void EnemyGrunt::render(sf::RenderTarget &rt) {
sf::Sprite shadowSprite;
shadowSprite.setTexture(_assets->_gruntShadow);
shadowSprite.setOrigin(_assets->_gruntShadow.getSize().x * 0.5f, _assets->_gruntShadow.getSize().y * 0.5f);
shadowSprite.setPosition(_position);
rt.draw(shadowSprite);
sf::Sprite footSprite;
footSprite.setTexture(_assets->_gruntFoot);
footSprite.setOrigin(2.0f, 2.5f);
sf::Vector2f perpendicular(std::cos(_rotation * ltbl::_pi / 180.0f), std::sin(_rotation * ltbl::_pi / 180.0f));
sf::Vector2f forward(perpendicular.y, -perpendicular.x);
const float feetSpread = 1.5f;
const float feetStepDistance = 2.5f;
float leftFootOffset = std::sin(2.0f * ltbl::_pi * _footCycle);
footSprite.setRotation(_rotation);
footSprite.setPosition(_position - perpendicular * feetSpread + forward * feetStepDistance * leftFootOffset - forward * 1.0f);
rt.draw(footSprite);
footSprite.setPosition(_position + perpendicular * feetSpread - forward * feetStepDistance * leftFootOffset - forward * 1.0f);
rt.draw(footSprite);
sf::Sprite bodySprite;
if (_pTarget == nullptr) {
bodySprite.setTexture(_assets->_gruntBodyWalk);
bodySprite.setPosition(_position);
}
else {
std::uniform_real_distribution<float> noiseDist(-0.5f, 0.5f);
// Show flash for only a bit of the flash cycle time
if (_firingCycle < 0.3f) {
bodySprite.setPosition(_position + sf::Vector2f(noiseDist(getGame()->_generator), noiseDist(getGame()->_generator)));
bodySprite.setTexture(_assets->_gruntBodyFlashes[_currentFlash]);
}
else {
bodySprite.setPosition(_position);
bodySprite.setTexture(_assets->_gruntBodyNoFire);
}
}
bodySprite.setOrigin(sf::Vector2f(_assets->_gruntBodyWalk.getSize().x * 0.5f, _assets->_gruntBodyWalk.getSize().y * 0.5f));
bodySprite.setRotation(_rotation + leftFootOffset * 8.0f); // Sway a bit
rt.draw(bodySprite);
}
void
PoolRoom::decorateRoom(Tile *tiles, TileFactory *tileFactory, std::vector<DecorationPlacement> &places)
{
//TODO make sure it doesn't go outside the dungeon (or at least handle that case)
boost::random::uniform_real_distribution<> noiseDist(-3.f,4.f);
for(int y=-m_radius;y<=m_radius;y++){
for(int x=-m_radius;x<=m_radius;x++){
if(sqrtf(float(x*x)+float(y*y)) < float(m_radius)-0.6f+noiseDist(RAND)){
setTile(x,y,"Water Stream", tiles, tileFactory);
}
}
}
}
void
ShardRoom::decorateRoom(Tile *tiles, TileFactory *tileFactory, std::vector<DecorationPlacement> &places)
{
boost::random::uniform_real_distribution<> noiseDist(-3.f,4.f);
for(int y=-m_radius;y<=m_radius;y++){
for(int x=-m_radius;x<=m_radius;x++){
if(sqrtf(float(x*x)+float(y*y)) < float(m_radius)-0.6f+noiseDist(RAND)){
setTile(x,y,"Crystal Floor", tiles, tileFactory);
}
}
}
if(m_orb){
setTile(0,0,"Orb of Knowledge", tiles, tileFactory);
setTile( 1, 1,"Shard of Knowledge", tiles, tileFactory);
setTile( 1,-1,"Shard of Knowledge", tiles, tileFactory);
setTile(-1, 1,"Shard of Knowledge", tiles, tileFactory);
setTile(-1,-1,"Shard of Knowledge", tiles, tileFactory);
}
else{
setTile(0,0,"Shard of Knowledge", tiles, tileFactory);
