Beispiel #1
0
void EigsGen::findMatchedIndex(const Eigen::VectorXcd &target,
                               const Eigen::VectorXcd &collection,
                               Eigen::VectorXi &result)
{
    int nfound = 0;
    int maxn = target.size();
    if(result.size() < maxn)
        result.resize(maxn);
    for(int i = 0; i < collection.size(); i++)
    {
        int j;
        for(j = 0; j < maxn; j++)
        {
            if(abs(collection[i] - target[j]) < 1e-8 * abs(target[j]))
                break;
        }
        if(j < maxn)
        {
            result[nfound] = i;
            nfound++;
            if(collection[i].imag() != 0)
            {
                i++;
                result[nfound] = i;
                nfound++;
            }
        }
        if(nfound >= maxn)  break;
    }
    if(result.size() > nfound)
        result.conservativeResize(nfound);
}
Beispiel #2
0
int main(int argc, char *argv[])
{
  using namespace Eigen;
  using namespace std;
  igl::readOBJ(TUTORIAL_SHARED_PATH "/bump-domain.obj",V,F);
  U=V;
  // Find boundary vertices outside annulus
  typedef Matrix<bool,Dynamic,1> VectorXb;
  VectorXb is_outer = (V.rowwise().norm().array()-1.0)>-1e-15;
  VectorXb is_inner = (V.rowwise().norm().array()-0.15)<1e-15;
  VectorXb in_b = is_outer.array() || is_inner.array();
  igl::colon<int>(0,V.rows()-1,b);
  b.conservativeResize(stable_partition( b.data(), b.data()+b.size(),
   [&in_b](int i)->bool{return in_b(i);})-b.data());
  bc.resize(b.size(),1);
  for(int bi = 0;bi<b.size();bi++)
  {
    bc(bi) = (is_outer(b(bi))?0.0:1.0);
  }


  // Pseudo-color based on selection
  MatrixXd C(F.rows(),3);
  RowVector3d purple(80.0/255.0,64.0/255.0,255.0/255.0);
  RowVector3d gold(255.0/255.0,228.0/255.0,58.0/255.0);
  for(int f = 0;f<F.rows();f++)
  {
    if( in_b(F(f,0)) && in_b(F(f,1)) && in_b(F(f,2)))
    {
      C.row(f) = purple;
    }else
    {
      C.row(f) = gold;
    }
  }

  // Plot the mesh with pseudocolors
  igl::viewer::Viewer viewer;
  viewer.data.set_mesh(U, F);
  viewer.core.show_lines = false;
  viewer.data.set_colors(C);
  viewer.core.trackball_angle = Eigen::Quaternionf(0.81,-0.58,-0.03,-0.03);
  viewer.core.trackball_angle.normalize();
  viewer.callback_pre_draw = &pre_draw;
  viewer.callback_key_down = &key_down;
  viewer.core.is_animating = true;
  viewer.core.animation_max_fps = 30.;
  cout<<
    "Press [space] to toggle animation."<<endl<<
    "Press '.' to increase k."<<endl<<
    "Press ',' to decrease k."<<endl;
  viewer.launch();
}
Beispiel #3
0
int main(int argc, char *argv[])
{
  using namespace Eigen;
  using namespace std;
  igl::readOFF("../shared/decimated-knight.off",V,F);
  U=V;
  igl::readDMAT("../shared/decimated-knight-selection.dmat",S);

  // vertices in selection
  igl::colon<int>(0,V.rows()-1,b);
  b.conservativeResize(stable_partition( b.data(), b.data()+b.size(), 
   [](int i)->bool{return S(i)>=0;})-b.data());
  // Centroid
  mid = 0.5*(V.colwise().maxCoeff() + V.colwise().minCoeff());
  // Precomputation
  arap_data.max_iter = 100;
  igl::arap_precomputation(V,F,V.cols(),b,arap_data);

