From f6de3ef2fb5dc03c4b554747695d4039646b1432 Mon Sep 17 00:00:00 2001
From: Carl Philipp Klemm <carl@uvos.xyz>
Date: Wed, 23 Jul 2025 18:09:20 +0200
Subject: [PATCH] inial commit

---
 CMakeLists.txt |  11 +++
 main.cpp       | 196 +++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 207 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 main.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..c43ced8
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.4)
+project(millingscanner)
+
+
+add_executable(millingscanner main.cpp )
+
+target_link_libraries( millingscanner -lopencv_core -lopencv_imgcodecs -lopencv_highgui -lopencv_aruco -lopencv_bgsegm -lopencv_calib3d -lopencv_ccalib -lopencv_datasets -lopencv_dnn -lopencv_dpm -lopencv_features2d -lopencv_flann -lopencv_freetype -lopencv_fuzzy -lopencv_hdf -lopencv_imgcodecs -lopencv_imgproc -lopencv_video -lopencv_videoio -lopencv_stitching -lomp)
+set_target_properties( millingscanner PROPERTIES COMPILE_FLAGS -m64 LINK_FLAGS -m64)
+add_definitions(" -fopenmp -s -std=c++11 -Wall")
+
+install(TARGETS millingscanner RUNTIME DESTINATION bin)
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..c4cdc84
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,196 @@
+#include <iostream>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <unistd.h>
+#include <vector>
+#include <string>
+#include <sstream>
+#include <fstream>
+
+class Config
+{
+public:
+    std::vector<std::string> inputImages;
+    std::string maskFileName =  "";
+    std::string outputFileName = "out.xyz";
+    float scaleX = 0.01;
+    float scaleY = 0.01;
+    float scaleZ = 0.3;
+};
+
+void cd_to_exe_dir( char *argv[] )
+{
+  std::string path = argv[0];
+  int ii = path.length();
+  while ( !( path[ii] == '/' || path[ii] == '\\' ) && ii > 0 )
+  {
+    ii--;
+  }
+  path.erase( ii, 100 );
+  chdir( path.c_str() );
+}
+
+static void printUsage()
+{
+    std::cout<<"scannassembler --output outImage inImage\n";
+}
+
+static int parseCmdArgs(int argc, char** argv, Config *config)
+{
+    if (argc == 1)
+    {
+        printUsage();
+        return -1;
+    }
+    for (int i = 1; i < argc; i++)
+    {
+        if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h")
+        {
+            printUsage();
+            return -1;
+        }
+        else if (std::string(argv[i]) == "--output" || std::string(argv[i]) == "-o")
+        {
+            i++;
+            if(argc > i) config->outputFileName = argv[i];
+            else return -1;
+        }
+        else if (std::string(argv[i]) == "--mask" || std::string(argv[i]) == "-m")
+        {
+            i++;
+            if(argc > i) config->maskFileName = argv[i];
+            else return -1;
+        }
+        else if (std::string(argv[i]) == "--scale" || std::string(argv[i]) == "-s")
+        {
+            if(argc > i+3) 
+            {
+                config->scaleX = atof(argv[i+1]);
+                config->scaleY = atof(argv[i+2]);
+                config->scaleZ = atof(argv[i+3]);
+                i+=3;
+            }
+            else return -1;
+        }
+        else if (std::string(argv[i]) == "--mask" || std::string(argv[i]) == "-m")
+        {
+            i++;
+            if(argc > i) config->maskFileName = argv[i];
+            else return -1;
+        }
+        else config->inputImages.push_back(argv[i]);
+    }
+    return 0;
+}
+
+void showImages(std::vector<cv::Mat> images)
+{
+    cv::namedWindow( "Viewer", cv::WINDOW_AUTOSIZE );
+    for(uint i = 0; i< images.size(); i++)
+    {
+        cv::imshow( "Viewer", images[i] );
+        cv::waitKey(0);
+    }
+    cv::destroyWindow("Viewer");  
+}
+
+void showImages(std::vector<cv::UMat> images)
+{
+    cv::namedWindow( "Viewer", cv::WINDOW_AUTOSIZE );
+    for(uint i = 0; i< images.size(); i++)
+    {
+        cv::imshow( "Viewer", images[i] );
+        cv::waitKey(0);
+    }
+    cv::destroyWindow("Viewer");  
+}
+
+void showImages(cv::Mat image)
+{
+    cv::namedWindow( "Viewer", cv::WINDOW_AUTOSIZE );
+    cv::imshow( "Viewer", image );
+    cv::waitKey(0);
+    cv::destroyWindow("Viewer");  
+}
+
+
+
+std::vector<cv::Mat> loadImages(std::vector<std::string> fileNames)
+{ 
+    std::vector<cv::Mat> images;
+    for(uint i = 0; i < fileNames.size(); i++)
+    {
+        cv::Mat tmpImage = cv::imread(fileNames[i]);
+        if(tmpImage.data)images.push_back(tmpImage);
+        else 
+        {
+            std::cout<<"can not read image "<<i<<" from "<<fileNames[i]<<'\n';
+        }
+    }
+    return images;
+}
+
+
+void processImageToCordinates( cv::Mat in, std::ostream& outputFile, float scaleX, float scaleY, float postitionZ )
+{
+    for(unsigned int y = 0; y < in.cols; y++)
+        for(unsigned int x = 0; x < in.rows; x++)
+        {
+            if(in.at<uchar>(x,y)) outputFile<<x*scaleX<<' '<<y*scaleY<<' '<<postitionZ<<" \n";
+        }
+}
+
+int main(int argc, char* argv[])
+{
+    std::cout<<"UVOS scann sticher v1\n";
+    cd_to_exe_dir( argv );
+    
+    Config config;
+    
+    int parseReturn = parseCmdArgs(argc, argv, &config);
+    if(parseReturn != 0) return parseReturn;
+    
+    cv::Mat mask;
+    if(config.maskFileName != "") 
+    {
+        mask = cv::imread(config.maskFileName);
+        if(!mask.data)
+        {
+            std::cout<<"could not read mask.\n";
+            return 1;
+        }
+        cv::cvtColor(mask, mask, CV_BGR2GRAY);
+    }
+    
+    std::ofstream outputFile( config.outputFileName  );
+
+    for(unsigned int i = 0; i < config.inputImages.size(); i++)
+    {
+        cv::Mat currentImage = cv::imread(config.inputImages[i]);
+        if(!currentImage.data)
+        {
+            std::cout<<"can not read image "<<i<<" from "<<config.inputImages[i]<<'\n';
+        }
+        
+        cv::cvtColor(currentImage, currentImage, CV_BGR2GRAY);
+        cv::threshold( currentImage, currentImage, 128,255, cv::THRESH_BINARY );
+        cv::Mat maskedImage;
+        currentImage.copyTo(maskedImage, mask);
+        
+        cv::GaussianBlur(maskedImage,maskedImage,cv::Size(0,0),10,10);
+        cv::threshold( maskedImage, maskedImage, 128,255, cv::THRESH_BINARY);
+        
+        cv::Mat eadgesImage;
+        Canny( maskedImage, eadgesImage, 100, 200, 3 );
+        
+        std::stringstream ss;
+        ss<<i<<".png";
+        
+        cv::imwrite( ss.str(), eadgesImage );
+        
+        processImageToCordinates( eadgesImage, outputFile, config.scaleX, config.scaleY, 0-config.scaleZ*i );
+        
+    }
+    
+    return 0;
+}