}
}
int main() {
std::mt19937 generator(time(nullptr));
sys::ComputeSystem cs;
cs.create(sys::ComputeSystem::_gpu);
sys::ComputeProgram prog;
prog.loadFromFile("resources/neoKernels.cl", cs);
std::vector<Level> levels;
std::unordered_set<char> tileDataCharset;
std::unordered_set<char> objectDataCharset;
loadLevels("userlevels.txt", levels, tileDataCharset, objectDataCharset);
// --------------------------- Create the Sparse Coder ---------------------------
const int numTiles = levels.front()._tileData.length();
const int charsetSize = 128 + 2; // + 2 indicating the portion it is on (01 for tiles, 10 for objects)
const cl::size_type visDim = std::ceil(std::sqrt(static_cast<float>(charsetSize)));
const int visArea = visDim * visDim;
const int maxObjects = 1000;
cl::Image2D input = cl::Image2D(cs.getContext(), CL_MEM_READ_WRITE, cl::ImageFormat(CL_R, CL_FLOAT), visDim, visDim);
std::vector<float> inputData(visArea, 0.0f);
std::vector<float> predData(visArea, 0.0f);
std::vector<neo::PredictiveHierarchy::LayerDesc> layerDescs(3);
layerDescs[0]._size = { 16, 16 };
layerDescs[1]._size = { 16, 16 };
layerDescs[2]._size = { 16, 16 };
neo::PredictiveHierarchy ph;
ph.createRandom(cs, prog, { static_cast<int>(visDim), static_cast<int>(visDim) }, layerDescs, { -0.01f, 0.01f }, generator);
ph._whiteningKernelRadius = 1;
// Learn levels
std::uniform_int_distribution<int> levelDist(0, levels.size() - 1);
for (int iter = 0; iter < 20; iter++) {
// Choose random level
int index = levelDist(generator);
const Level &l = levels[index];
// Set mode for tiles
inputData[charsetSize - 2] = 0.0f;
inputData[charsetSize - 1] = 1.0f;
// Run through once to get PH ready
inputData['#'] = 1.0f;
cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input);
inputData['#'] = 0.0f;
// Run through tile data
for (int i = 0; i < l._tileData.length(); i++) {
// Set character to 1
inputData[l._tileData[i]] = 1.0f;
cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input);
// Unset character
inputData[l._tileData[i]] = 0.0f;
}
// Set mode for objects
inputData[charsetSize - 2] = 1.0f;
inputData[charsetSize - 1] = 0.0f;
// Run through once to get PH ready
inputData['#'] = 1.0f;
cs.getQueue().enqueueWriteImage(input, CL_TRUE, { 0, 0, 0 }, { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input);
inputData['#'] = 0.0f;
// Run through object data
for (int i = 0; i < l._objectData.length(); i++) {
// Set character to 1
inputData[l._objectData[i]] = 1.0f;
cs.getQueue().enqueueWriteImage(input, CL_TRUE, { 0, 0, 0 }, { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input);
// Unset character
inputData[l._objectData[i]] = 0.0f;
}
std::cout << "Went over level #" << (index + 1) << " \"" << l._name << "\"" << std::endl;
}
// Generate new maps
std::ofstream toFile("generatedNLevels.txt");
std::normal_distribution<float> noiseDist(0.0f, 1.0f);
for (int i = 0; i < 10; i++) {
toFile << "$" << "Generated Level " << (i + 1) << "#NeoRL#Experimental#";
// Generated level data
// Set mode for tiles
