From e82dbb02f225d0ef798b3d52f8634f96f2830592 Mon Sep 17 00:00:00 2001
From: Arnau Ramisa Ayats <aramisa@iri.upc.edu>
Date: Tue, 29 Apr 2014 08:08:55 +0000
Subject: [PATCH] exampless
---
examples/example_small.pcd | 40011 ++++++++++++++++++++++++++++++
examples/pca_matrix_o13_d43.txt | 209 +
src/CMakeLists.txt | 2 +-
src/finddd_descriptor.cpp | 43 +-
src/finddd_descriptor.hpp | 28 +-
5 files changed, 40279 insertions(+), 14 deletions(-)
create mode 100644 examples/example_small.pcd
create mode 100644 examples/pca_matrix_o13_d43.txt
diff --git a/examples/example_small.pcd b/examples/example_small.pcd
new file mode 100644
index 0000000..91a5835
--- /dev/null
+++ b/examples/example_small.pcd
@@ -0,0 +1,40011 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z
+SIZE 4 4 4
+TYPE F F F
+COUNT 1 1 1
+WIDTH 200
+HEIGHT 200
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 40000.000000
+DATA ascii
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diff --git a/examples/pca_matrix_o13_d43.txt b/examples/pca_matrix_o13_d43.txt
new file mode 100644
index 0000000..fb5ce69
--- /dev/null
+++ b/examples/pca_matrix_o13_d43.txt
@@ -0,0 +1,209 @@
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1.848337641138391232e-02 -8.658056059630826447e-04 -1.135046090562323497e-03 1.327864328225035256e-03 7.313843203083756836e-03 4.464357099320315388e-03 6.932036576050850177e-03 4.186350071160707675e-03 4.080493572491254196e-03 1.310272430475183450e-02 -1.698983262218810514e-03 -7.247273442322563382e-03 -6.117483584155327531e-02
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 567fc3f..664efb9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,7 +2,7 @@
FIND_PACKAGE( Boost 1.40 COMPONENTS program_options REQUIRED )
INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIR} )
-set(PCL_DIR "/opt/ros/fuerte/share/pcl-1.5/PCLConfig.cmake")
+set(PCL_DIR "/home/aramisa/usr/local/share/pcl-1.6/PCLConfig.cmake")
find_package(PCL 1.3 REQUIRED COMPONENTS common io features )
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
diff --git a/src/finddd_descriptor.cpp b/src/finddd_descriptor.cpp
index c4a52d7..4ce0bc3 100755
--- a/src/finddd_descriptor.cpp
+++ b/src/finddd_descriptor.cpp
@@ -254,7 +254,7 @@ FindddAlgorithm::FindddAlgorithm(void)
this->desc_compute_positionsX_.clear();
this->desc_compute_positionsY_.clear();
this->set_positions_file("");
- this->update_pca_matrix("");
+ this->update_pca_matrix("",0);
}
FindddAlgorithm::~FindddAlgorithm(void)
@@ -273,7 +273,7 @@ FindddAlgorithm::FindddAlgorithm(FindddConfig new_cfg)
this->normalize_desc_ = new_cfg.normalize_desc; // * 0 - No norm // * 1 - L1 // * 2 - L2 // * 3 - sqrt + L2
this->use_soft_voting_ = new_cfg.use_soft_voting;
this->verbose_level_ = new_cfg.verbose_level;
- this->update_pca_matrix(new_cfg.pca_file);
+ this->update_pca_matrix(new_cfg.pca_file, new_cfg.pca_nkeep);
}
// Main function to compute FINDDD descriptors
@@ -435,8 +435,8 @@ void FindddAlgorithm::compute_ndescs_integral_spatial_interpolation(pcl::PointCl
*/
void about()
{
- std::cout<<"Usage:\n finddd_descriptor -pcd <file_path> -centroids_file <centroids_path> -descfile <output_descfile_path> [-use_soft_voting <bool>] [-sample_each <step>] [-normalize_desc] [-desc_patch_radius <radius>] [-num_spatial_bins <num_bins_per_side>] [-positions_file <positions_file_path>] [-keep_nan] [-pca_file <file_path>]"<<std::endl;