  // Set color based on selection
  MatrixXd C(F.rows(),3);
  RowVector3d purple(80.0/255.0,64.0/255.0,255.0/255.0);
  RowVector3d gold(255.0/255.0,228.0/255.0,58.0/255.0);
  for(int f = 0;f<F.rows();f++)
  {
    if( S(F(f,0))>=0 && S(F(f,1))>=0 && S(F(f,2))>=0)
    {
      C.row(f) = purple;
    }else
    {
      C.row(f) = gold;
    }
  }

  // Plot the mesh with pseudocolors
  igl::viewer::Viewer viewer;
  viewer.data.set_mesh(U, F);
  viewer.data.set_colors(C);
  viewer.callback_pre_draw = &pre_draw;
  viewer.callback_key_down = &key_down;
  viewer.core.is_animating = false;
  viewer.core.animation_max_fps = 30.;
  cout<<
    "Press [space] to toggle animation"<<endl;
  viewer.launch();
}
Beispiel #4
0
int main(int argc, char** argv)
{
    std::string path;
    po::options_description desc("Calculates one point cloud for classification\n======================================\n**Allowed options");

    desc.add_options()
            ("help,h", "produce help message")
            ("path,p", po::value<std::string>(&path)->required(), "Path to folders with pics")

            ;

    po::variables_map vm;
    po::parsed_options parsed = po::command_line_parser(argc,argv).options(desc).allow_unregistered().run();
    po::store(parsed, vm);
    if (vm.count("help"))
    {
        std::cout << desc << std::endl;
        return false;
    }

    try
    {
        po::notify(vm);
    }
    catch(std::exception& e)
    {
        std::cerr << "Error: " << e.what() << std::endl << std::endl << desc << std::endl;
        return false;
    }

//    std::string pretrained_binary_proto = "/home/martin/github/caffe/models/bvlc_alexnet/bvlc_alexnet.caffemodel";
//    std::string feature_extraction_proto = "/home/martin/github/caffe/models/bvlc_alexnet/deploy.prototxt";
    std::string pretrained_binary_proto = "/home/martin/github/caffe/models/bvlc_reference_caffenet/bvlc_reference_caffenet.caffemodel";
    std::string feature_extraction_proto = "/home/martin/github/caffe/models/bvlc_reference_caffenet/deploy.prototxt";
    std::string mean_file = "/home/martin/github/caffe/data/ilsvrc12/imagenet_mean.binaryproto";
    //    std::vector<std::string> extract_feature_blob_names;
    //    extract_feature_blob_names.push_back("fc7");



    Eigen::MatrixXf all_model_signatures_, test;

    v4r::CNN_Feat_Extractor<pcl::PointXYZRGB,float>::Parameter estimator_param;
    //estimator_param.init(argc, argv);
    v4r::CNN_Feat_Extractor<pcl::PointXYZRGB,float>::Ptr estimator;
    //v4r::CNN_Feat_Extractor<pcl::PointXYZRGB,float> estimator;
    estimator.reset(new v4r::CNN_Feat_Extractor<pcl::PointXYZRGB, float>(estimator_param));
    //estimator.reset();
    //estimator->setExtractFeatureBlobNames(extract_feature_blob_names);
    estimator->setFeatureExtractionProto(feature_extraction_proto);
    estimator->setPretrainedBinaryProto(pretrained_binary_proto);
    estimator->setMeanFile(mean_file);
    //estimator->init();
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    //pcl::PointCloud<pcl::PointXYZRGB> test(new pcl::PointCloud<pcl::PointXYZRGB>);
    char end = path.back();
    if(end!='/')
        path.append("/");
    std::vector<std::string> objects(v4r::io::getFoldersInDirectory(path));

    objects.erase(find(objects.begin(),objects.end(),"svm"));
    std::vector<std::string> paths,Files;
    std::vector<std::string> Temp;
    std::string fs, fp, fo;
    Eigen::VectorXi models;
    std::vector<std::string> modelnames;
    std::vector<int> indices;