inputData[charsetSize - 2] = 0.0f;
inputData[charsetSize - 1] = 1.0f;
// Run through once to get PH ready
//cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
//ph.simStep(cs, input);
char prevChar = 0;
for (int i = 0; i < numTiles; i++) {
// Set character to 1
inputData[prevChar] = 1.0f;
cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input, false);
// Unset character
inputData[prevChar] = 0.0f;
char newChar = 0;
cs.getQueue().enqueueReadImage(ph.getPrediction(), CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, predData.data());
for (int j = 1; j < charsetSize - 2; j++)
if (predData[j] > predData[newChar])
newChar = j;
// Add new character
toFile << newChar;
prevChar = newChar;
}
toFile << "|";
// Set mode for objects
inputData[charsetSize - 2] = 1.0f;
inputData[charsetSize - 1] = 0.0f;
// Run through once to get PH ready
//cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
//ph.simStep(cs, input);
prevChar = 0;
for (int i = 0; i < maxObjects; i++) {
// Set character to 1
inputData[prevChar] = 1.0f;
std::vector<float> noisyInputData = inputData;
for (int j = 0; j < noisyInputData.size(); j++) {
noisyInputData[j] += noiseDist(generator) * 0.1f;
}
cs.getQueue().enqueueWriteImage(input, CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, inputData.data());
ph.simStep(cs, input, false);
// Unset character
inputData[prevChar] = 0.0f;
char newChar = 0;
cs.getQueue().enqueueReadImage(ph.getPrediction(), CL_TRUE, cl::array<cl::size_type, 3> { 0, 0, 0 }, cl::array<cl::size_type, 3> { visDim, visDim, 1 }, 0, 0, predData.data());
for (int j = 1; j < charsetSize - 2; j++)
if (predData[j] > predData[newChar])
newChar = j;
// If is delimiter, break
if (newChar == '#')
break;
// Add new character
toFile << newChar;
prevChar = newChar;
}
toFile << "#" << std::endl << std::endl;
}
return 0;
}
int main() {
sf::RenderWindow window;
sf::ContextSettings glContextSettings;
glContextSettings.antialiasingLevel = 4;
window.create(sf::VideoMode(800, 600), "BIDInet", sf::Style::Default, glContextSettings);
window.setFramerateLimit(60);
window.setVerticalSyncEnabled(true);
std::mt19937 generator(time(nullptr));
/*sys::ComputeSystem cs;
cs.create(sys::ComputeSystem::_gpu);
sys::ComputeProgram program;
program.loadFromFile("resources/bidinet.cl", cs);
bidi::BIDInet bidinet;
std::vector<bidi::BIDInet::InputType> inputTypes(64, bidi::BIDInet::_state);
const int numStates = 3 + 3 + 2 + 2 + 1 + 2 + 2;
const int numActions = 3 + 3 + 2 + 2;
const int numQ = 8;
for (int i = 0; i < numStates; i++)
inputTypes[i] = bidi::BIDInet::_state;
for (int i = 0; i < numActions; i++)
inputTypes[numStates + i] = bidi::BIDInet::_action;
std::vector<bidi::BIDInet::LayerDesc> layerDescs(2);
layerDescs[0]._fbRadius = 16;
layerDescs[1]._width = 8;
layerDescs[1]._height = 8;
bidinet.createRandom(cs, program, 8, 8, inputTypes, layerDescs, -0.1f, 0.1f, 0.001f, 1.0f, generator);*/
// Physics
std::shared_ptr<b2World> world = std::make_shared<b2World>(b2Vec2(0.0f, -9.81f));