- std::cout<<"Parameters:\n -pcd <filename> Input pcd file path.\n -use_soft_voting <bool> Disable soft-voting.\n -sample_each <num_pix> Density of descriptor sampling.\n -normalize_desc <norm> 0=none 1=L1 2=L2 3=sqrt+L2.\n -desc_patch_radius <num_pix> Radius of the local patch.\n -num_spatial_bins <num_bins> Number of local bins per side (sqrt of total bins).\n -centroids_file <filename> Input centroid file path.\n -positions_file <filename> Input locations file path.\n -descfile <filename> Output descriptor file path.\n -pca_file <filename> PCA matrix filename\n";
+ std::cout<<"Usage:\n finddd_descriptor -pcd <file_path> -centroids_file <centroids_path> -descfile <output_descfile_path> [-use_soft_voting <bool>] [-sample_each <step>] [-normalize_desc] [-desc_patch_radius <radius>] [-num_spatial_bins <num_bins_per_side>] [-positions_file <positions_file_path>] [-keep_nan] [-pca_file <file_path>] [-pca_nkeep <num ev to keep>]"<<std::endl;
+ std::cout<<"Parameters:\n -pcd <filename> Input pcd file path.\n -use_soft_voting <bool> Disable soft-voting.\n -sample_each <num_pix> Density of descriptor sampling.\n -normalize_desc <norm> 0=none 1=L1 2=L2 3=sqrt+L2.\n -desc_patch_radius <num_pix> Radius of the local patch.\n -num_spatial_bins <num_bins> Number of local bins per side (sqrt of total bins).\n -centroids_file <filename> Input centroid file path.\n -positions_file <filename> Input locations file path.\n -descfile <filename> Output descriptor file path.\n -pca_file <filename> PCA matrix filename\n -pca_nkeep <num_ev_to_keep> Number of eigenvectors to keep (output dimension).\n";
}
/**
@@ -469,12 +469,16 @@ bool parse_args(int argc, char* argv[], FindddConfig& new_conf)
new_conf.centroids_file = std::string(argv[++i]);
} else if(arg == "-pca_file") {
new_conf.pca_file = std::string(argv[++i]);
+ } else if(arg == "-pca_nkeep") {
+ new_conf.pca_nkeep = atoi(argv[++i]);
} else if(arg == "-positions_file") {
new_conf.positions_file = std::string(argv[++i]);
} else if(arg == "-descfile") {
new_conf.geofvecs_file = std::string(argv[++i]);
} else if(arg == "-keep_nan") {
new_conf.keep_nan_points = 1;
+ } else if(arg == "-ascii") {
+ new_conf.save_in_ascii = 1;
} else {
std::cerr<<"Unknown argument: "<<arg<<"."<<std::endl;
return false;
@@ -501,6 +505,28 @@ bool parse_args(int argc, char* argv[], FindddConfig& new_conf)
return false;
}
+/**
+ * \param pf File pointer where to save the data.
+ * \param point Descriptor to be saved.
+ *
+ * Function to write a descriptor to a file pointer in fvec format (see the yael library for more details: https://gforge.inria.fr/projects/yael/)
+ * Save descs in fvec format.
+ */
+void write_point_ascii(FILE *pf, const Descriptor &point)
+{
+ int dim=point.descriptor.size();
+ if (fprintf(pf, "%d %d %d ", point.u, point.v, dim)<0)
+ {
+ fprintf(stderr, "Error writting to file\n"); exit(-1);
+ }
+ for(unsigned int j=0;j<dim-2;j++)
+ if (fprintf(pf, "%f ", point.descriptor[j])<0)
+ {
+ fprintf(stderr, "Error writting to file\n"); exit(-1);
+ }
+ fprintf(pf, "\n");
+}
+
/**
* \param pf File pointer where to save the data.
* \param point Descriptor to be saved.
