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main_test_pose.cpp
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main_test_pose.cpp
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/*
* File: newmain.cpp
* Author: chi
*
* Created on April 4, 2015, 11:20 AM
*/
#include "src/Greedy/utility.h"
#include <eigen3/Eigen/src/Geometry/Quaternion.h>
std::string link_mesh_name("data/link_uniform.obj");
std::string node_mesh_name("data/node_uniform.obj");
void showPoses(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, pcl::visualization::PCLVisualizer::Ptr viewer, bool adjust = true)
{
std::vector<pcl::PointCloud<myPointXYZ>::Ptr> rec;
for( std::vector<ModelT>::const_iterator it = model_set.begin() ; it < model_set.end() ; it++ )
{
pcl::PointCloud<myPointXYZ>::Ptr cur_cloud(new pcl::PointCloud<myPointXYZ>());
pcl::fromPCLPointCloud2(it->model_mesh->cloud, *cur_cloud);
rec.push_back(cur_cloud);
}
int count = 0;
Eigen::Quaternionf calibrate_rot(Eigen::AngleAxisf(M_PI/2, Eigen::Vector3f (1, 0, 0)));
for(std::vector<poseT>::const_iterator it = poses.begin() ; it < poses.end() ; it++, count++ )
{
for( int i = 0 ; i < model_set.size() ; i++ )
{
if(model_set[i].model_label == it->model_name )
{
pcl::PointCloud<myPointXYZ>::Ptr cur_cloud(new pcl::PointCloud<myPointXYZ>());
//pcl::transformPointCloud(*rec[i], *cur_cloud, Eigen::Vector3f (0, 0, 0), calibrate_rot);
if( adjust )
pcl::transformPointCloud(*rec[i], *cur_cloud, it->shift, it->rotation*calibrate_rot);
else
pcl::transformPointCloud(*rec[i], *cur_cloud, it->shift, it->rotation);
std::stringstream ss;
ss << count;
viewer->addPolygonMesh<myPointXYZ>(cur_cloud, model_set[i].model_mesh->polygons, it->model_name+"_"+ss.str());
if( it->model_name == "link" )
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.55, 0.05, it->model_name+"_"+ss.str());
else if( it->model_name == "node" )
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0.05, 0.55, 1.0, it->model_name+"_"+ss.str());
break;
}
}
}
}
bool matchCloud(const ModelT &model, const ModelT &cloud, float ratio, float T)
{
if( model.model_label != cloud.model_label || sqrDistPt(model.model_center->at(0), cloud.model_center->at(0)) >= 0.1*0.1 )
return false;
pcl::search::KdTree<myPointXYZ> tree;
tree.setInputCloud(model.model_cloud);
float sqrT = T*T;
int count = 0;
for( pcl::PointCloud<myPointXYZ>::const_iterator it = cloud.model_cloud->begin() ; it < cloud.model_cloud->end() ; it++ )
{
std::vector<int> indices (1);
std::vector<float> sqr_distances (1);
int nres = tree.nearestKSearch(*it, 1, indices, sqr_distances);
if ( nres >= 1 && sqr_distances[0] <= sqrT )
count++;
}
//std::cerr << "COUNT: " << (count+0.0) / cloud.model_cloud->size() << std::endl;
if( (count+0.0) / cloud.model_cloud->size() > ratio )
return true;
else
return false;
}
int overlapPose(const std::vector<ModelT> &model_set, const std::vector<poseT> &est_poses, const std::vector<poseT> >_poses)
{
std::vector<ModelT> est_insts, gt_insts;
for( std::vector<poseT>::const_iterator it = est_poses.begin() ; it < est_poses.end() ; it++ ){
for( int i = 0 ; i < model_set.size() ; i++ ){
if( model_set[i].model_label == it->model_name )
{
ModelT new_data;
new_data.model_label = it->model_name;
new_data.model_cloud = pcl::PointCloud<myPointXYZ>::Ptr (new pcl::PointCloud<myPointXYZ>());
new_data.model_center = pcl::PointCloud<myPointXYZ>::Ptr (new pcl::PointCloud<myPointXYZ>());
pcl::transformPointCloud(*model_set[i].model_cloud, *new_data.model_cloud, it->shift, it->rotation);
pcl::transformPointCloud(*model_set[i].model_center, *new_data.model_center, it->shift, it->rotation);
est_insts.push_back(new_data);
break;
}
}
}
Eigen::Quaternionf calibrate_rot(Eigen::AngleAxisf(M_PI/2, Eigen::Vector3f (1, 0, 0)));
for( std::vector<poseT>::const_iterator it = gt_poses.begin() ; it < gt_poses.end() ; it++ ){
for( int i = 0 ; i < model_set.size() ; i++ ){
if( model_set[i].model_label == it->model_name )
{
ModelT new_data;
new_data.model_label = it->model_name;
new_data.model_cloud = pcl::PointCloud<myPointXYZ>::Ptr (new pcl::PointCloud<myPointXYZ>());
new_data.model_center = pcl::PointCloud<myPointXYZ>::Ptr (new pcl::PointCloud<myPointXYZ>());