const float pixelsPerMeter = 256.0f;
const float groundWidth = 5000.0f;
const float groundHeight = 5.0f;
// Create ground
b2BodyDef groundBodyDef;
groundBodyDef.position.Set(0.0f, 0.0f);
b2Body* groundBody = world->CreateBody(&groundBodyDef);
b2PolygonShape groundBox;
groundBox.SetAsBox(groundWidth * 0.5f, groundHeight * 0.5f);
groundBody->CreateFixture(&groundBox, 0.0f);
sf::Texture skyTexture;
skyTexture.loadFromFile("resources/background1.png");
skyTexture.setSmooth(true);
sf::Texture floorTexture;
floorTexture.loadFromFile("resources/floor1.png");
floorTexture.setRepeated(true);
floorTexture.setSmooth(true);
Runner runner0;
runner0.createDefault(world, b2Vec2(0.0f, 2.762f), 0.0f, 1);
//Runner runner1;
//runner1.createDefault(world, b2Vec2(0.0f, 2.762f), 0.0f, 2);
//deep::FERL ferl;
const int clockCount = 4;
//ferl.createRandom(3 + 3 + 2 + 2 + 1 + 2 + 2 + recCount + clockCount, 3 + 3 + 2 + 2 + recCount, 32, 0.01f, generator);
//std::vector<float> prevAction(ferl.getNumAction(), 0.0f);
deep::CSRL prsdr;
const int inputCount = 3 + 3 + 2 + 2 + 1 + 2 + 2 + clockCount + 1;
const int outputCount = 3 + 3 + 2 + 2;
/*std::vector<deep::CSRL::LayerDesc> layerDescs(2);
layerDescs[0]._width = 4;
layerDescs[0]._height = 4;
layerDescs[1]._width = 3;
layerDescs[1]._height = 3;
std::vector<deep::CSRL::InputType> inputTypes(7 * 7, deep::CSRL::_state);
for (int i = 0; i < inputCount; i++)
inputTypes[i] = deep::CSRL::_state;
for (int i = 0; i < outputCount; i++)
inputTypes[i + inputCount] = deep::CSRL::_action;
prsdr.createRandom(7, 7, 8, inputTypes, layerDescs, -0.01f, 0.01f, 0.01f, 0.05f, 0.5f, generator);
*/
neo::Agent agent;
std::vector<neo::Agent::LayerDesc> layerDescs(2);
layerDescs[0]._width = 8;
layerDescs[0]._height = 8;
layerDescs[1]._width = 4;
layerDescs[1]._height = 4;
std::vector<int> actionIndices;
for (int i = 0; i < outputCount; i++)
actionIndices.push_back(inputCount + i);
agent.createRandom(8, 8, 8, layerDescs, -0.01f, 0.01f, 0.01f, 0.05f, 0.1f, generator);
vis::CSRLVisualizer v;
v.create(512);
sf::RenderTexture rt;
rt.create(512, 512);
// ---------------------------- Game Loop -----------------------------
sf::View view = window.getDefaultView();
bool quit = false;
sf::Clock clock;
float dt = 0.017f;
int steps = 0;
do {
clock.restart();
// ----------------------------- Input -----------------------------
sf::Event windowEvent;
while (window.pollEvent(windowEvent))
{
switch (windowEvent.type)
{
case sf::Event::Closed:
quit = true;
break;
}
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Escape))
quit = true;
//bidinet.simStep(cs, 0.0f, 0.98f, 0.001f, 0.95f, 0.01f, 0.01f, generator);
const float maxRunnerBodyAngle = 0.3f;
const float runnerBodyAngleStab = 10.0f;
std::normal_distribution<float> noiseDist(0.0f, 0.05f);
{
float reward;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::K))
reward = -runner0._pBody->GetLinearVelocity().x;
else
reward = runner0._pBody->GetLinearVelocity().x;
std::vector<float> state;
runner0.getStateVector(state);