@@ -543,7 +569,11 @@ void write_point_fvec(FILE *pf, const Descriptor &point)
*/
void write_feats(std::string &output_file, DescriptorSet &descriptor_set, FindddConfig &conf)
{
- FILE* pf=fopen(output_file.c_str(),"wb");
+ FILE* pf=0;
+ if(conf.save_in_ascii)
+ pf=fopen(output_file.c_str(),"w");
+ else
+ pf=fopen(output_file.c_str(),"wb");
int saved_points = 0;
for(int ii=0;ii<descriptor_set.num;ii++)
@@ -553,7 +583,8 @@ void write_feats(std::string &output_file, DescriptorSet &descriptor_set, Finddd
!isnan(descriptor_set.descriptors[ii].point3d.z)) ||
conf.keep_nan_points)
{
- write_point_fvec(pf, descriptor_set.descriptors[ii]);
+ if(conf.save_in_ascii) write_point_ascii(pf, descriptor_set.descriptors[ii]);
+ else write_point_fvec(pf, descriptor_set.descriptors[ii]);
saved_points++;
}
}
diff --git a/src/finddd_descriptor.hpp b/src/finddd_descriptor.hpp
index 258522b..0487642 100644
--- a/src/finddd_descriptor.hpp
+++ b/src/finddd_descriptor.hpp
@@ -128,9 +128,12 @@ public:
int keep_nan_points;
/** Name of a file containing the mean and the PCA matrix to automatically compress the computed descriptors. If not specified no compression is done. */
std::string pca_file;
+ /** Number of eigenvectors to keep in the PCA matrix (=0 to keep all of them). */
+ int pca_nkeep;
/** Verbosity level. */
int verbose_level;
-
+ /** save descriptors in ascii format */
+ int save_in_ascii;
FindddConfig()
{
verbose_level=1;
@@ -145,6 +148,8 @@ public:
geofvecs_file="";
keep_nan_points=0;
pca_file="";
+ pca_nkeep=0;
+ save_in_ascii=0;
}
};
@@ -186,6 +191,8 @@ protected:
std::string positions_file_;
/** Name of file with mean and PCA matrix to compress descriptors on the fly. If not specified no compression is done. */
std::string pca_file_;
+ /** Number of eigenvectors to keep in the PCA matrix (=0 to keep all of them)*/
+ int pca_nkeep_;
/** Normalization of new descriptors:
0 - No norm
1 - L1
@@ -285,9 +292,10 @@ protected:
* the PCA matrix.
*
*/
- inline void update_pca_matrix(std::string new_pca_matrix_file)
+ inline void update_pca_matrix(std::string new_pca_matrix_file, int pca_nkeep)
{
this->pca_file_ = new_pca_matrix_file;
+ this->pca_nkeep_=pca_nkeep;
if(new_pca_matrix_file=="")
return;
std::ifstream ifs(this->pca_file_.c_str(), std::ifstream::in);
@@ -343,10 +351,15 @@ protected:
std::cout<<"Not consistent PCA data: mean vector size: "<<this->pca_mean_.size()<<" PCA matrix size: "<<this->pca_matrix_.size()<<"x"<<pca_matrix_[0].size()<<std::endl;
exit(-1);
}
- //matrix correctly loaded, transposing for ease of use later
+ //matrix correctly loaded, keeping only relevant eigenvectors and transposing for ease of use later
+ int nkeep=0;
+ if(pca_nkeep>0)
+ nkeep=pca_nkeep>this->pca_matrix_.size()?this->pca_matrix_.size():pca_nkeep; //min
+ else
+ nkeep=this->pca_matrix_.size();
std::vector< std::vector<float> > PCA_t;
- PCA_t.resize(this->pca_matrix_[0].size(), std::vector<float>(this->pca_matrix_.size()));
- for(int i=0;i<this->pca_matrix_[0].size();i++)
+ PCA_t.resize(nkeep, std::vector<float>(this->pca_matrix_.size()));
+ for(int i=0;i<nkeep;i++)
for(int j=0;j<this->pca_matrix_.size();j++)
{
PCA_t[i][j]=this->pca_matrix_[j][i];
@@ -373,10 +386,11 @@ protected:
std::vector<float>::iterator o_it = o.begin();
for(std::vector< std::vector<float> >::iterator PCA_it=PCA.begin(); PCA_it!=PCA.end(); PCA_it++)
{
- for(std::vector<float>::iterator v_it=v.begin(), pcav_it=PCA_it->begin(); v_it!=v.end(); v_it++, pcav_it++)
+ for(std::vector<float>::iterator v_it=v.begin(), pcav_it=PCA_it->begin(), m_it=mean.begin(); v_it!=v.end(); v_it++, pcav_it++, m_it++)
{
- o_it += *v_it * *pcav_it;
+ *o_it += (*v_it-*m_it) * *pcav_it;
}
+ o_it++;
}
return o;
}
--
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