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parallel-line_aerial_lidar.cpp
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parallel-line_aerial_lidar.cpp
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#include "raytracing.hpp"
void display_help(char* argv[]){
std::cout << "\n========= PARALLEL-LINE LIDAR SCAN SIMULATOR =========\n\n";
std::cout << "MANDATORY parameters:\n"
<< "---------------------\n"
<< " --input-file, -i | File containing the virtual environment you wish to scan\n"
<< " --out-base, -o | Base name of the output files where to store point clouds (with points only, normals, and optical centers"
<< std::endl << std::endl;
std::cout << "OPTIONAL parameters:\n"
<< "--------------------\n"
<< " --extension, -e | The extension output files should be exported with ('.ply' or '.off')\n"
<< " --perfect-scan, -p | No noise is added to point locations and normals are perfect\n"
<< " --verbose, -v | Display information throughout execution\n"
<< " FLIGHT parameters:\n"
<< " --flying-altitude, -z | [m]\n"
<< " --flying-speed, -v0 | [m/s]\n"
<< " LiDAR parameters:\n"
<< " --angular-speed, -omega | [rot/s]\n"
<< " --field-of-view, -fov | [deg]\n"
<< " --pulse-frequency, -fp | [Hz]\n"
<< " NOISE parameters:\n"
<< " --planimetric-mean, -muXY | [m]\n"
<< " --planimetric-std, -sigmaXY | [m]\n"
<< " --altimetric-mean, -muZ | [m]\n"
<< " --altimetric-std, -sigmaZ | [m]\n"
<< std::endl;
}
int main(int argc, char* argv[])
{
// Default values for cmd-line parameters:
std::string inFileName = "";
std::string outBaseName = "";
std::string ext = ".ply";
double muXY = 0, sigmaXY = 0.13; // planimetric error
double muZ = 0, sigmaZ = 0.05; // altimetric error
bool perfectScan = false;
bool verbose = false;
// Flight parameters:
double altitude = 1000; // [m] 150 --> 1000 for a low-altitude LiDAR
double v0 = 60; // [m/s]
double omega = 150; // [rotations/s]
double fov = 40; // [deg] full angle range
double freq = 400000; // [Hz]
double theta_0 = 0;
for (int i = 1; i < argc; ++i) {
if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h"){
display_help(argv);
return 0;
} else if (std::string(argv[i]) == "--input-file" || std::string(argv[i]) == "-i"){
inFileName = std::string(argv[++i]);
} else if (std::string(argv[i]) == "--out-base" || std::string(argv[i]) == "-o"){
outBaseName = std::string(argv[++i]);
} else if (std::string(argv[i]) == "--extension" || std::string(argv[i]) == "-e"){
ext = argv[++i];
} else if (std::string(argv[i]) == "--planimetric-mean" || std::string(argv[i]) == "-muXY"){
muXY = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--planimetric-std" || std::string(argv[i]) == "-sigmaXY"){
sigmaXY = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--altimetric-mean" || std::string(argv[i]) == "-muZ"){
muZ = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--altimetric-std" || std::string(argv[i]) == "-sigmaZ"){
sigmaZ = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--flying-altitude" || std::string(argv[i]) == "-z"){
altitude = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--flying-speed" || std::string(argv[i]) == "-v0"){
v0 = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--angular-speed" || std::string(argv[i]) == "-omega"){
omega = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--field-of-view" || std::string(argv[i]) == "-fov"){
fov = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--pulse-frequency" || std::string(argv[i]) == "-fp"){