std::vector<float> action(3 + 3 + 2 + 2);
/*for (int a = 0; a < recCount; a++)
state.push_back(sdrrl.getAction(10 + a));
for (int a = 0; a < clockCount; a++)
state.push_back(std::sin(steps / 60.0f * 2.0f * a * 2.0f * 3.141596f) * 0.5f + 0.5f);
for (int i = 0; i < state.size(); i++)
sdrrl.setState(i, state[i]);*/
/*for (int a = 0; a < recCount; a++)
state.push_back(prsdr.getPrediction(inputCount + 10 + a));
for (int a = 0; a < clockCount; a++)
state.push_back(std::sin(steps / 60.0f * 2.0f * a * 2.0f * 3.141596f) * 0.5f + 0.5f);
for (int i = 0; i < state.size(); i++)
sdrrl.setState(i, state[i]);*/
for (int a = 0; a < clockCount; a++)
state.push_back(std::sin(steps / 60.0f * 2.0f * a * 2.0f * 3.141596f) * 0.5f + 0.5f);
for (int i = 0; i < state.size(); i++)
agent.setInput(i, state[i]);
for (int i = 0; i < action.size(); i++)
agent.setInput(inputCount + i, std::min(1.0f, std::max(0.0f, agent.getPrediction(inputCount + i) * 0.5f + 0.5f + noiseDist(generator))));
//sdrrl.simStep(reward, 0.05f, 0.99f, 32, 5, 0.1f, 0.01f, 0.1f, 0.01f, 0.01f, 0.05f, 32, 0.05f, 0.98f, 0.05f, 0.01f, 0.01f, 4.0f, generator);
//prsdr.simStep(reward, generator);
agent.simStep(reward, generator);
for (int i = 0; i < action.size(); i++)
action[i] = std::min(1.0f, std::max(0.0f, agent.getPrediction(inputCount + i) * 0.5f + 0.5f));
runner0.motorUpdate(action, 12.0f);
// Keep upright
if (std::abs(runner0._pBody->GetAngle()) > maxRunnerBodyAngle)
runner0._pBody->SetAngularVelocity(-runnerBodyAngleStab * runner0._pBody->GetAngle());
}
/*{
float reward;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::K))
reward = -runner1._pBody->GetLinearVelocity().x;
else
reward = runner1._pBody->GetLinearVelocity().x;
std::vector<float> state;
runner1.getStateVector(state);
std::vector<float> action(3 + 3 + 2 + 2 + recCount);
for (int a = 0; a < recCount; a++)
state.push_back(prevAction[prevAction.size() - recCount + a]);
for (int a = 0; a < clockCount; a++)
state.push_back(std::sin(steps / 60.0f * 2.0f * a * 2.0f * 3.141596f));
// Bias
state.push_back(1.0f);
//ferl.step(state, action, reward, 0.5f, 0.99f, 0.98f, 0.05f, 16, 4, 0.05f, 0.01f, 0.05f, 600, 64, 0.01f, generator);
for (int i = 0; i < action.size(); i++)
action[i] = action[i] * 0.5f + 0.5f;
prevAction = action;
runner1.motorUpdate(action, 12.0f);
// Keep upright
if (std::abs(runner1._pBody->GetAngle()) > maxRunnerBodyAngle)
runner1._pBody->SetAngularVelocity(-runnerBodyAngleStab * runner1._pBody->GetAngle());
}*/
int subSteps = 1;
for (int ss = 0; ss < subSteps; ss++) {
world->ClearForces();
world->Step(1.0f / 60.0f / subSteps, 64, 64);
}
if (!sf::Keyboard::isKeyPressed(sf::Keyboard::T) || steps % 200 == 1) {
// -------------------------------------------------------------------
//if (!sf::Keyboard::isKeyPressed(sf::Keyboard::B))
// view.setCenter(runner1._pBody->GetPosition().x * pixelsPerMeter, -runner1._pBody->GetPosition().y * pixelsPerMeter);
//else
view.setCenter(runner0._pBody->GetPosition().x * pixelsPerMeter, -runner0._pBody->GetPosition().y * pixelsPerMeter);
