dconfig_dir += devicename;
scan3dconfig_dir += "\\";
scan3dconfig_dir += resolution;
string scan3d_config_list_filename = scan3dconfig_dir + "\\scan3d_config.txt";
string config_json_filename;
fstream scan3d_config_list;
scan3d_config_list.open(scan3d_config_list_filename.c_str());
if (scan3d_config_list.is_open())
{
string config_mode;
SIZE_MODE_CONFIG config_info;
while (!scan3d_config_list.eof())
{
scan3d_config_list >> config_mode;
scan3d_config_list >> config_info.realsense;
config_json_filename = scan3dconfig_dir + "\\";
config_json_filename += config_info.realsense;
config_info.realsense = config_json_filename;
config_map.insert(std::pair<string, SIZE_MODE_CONFIG>(config_mode, config_info));
}
}
else
MessageBox(NULL, "Could Not open scan3d_config.txt.", "Init3DscanConfig error", MB_OK | MB_ICONINFORMATION);
return config_map;
}
void InitScan3DCfg(const char* rootdir, const char* devicename, Scan3dCfgMap& cfgmap)
{
string scan3dconfig_dir = rootdir;
scan3dconfig_dir += "\\Config_files\\";
scan3dconfig_dir += devicename;
string scan3d_config_group_filename = scan3dconfig_dir + "\\scan3d_config_group.txt";
string config_json_filename;
fstream scan3d_config_file;
int mode;
char line[512];
scan3d_config_file.open(scan3d_config_group_filename.c_str());
if (scan3d_config_file.is_open())
{
std::cout << "Read LIPScan 3D Realsense configuration files:" << endl;
string config_filename;
while (!scan3d_config_file.eof())
{
scan3d_config_file.getline(line, sizeof(line));
string text = line;
string space_delimiter = " ";
vector<string> words{};
size_t pos = 0;
while ((pos = text.find(space_delimiter)) != string::npos) {
words.push_back(text.substr(0, pos));
text.erase(0, pos + space_delimiter.length());
}
words.push_back(text); //last config filename in line
lips::RangeParam_lib range = (lips::RangeParam_lib)std::stoi(words[0]);
RealsenseCfgVector config_vec;
for (int i = 1; i < words.size(); i++)
config_vec.push_back(words[i]);
cfgmap.insert(std::pair<lips::RangeParam_lib, RealsenseCfgVector>(range, config_vec));
}
scan3d_config_file.close();
}
//end
//print config_group.txt information
Scan3dCfgMap::iterator it = cfgmap.begin();
while (it != cfgmap.end())
{
std::cout << "Scan Range Index:" << it->first << std::endl;
for (int j = 0; j < it->second.size(); j++)
std::cout << "[" << it->second[j] << "]" << std::endl;
it++;
}
std::cout << std::endl;
//
}
bool InitLIPScan3D(char* cfg_filename, int& width, int& height)
{
bool bInit = false;
#pragma region Camera Initialization
string str_cfg_filename(cfg_filename);
lips::JsonParser* jsonParser = new lips::JsonParser();
jsonParser->jsontree = jsonParser->Read(str_cfg_filename);
gCamera = new lips::Camera(camera_slot, camera_devicename);
bInit = gCamera->InitCamera(str_cfg_filename.c_str());
if (!bInit)
{
std::cout << "Load configuration file failed! Please check the file content." << endl;
return false;
}
std::cout << "Load configuration file:" << str_cfg_filename << endl;
int stream_width = jsonParser->jsontree.get<int>("stream-width");
int stream_height = jsonParser->jsontree.get<int>("stream-height");
width = stream_width;
height = stream_height;
std::cout << "Camera frame : " << endl;
std::cout << "Width = " << stream_width << endl;
std::cout << "Height = " << stream_height << endl;