freq = std::atof(argv[++i]);
} else if (std::string(argv[i]) == "--perfect-scan" || std::string(argv[i]) == "-p"){
perfectScan = true;
} else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v"){
verbose = true;
} else {
std::cerr << "Invalid option: '" << argv[i] << "'" << std::endl;
display_help(argv);
return 1;
}
}
/* outProperty:
- 0: vertex position ONLY
- 1: vertex + NORMAL
- 2: vertex + OPTICAL CENTER
*/
// Check if in/out files were set
if (inFileName == "" || outBaseName == ""){
std::cerr << "Error: one of mandatory parameters has not been set." << std::endl;
display_help(argv);
return 1;
}
if (verbose){
std::cout << "verbose flag active\n" << std::endl;
std::cout << "Simulating LiDAR scan with parameters:" << std::endl;
std::cout << " - Input mesh: '" << inFileName << "'" << std::endl;
std::cout << " - Output files: '" << outBaseName << "[...]" << ext << "'" << std::endl;
if (perfectScan){
std::cout << " - Perfect scan" << std::endl;
} else {
std::cout << " - Noise parameters:\n"
<<" > Planimetric error ~ N("<<muXY<<", "<<sigmaXY<<"^2)\n"
<<" > Altimetric error ~ N("<<muZ<<", "<<sigmaZ<<"^2)" << std::endl;
}
std::cout << " - Flying altitude: " << altitude << " m" << std::endl;
std::cout << " - Flying speed: " << v0 << " m/s" << std::endl;
std::cout << " - Angular speed: " << omega << " rotations/s ("
<< omega * 360 << " deg/s)" << std::endl;
std::cout << " - Field of view: " << fov << " deg" << std::endl;
std::cout << " - Pulse frequency: " << freq << " Hz" << std::endl;
}
Mesh mesh = read_mesh<Mesh,Point>(inFileName.c_str(), verbose);
// Starting and ending positions
CGAL::Bbox_3 bbox = CGAL::Polygon_mesh_processing::bbox(mesh);
double xMid = ( bbox.xmin() + bbox.xmax() ) / 2;
double yA = bbox.ymin();
double yB = bbox.ymax();
Point A(xMid, yA, altitude);
Point B(xMid, yB, altitude);
// Street positions:
// Point A(14174.717773, 20500.621094, 144);
// Point B(14153.132812, 20644.375000, 144);
// Output file names
std::string outFileOC = outBaseName + std::string("_OptCtr") + ext;
std::string outFileN = outBaseName + std::string("_normals") + ext;
std::string outFileP = outBaseName + std::string("_pts") + ext;
// Unit conversions:
omega *= 2*M_PI; // from [rot/s] to [rad/s]
fov *= M_PI / 180; // from [deg] to [rad]
if (perfectScan){
if (verbose) std::cout << "\nPerfect aerial LiDAR scan" << std::endl;
// points only
Point_set pcdPts = parallel_line_aerial_lidar(mesh, A, B, v0, omega, fov, theta_0, freq, 0, verbose);
write_point_set(outFileP.c_str(), pcdPts, verbose);
// normals
Point_set pcdN = parallel_line_aerial_lidar(mesh, A, B, v0, omega, fov, theta_0, freq, 1, verbose);
write_point_set(outFileN.c_str(), pcdN, verbose);
// optical centers
Point_set pcdOC = parallel_line_aerial_lidar(mesh, A, B, v0, omega, fov, theta_0, freq, 2, verbose);
write_point_set(outFileOC.c_str(), pcdOC, verbose);
} else {
if (verbose) std::cout << "\nRealistic aerial LiDAR scan" << std::endl;
int outProperty = 2;
Point_set pcdOC = parallel_line_aerial_lidar(mesh, A, B, v0, omega, fov, theta_0, freq, outProperty, verbose);
// normal noise
add_normal_noise(pcdOC, muXY, sigmaXY, muZ, sigmaZ, verbose);
// optical centers
write_point_set(outFileOC.c_str(), pcdOC, verbose);
// normals
int k = 20;
Point_set pcdN = compute_and_orient_normals_based_on_origin(pcdOC, k, verbose);
write_point_set(outFileN.c_str(), pcdN, verbose);
// points only
remove_optical_centers(pcdOC);
write_point_set(outFileP.c_str(), pcdOC, verbose);
}
return 0;
}