// Draw sky
sf::Sprite skySprite;
skySprite.setTexture(skyTexture);
window.setView(window.getDefaultView());
window.draw(skySprite);
window.setView(view);
sf::RectangleShape floorShape;
floorShape.setSize(sf::Vector2f(groundWidth * pixelsPerMeter, groundHeight * pixelsPerMeter));
floorShape.setTexture(&floorTexture);
floorShape.setTextureRect(sf::IntRect(0, 0, groundWidth * pixelsPerMeter, groundHeight * pixelsPerMeter));
floorShape.setOrigin(sf::Vector2f(groundWidth * pixelsPerMeter * 0.5f, groundHeight * pixelsPerMeter * 0.5f));
window.draw(floorShape);
//runner1.renderDefault(window, sf::Color::Blue, pixelsPerMeter);
runner0.renderDefault(window, sf::Color::Red, pixelsPerMeter);
/*sf::Image img;
img.create(sdrrl.getNumCells(), 1);
for (int i = 0; i < sdrrl.getNumCells(); i++) {
sf::Color c = sf::Color::Black;
c.r = c.g = c.b = 255.0f * sdrrl.getCellState(i);
img.setPixel(i, 0, c);
}
float scale = 4.0f;
sf::Texture tex;
tex.loadFromImage(img);
sf::Sprite s;
s.setTexture(tex);
s.setScale(sf::Vector2f(scale, scale));
s.setPosition(sf::Vector2f(0.0f, window.getSize().y - scale * img.getSize().y));
window.setView(window.getDefaultView());
window.draw(s);*/
window.setView(window.getDefaultView());
rt.clear(sf::Color::White);
v.update(rt, sf::Vector2f(rt.getSize().x * 0.5f, rt.getSize().y * 0.5f), sf::Vector2f(2.0f, 2.0f), prsdr, 532352);
rt.display();
sf::Sprite s;
s.setTexture(rt.getTexture());
s.setScale(0.5f, 0.5f);
window.draw(s);
window.setView(view);
window.display();
}
else {
if (steps % 100 == 0)
std::cout << "Steps: " << steps << " Distance: " << runner0._pBody->GetPosition().x << std::endl;
}
//dt = clock.getElapsedTime().asSeconds();
steps++;
} while (!quit);
world->DestroyBody(groundBody);
return 0;
}
void plane3d_estimation_using_ransac()
{
//const double PLANE_EQN[4] = { 0.5774, -0.5774, 0.5774, -1.1547 }; // x - y + z - 2 = 0.
const double PLANE_EQN[4] = { 1, -1, 1, -2 }; // x - y + z - 2 = 0.
const size_t NUM_INLIERS = 100;
const size_t NUM_OUTLIERS = 500;
const double& eps = swl::MathConstant::EPS;
// Generate random points.
std::vector<std::array<double, 3>> sample;
sample.reserve(NUM_INLIERS + NUM_OUTLIERS);
{
std::random_device seedDevice;
std::mt19937 RNG = std::mt19937(seedDevice());
std::uniform_real_distribution<double> unifDistInlier(-3, 3); // [-3, 3].
const double sigma = 0.1;
//const double sigma = 0.2; // Much harder.
std::normal_distribution<double> noiseDist(0.0, sigma);
for (size_t i = 0; i < NUM_INLIERS; ++i)
{
const double x = unifDistInlier(RNG), y = unifDistInlier(RNG), z = -(PLANE_EQN[0] * x + PLANE_EQN[1] * y + PLANE_EQN[3]) / PLANE_EQN[2];
sample.push_back({ x + noiseDist(RNG), y + noiseDist(RNG), z + noiseDist(RNG) });
}
std::uniform_real_distribution<double> unifDistOutlier(-5, 5); // [-5, 5].
for (size_t i = 0; i < NUM_OUTLIERS; ++i)
sample.push_back({ unifDistOutlier(RNG), unifDistOutlier(RNG), unifDistOutlier(RNG) });
std::random_shuffle(sample.begin(), sample.end());
}
// RANSAC.