    v4r::svmClassifier::Parameter paramSVM;
    paramSVM.knn_=1;
    paramSVM.do_cross_validation_=0;
    v4r::svmClassifier classifier(paramSVM);

    if(!(v4r::io::existsFile(path+"svm/Signatures.txt")&&v4r::io::existsFile(path+"svm/Labels.txt"))){
        for(size_t o=0;o<objects.size();o++){
        //for(size_t o=0;o<1;o++){
            fo = path;
            fo.append(objects[o]);
            fo.append("/");
            paths.clear();
            paths = v4r::io::getFilesInDirectory(fo,".*.JPEG",false);
            modelnames.push_back(objects[o]);
            int old_rows = all_model_signatures_.rows();
            all_model_signatures_.conservativeResize(all_model_signatures_.rows()+paths.size(),4096);
            for(size_t i=0;i<paths.size();i++){
//          for(size_t i=0;i<3;i++){
                fp = fo;
                fp.append(paths[i]);
                std::cout << "Teaching File: " << fp << std::endl;


                //            int rows = image.rows;
                //            int cols = image.cols;

                //            int a,b;
                //            if(rows>256)
                //                a = floor(rows/2)-128;
                //            else
                //                a=0;
                //            if(cols<256)
                //                b = floor(cols/2)-128;
                //            else
                //                b=0;
                //            if(rows<256||cols<256)
                //                continue;
                //cv::Rect r(b,a,256,256);
                //            cv::namedWindow( "Display window", cv::WINDOW_AUTOSIZE );// Create a window for display.
                //            cv::imshow( "Display window", image );
                //            cv::waitKey();
                //estimator.setIm(image);
                //estimator.setIndices(indices);
                //estimator->compute(image,signature);
                //test = signature.transpose();
                cv::Mat image = cv::imread(fp);
                Eigen::MatrixXf signature;
                if(image.rows != 256 || image.cols != 256)
                    cv::resize( image, image, cv::Size(256, 256));
                //bool success = estimator->computeCNN(signature);
                estimator->compute(image,signature);
                //all_model_signatures_.conservativeResize(all_model_signatures_.rows()+1,4096);


                all_model_signatures_.row(old_rows+i) = signature.row(0);
                models.conservativeResize(models.rows()+1);
                models(models.rows()-1) = o;


                // std::cout<<all_model_signatures_ <<std::endl;
                std::cout<<"ok" <<std::endl;

            }





        }

        std::string f_file = path;
        v4r::io::writeDescrToFile(f_file.append("svm/Signatures.txt"),all_model_signatures_);
        f_file = path;
        v4r::io::writeLabelToFile(f_file.append("svm/Labels.txt"),models);
    }
    else{
        all_model_signatures_ = v4r::io::readDescrFromFile(path+"svm/Signatures.txt",0,4096);
        models = v4r::io::readLabelFromFile(path+"svm/Labels.txt",0);
        std::cout << "Loading Descriptors and Labels from " << path << "svm." <<std::endl;
    }



    fs = path;
    fs.append("svm/Class.model");
    classifier.setOutFilename(fs);

    //test.resize(all_model_signatures_.cols(),all_model_signatures_.rows());
    //test = all_model_signatures_.transpose();
    //classifier.shuffleTrainingData(all_model_signatures_, models);
    classifier.param_.do_cross_validation_=0;
    int testC = classifier.param_.svm_.C;
    classifier.param_.svm_.probability=1;
    classifier.setNumClasses(objects.size());
    classifier.train(all_model_signatures_, models);

    classifier.saveModel(fs);