pcl::transformPointCloud(*model_set[i].model_cloud, *new_data.model_cloud, it->shift, it->rotation*calibrate_rot);
pcl::transformPointCloud(*model_set[i].model_center, *new_data.model_center, it->shift, it->rotation*calibrate_rot);
gt_insts.push_back(new_data);
break;
}
}
}
//std::cerr << est_insts.size() << " " << gt_insts.size() << std::endl;
int true_count = 0;
for( std::vector<ModelT>::iterator est_it = est_insts.begin(); est_it < est_insts.end() ; est_it++ ){
for( std::vector<ModelT>::iterator gt_it = gt_insts.begin(); gt_it < gt_insts.end() ; gt_it++ ){
if( matchCloud(*gt_it, *est_it, 0.7, 0.01) == true )
{
true_count++;
break;
}
}
}
return true_count;
}
int main(int argc, char** argv)
{
//pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer());
//viewer->initCameraParameters();
//viewer->addCoordinateSystem(0.1);
//viewer->setSize(500, 400);
//viewer->setCameraPosition(0, 0, 0.1, 0, 0, 1, 0, -1, 0);
std::string seq_id("0");
pcl::console::parse_argument(argc, argv, "--s", seq_id);
std::string gt_path("final_joint_gt/");
std::string est_path("result/"+seq_id+"/");
int c1 = 0, c2 = -1;
int t1 = 0, t2 = -1;
pcl::console::parse_argument(argc, argv, "--c1", c1);
pcl::console::parse_argument(argc, argv, "--c2", c2);
pcl::console::parse_argument(argc, argv, "--t1", t1);
pcl::console::parse_argument(argc, argv, "--t2", t2);
//read meshes
ModelT link_mesh = LoadMesh(link_mesh_name, "link");
ModelT node_mesh = LoadMesh(node_mesh_name, "node");
std::vector<ModelT> mesh_set;
mesh_set.push_back(link_mesh);
mesh_set.push_back(node_mesh);
std::vector<float> p_vec(t2-t1+1);
std::vector<float> r_vec(t2-t1+1);
for( int t = t1 ; t <= t2 ; t++ )
{
std::stringstream tt;
tt << t;
int est_total = 0;
int gt_total = 0;
int true_total = 0;
std::cerr << "Loading Trial-" << t << std::endl;
std::string cur_path(est_path + "tr" + tt.str() + "/");
for(int i = c1 ; i <= c2 ; i++ )
{
std::stringstream ss;
ss << i;
std::string link_gt_file(gt_path + "link_gt_" + ss.str() + ".csv");
std::string node_gt_file(gt_path + "node_gt_" + ss.str() + ".csv");
std::string link_est_file(cur_path + "link_pose_seg_" + ss.str() + ".csv");
std::string node_est_file(cur_path + "node_pose_seg_" + ss.str() + ".csv");
if( exists_test(link_est_file) == false )
{
std::cerr << "Failed to Read CSV File!!!" << std::endl;
exit(0);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::vector<poseT> gt_poses;
readCSV(link_gt_file, "link", gt_poses);
readCSV(node_gt_file, "node", gt_poses);
std::vector<poseT> est_poses;
readCSV(link_est_file, "link", est_poses);
readCSV(node_est_file, "node", est_poses);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//viewer->removeAllPointClouds();
//showPoses(mesh_set, est_poses, viewer, false);
//showPoses(mesh_set, gt_poses, viewer, true);
//viewer->spinOnce(1);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int true_pose = overlapPose(mesh_set, est_poses, gt_poses);
est_total += est_poses.size();
gt_total += gt_poses.size();
true_total += true_pose;
//std::cerr << "P-" << (true_pose+0.0) / est_poses.size() << ",\tR-" << (true_pose+0.0) / gt_poses.size() << std::endl;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//viewer->spin();
}
p_vec[t-t1] = (true_total+0.0) / est_total;
r_vec[t-t1] = (true_total+0.0) / gt_total;
}
std::cerr << "*********************************************************************" << std::endl;
float avg_p=0, avg_r=0, std_p=0, std_r=0, avg_f = 0, std_f = 0;
for(int i = 0 ; i < p_vec.size() ; i++ )
{
avg_p += p_vec[i];
std_p += p_vec[i]*p_vec[i];
avg_r += r_vec[i];
std_r += r_vec[i]*r_vec[i];
float cur_f = 2*(p_vec[i]*r_vec[i]) / (p_vec[i]+r_vec[i]);
avg_f += cur_f;
std_f += cur_f*cur_f;
}
avg_p /= p_vec.size();
std_p = sqrt(std_p/p_vec.size() - avg_p*avg_p);
avg_r /= r_vec.size();
std_r = sqrt(std_r/r_vec.size() - avg_r*avg_r);
avg_f /= p_vec.size();
std_f = sqrt(std_f/p_vec.size() - avg_f*avg_f);
std::cerr << "P-" << avg_p << " +- " << std_p << ",\tR-" << avg_r << " +- " << std_r << ",\tF-" << avg_f << " +- " << std_f << std::endl;
/*************************************************************************************************************************/
return 0;
}