//const size_t minimalSampleSize = 3;
local::Plane3RansacEstimator ransac(sample);
const size_t maxIterationCount = 500;
const size_t minInlierCount = 50;
const double alarmRatio = 0.5;
const bool isProsacSampling = true;
std::cout << "********* RANSAC of Plane3" << std::endl;
{
const double distanceThreshold = 0.1; // Distance threshold.
const size_t inlierCount = ransac.runRANSAC(maxIterationCount, minInlierCount, alarmRatio, isProsacSampling, distanceThreshold);
std::cout << "\tThe number of iterations: " << ransac.getIterationCount() << std::endl;
std::cout << "\tThe number of inliers: " << inlierCount << std::endl;
if (inlierCount != (size_t)-1 && inlierCount >= minInlierCount)
{
if (std::abs(ransac.getA()) > eps)
std::cout << "\tEstimated plane model: " << "x + " << (ransac.getB() / ransac.getA()) << " * y + " << (ransac.getC() / ransac.getA()) << " * z + " << (ransac.getD() / ransac.getA()) << " = 0" << std::endl;
else
std::cout << "\tEstimated plane model: " << ransac.getA() << " * x + " << ransac.getB() << " * y + " << ransac.getC() << " * z + " << ransac.getD() << " = 0" << std::endl;
std::cout << "\tTrue plane model: " << "x + " << (PLANE_EQN[1] / PLANE_EQN[0]) << " * y + " << (PLANE_EQN[2] / PLANE_EQN[0]) << " * z + " << (PLANE_EQN[3] / PLANE_EQN[0]) << " = 0" << std::endl;
const std::vector<bool> &inlierFlags = ransac.getInlierFlags();
std::cout << "\tIndices of inliers: ";
size_t idx = 0;
for (std::vector<bool>::const_iterator cit = inlierFlags.begin(); cit != inlierFlags.end(); ++cit, ++idx)
if (*cit) std::cout << idx << ", ";
std::cout << std::endl;
}
else
std::cout << "\tRANSAC failed" << std::endl;
}
std::cout << "********* MLESAC of Plane3" << std::endl;
{
const double inlierSquaredStandardDeviation = 0.001; // Inliers' squared standard deviation. Assume that inliers follow normal distribution.
const double inlierThresholdProbability = 0.2; // Inliers' threshold probability. Assume that outliers follow uniform distribution.
const size_t maxEMIterationCount = 50;
const size_t inlierCount = ransac.runMLESAC(maxIterationCount, minInlierCount, alarmRatio, isProsacSampling, inlierSquaredStandardDeviation, inlierThresholdProbability, maxEMIterationCount);
std::cout << "\tThe number of iterations: " << ransac.getIterationCount() << std::endl;
std::cout << "\tThe number of inliers: " << inlierCount << std::endl;
if (inlierCount != (size_t)-1 && inlierCount >= minInlierCount)
{
if (std::abs(ransac.getA()) > eps)
std::cout << "\tEstimated plane model: " << "x + " << (ransac.getB() / ransac.getA()) << " * y + " << (ransac.getC() / ransac.getA()) << " * z + " << (ransac.getD() / ransac.getA()) << " = 0" << std::endl;
else
std::cout << "\tEstimated plane model: " << ransac.getA() << " * x + " << ransac.getB() << " * y + " << ransac.getC() << " * z + " << ransac.getD() << " = 0" << std::endl;
std::cout << "\tTrue plane model: " << "x + " << (PLANE_EQN[1] / PLANE_EQN[0]) << " * y + " << (PLANE_EQN[2] / PLANE_EQN[0]) << " * z + " << (PLANE_EQN[3] / PLANE_EQN[0]) << " = 0" << std::endl;
const std::vector<bool> &inlierFlags = ransac.getInlierFlags();
std::cout << "\tIndices of inliers: ";
size_t idx = 0;
for (std::vector<bool>::const_iterator cit = inlierFlags.begin(); cit != inlierFlags.end(); ++cit, ++idx)
if (*cit) std::cout << idx << ", ";
std::cout << std::endl;
}
else
std::cout << "\tMLESAC failed" << std::endl;
}
}