}
Beispiel #5
0
IGL_INLINE bool igl::decimate(
  const Eigen::MatrixXd & OV,
  const Eigen::MatrixXi & OF,
  const std::function<void(
    const int,
    const Eigen::MatrixXd &,
    const Eigen::MatrixXi &,
    const Eigen::MatrixXi &,
    const Eigen::VectorXi &,
    const Eigen::MatrixXi &,
    const Eigen::MatrixXi &,
    double &,
    Eigen::RowVectorXd &)> & cost_and_placement,
  const std::function<bool(
      const Eigen::MatrixXd &,
      const Eigen::MatrixXi &,
      const Eigen::MatrixXi &,
      const Eigen::VectorXi &,
      const Eigen::MatrixXi &,
      const Eigen::MatrixXi &,
      const std::set<std::pair<double,int> > &,
      const std::vector<std::set<std::pair<double,int> >::iterator > &,
      const Eigen::MatrixXd &,
      const int,
      const int,
      const int,
      const int,
      const int)> & stopping_condition,
    const std::function<bool(
      const Eigen::MatrixXd &                                         ,/*V*/
      const Eigen::MatrixXi &                                         ,/*F*/
      const Eigen::MatrixXi &                                         ,/*E*/
      const Eigen::VectorXi &                                         ,/*EMAP*/
      const Eigen::MatrixXi &                                         ,/*EF*/
      const Eigen::MatrixXi &                                         ,/*EI*/
      const std::set<std::pair<double,int> > &                        ,/*Q*/
      const std::vector<std::set<std::pair<double,int> >::iterator > &,/*Qit*/
      const Eigen::MatrixXd &                                         ,/*C*/
      const int                                                        /*e*/
      )> & pre_collapse,
    const std::function<void(
      const Eigen::MatrixXd &                                         ,   /*V*/
      const Eigen::MatrixXi &                                         ,   /*F*/
      const Eigen::MatrixXi &                                         ,   /*E*/
      const Eigen::VectorXi &                                         ,/*EMAP*/
      const Eigen::MatrixXi &                                         ,  /*EF*/
      const Eigen::MatrixXi &                                         ,  /*EI*/
      const std::set<std::pair<double,int> > &                        ,   /*Q*/
      const std::vector<std::set<std::pair<double,int> >::iterator > &, /*Qit*/
      const Eigen::MatrixXd &                                         ,   /*C*/
      const int                                                       ,   /*e*/
      const int                                                       ,  /*e1*/
      const int                                                       ,  /*e2*/
      const int                                                       ,  /*f1*/
      const int                                                       ,  /*f2*/
      const bool                                                  /*collapsed*/
      )> & post_collapse,
  const Eigen::MatrixXi & OE,
  const Eigen::VectorXi & OEMAP,
  const Eigen::MatrixXi & OEF,
  const Eigen::MatrixXi & OEI,
  Eigen::MatrixXd & U,
  Eigen::MatrixXi & G,
  Eigen::VectorXi & J,
  Eigen::VectorXi & I
  )
{

  // Decimate 1
  using namespace Eigen;
  using namespace std;
  // Working copies
  Eigen::MatrixXd V = OV;
  Eigen::MatrixXi F = OF;
  Eigen::MatrixXi E = OE;
  Eigen::VectorXi EMAP = OEMAP;
  Eigen::MatrixXi EF = OEF;
  Eigen::MatrixXi EI = OEI;
  typedef std::set<std::pair<double,int> > PriorityQueue;
  PriorityQueue Q;
  std::vector<PriorityQueue::iterator > Qit;
  Qit.resize(E.rows());
  // If an edge were collapsed, we'd collapse it to these points:
  MatrixXd C(E.rows(),V.cols());
  for(int e = 0;e<E.rows();e++)
  {
    double cost = e;
    RowVectorXd p(1,3);
    cost_and_placement(e,V,F,E,EMAP,EF,EI,cost,p);
    C.row(e) = p;
    Qit[e] = Q.insert(std::pair<double,int>(cost,e)).first;
  }
  int prev_e = -1;
  bool clean_finish = false;

  while(true)
  {
    if(Q.empty())
    {
      break;
    }
    if(Q.begin()->first == std::numeric_limits<double>::infinity())
    {
      // min cost edge is infinite cost
      break;
    }
    int e,e1,e2,f1,f2;
    if(collapse_edge(
       cost_and_placement, pre_collapse, post_collapse,
       V,F,E,EMAP,EF,EI,Q,Qit,C,e,e1,e2,f1,f2))
    {
      if(stopping_condition(V,F,E,EMAP,EF,EI,Q,Qit,C,e,e1,e2,f1,f2))
      {
        clean_finish = true;
        break;
      }
    }else
    {
      if(prev_e == e)
      {
        assert(false && "Edge collapse no progress... bad stopping condition?");
        break;
      }
      // Edge was not collapsed... must have been invalid. collapse_edge should
      // have updated its cost to inf... continue
    }
    prev_e = e;
  }
  // remove all IGL_COLLAPSE_EDGE_NULL faces
  MatrixXi F2(F.rows(),3);
  J.resize(F.rows());
  int m = 0;
  for(int f = 0;f<F.rows();f++)
  {
    if(
      F(f,0) != IGL_COLLAPSE_EDGE_NULL || 
      F(f,1) != IGL_COLLAPSE_EDGE_NULL || 
      F(f,2) != IGL_COLLAPSE_EDGE_NULL)
    {
      F2.row(m) = F.row(f);
      J(m) = f;
      m++;
    }
  }
  F2.conservativeResize(m,F2.cols());
  J.conservativeResize(m);
  VectorXi _1;
  remove_unreferenced(V,F2,U,G,_1,I);
  return clean_finish;
}
Beispiel #6
0
int main(int argc, char *argv[])
{
  using namespace Eigen;
  using namespace std;
  igl::readOBJ(TUTORIAL_SHARED_PATH "/decimated-max.obj",V,F);
  U=V;
  // S(i) = j: j<0 (vertex i not in handle), j >= 0 (vertex i in handle j)
  VectorXi S;
  igl::readDMAT(TUTORIAL_SHARED_PATH "/decimated-max-selection.dmat",S);
  igl::colon<int>(0,V.rows()-1,b);
  b.conservativeResize(stable_partition( b.data(), b.data()+b.size(),
   [&S](int i)->bool{return S(i)>=0;})-b.data());

  // Boundary conditions directly on deformed positions
  U_bc.resize(b.size(),V.cols());
  V_bc.resize(b.size(),V.cols());
  for(int bi = 0;bi<b.size();bi++)
  {
    V_bc.row(bi) = V.row(b(bi));
    switch(S(b(bi)))
    {
      case 0:
        // Don't move handle 0
        U_bc.row(bi) = V.row(b(bi));
        break;
      case 1:
        // move handle 1 down
        U_bc.row(bi) = V.row(b(bi)) + RowVector3d(0,-50,0);
        break;
      case 2:
      default:
        // move other handles forward
        U_bc.row(bi) = V.row(b(bi)) + RowVector3d(0,0,-25);
        break;
    }
  }

  // Pseudo-color based on selection
  MatrixXd C(F.rows(),3);
  RowVector3d purple(80.0/255.0,64.0/255.0,255.0/255.0);
  RowVector3d gold(255.0/255.0,228.0/255.0,58.0/255.0);
  for(int f = 0;f<F.rows();f++)
  {
    if( S(F(f,0))>=0 && S(F(f,1))>=0 && S(F(f,2))>=0)
    {
      C.row(f) = purple;
    }else
    {
      C.row(f) = gold;
    }
  }

  // Plot the mesh with pseudocolors
  igl::opengl::glfw::Viewer viewer;
  viewer.data().set_mesh(U, F);
  viewer.data().show_lines = false;
  viewer.data().set_colors(C);
  viewer.core().trackball_angle = Eigen::Quaternionf(sqrt(2.0),0,sqrt(2.0),0);
  viewer.core().trackball_angle.normalize();
  viewer.callback_pre_draw = &pre_draw;
  viewer.callback_key_down = &key_down;
  //viewer.core().is_animating = true;
  viewer.core().animation_max_fps = 30.;
  cout<<
    "Press [space] to toggle deformation."<<endl<<
    "Press 'd' to toggle between biharmonic surface or displacements."<<endl;
  viewer.launch();
}