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main_test_seg.cpp
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main_test_seg.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>
#include <opencv2/highgui/highgui.hpp>
std::string link_mesh_name("data/link_uniform.obj");
std::string node_mesh_name("data/node_uniform.obj");
ModelT LoadMesh(std::string filename, std::string label);
void showGT(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, pcl::visualization::PCLVisualizer::Ptr viewer);
//int MeshOn2D(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, cv::Mat &map2d, float fx = FOCAL_X, float fy = FOCAL_Y);
float segAcc(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, pcl::PointCloud<PointT>::Ptr cloud)
{
pcl::PointCloud<PointT>::Ptr link_cloud(new pcl::PointCloud<PointT>());
pcl::PointCloud<PointT>::Ptr node_cloud(new pcl::PointCloud<PointT>());
for( int i = 0 ; i < model_set.size() ; i++ )
{
uint32_t cur_label;
pcl::PointCloud<PointT>::Ptr cur_cloud(new pcl::PointCloud<PointT>());
if( model_set[i].model_label == "link" )
{
cur_label = 1;
cur_cloud = link_cloud;
}
else if( model_set[i].model_label == "node" )
{
cur_label = 2;
cur_cloud = node_cloud;
}
pcl::copyPointCloud(*model_set[i].model_cloud, *cur_cloud);
for( pcl::PointCloud<PointT>::iterator it = cur_cloud->begin() ; it < cur_cloud->end() ; it++ )
it->rgba = cur_label;
}
Eigen::Quaternionf calibrate_rot(Eigen::AngleAxisf(M_PI/2, Eigen::Vector3f (1, 0, 0)));
pcl::PointCloud<PointT>::Ptr all_cloud(new pcl::PointCloud<PointT>());
for(std::vector<poseT>::const_iterator it = poses.begin() ; it < poses.end() ; it++)
{
for( int i = 0 ; i < model_set.size() ; i++ )
{
if(model_set[i].model_label == it->model_name )
{
pcl::PointCloud<PointT>::Ptr cur_cloud(new pcl::PointCloud<PointT>());
if( it->model_name == "link" )
pcl::copyPointCloud(*link_cloud, *cur_cloud);
else if( it->model_name == "node" )
pcl::copyPointCloud(*node_cloud, *cur_cloud);
pcl::transformPointCloud(*cur_cloud, *cur_cloud, it->shift, it->rotation*calibrate_rot);
all_cloud->insert(all_cloud->end(), cur_cloud->begin(), cur_cloud->end());
}
}
}
pcl::search::KdTree<PointT> tree;
tree.setInputCloud (all_cloud);
uint8_t tmp_color = 255;
uint32_t red = tmp_color << 16;
uint32_t blue = tmp_color;
int pos_count = 0;
float T = 0.02*0.02;
for ( pcl::PointCloud<PointT>::iterator it = cloud->begin() ; it < cloud->end() ; it++ )
{
std::vector<int> indices (1);
std::vector<float> sqr_distances (1);
int nres = tree.nearestKSearch(*it, 1, indices, sqr_distances);
if( it->rgba > 255 )
it->rgba = 1;
else if( it->rgba > 0 )
it->rgba = 2;
else
it->rgba = 0;
if ( nres == 1 && sqr_distances[0] < T )
{
if(it->rgba == all_cloud->at(indices[0]).rgba)
pos_count++;
}
else if( it->rgba == 0 || sqr_distances[0] > T )
pos_count++;
if( nres == 1 && sqr_distances[0] < T )
{
if( all_cloud->at(indices[0]).rgba == 1 )
it->rgba = red;
else if( all_cloud->at(indices[0]).rgba == 2 )
it->rgba = blue;
}
else
it->rgba = 0;
}
return (pos_count +0.0) / cloud->size();
}
int main(int argc, char** argv)
{
std::string seg_path("data/ln_joint/");
std::string gt_path("final_joint_gt/");
std::string out_path("");
//pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer());
//viewer->initCameraParameters();
//viewer->addCoordinateSystem(0.1);
//viewer->setCameraPosition(0, 0, 0.1, 0, 0, 1, 0, -1, 0);
int c1 = 0, c2 = -1;
pcl::console::parse_argument(argc, argv, "--gt", gt_path);
pcl::console::parse_argument(argc, argv, "--eg", seg_path);
pcl::console::parse_argument(argc, argv, "--o", out_path);
pcl::console::parse_argument(argc, argv, "--c1", c1);
pcl::console::parse_argument(argc, argv, "--c2", c2);
if( out_path.empty() == false && exists_dir(out_path) == false )
boost::filesystem::create_directories(out_path);
float acc = 0;
int acc_count = 0;
for(int i = c1 ; i <= c2 ; i++ )
{
std::stringstream ss;
ss << i;
std::string pcd_file(seg_path + "seg_" + ss.str() + ".pcd");
std::string link_pose_file(gt_path + "link_gt_" + ss.str() + ".csv");
std::string node_pose_file(gt_path + "node_gt_" + ss.str() + ".csv");
std::cerr << "Loading... " << pcd_file << std::endl;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>());
pcl::io::loadPCDFile(pcd_file, *cloud);
if( cloud->empty() == true )
break;
acc_count++;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
std::vector<poseT> all_poses;
readCSV(link_pose_file, "link", all_poses);
readCSV(node_pose_file, "node", all_poses);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//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);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//viewer->removePointCloud("cloud");
//viewer->addPointCloud(cloud, "cloud");
//viewer->spin();
float cur_acc = segAcc(mesh_set, all_poses, cloud);
std::cerr << "P: " << cur_acc << std::endl;
acc += cur_acc;
if( out_path.empty() == false )
pcl::io::savePCDFile(out_path + "seg_" + ss.str() + ".pcd", *cloud, true);
//viewer->removePointCloud("cloud");
//viewer->addPointCloud(cloud, "cloud");
//viewer->spin();
/*
cv::Mat gt_label, seg_label, uv;
int gt_num = MeshOn2D(mesh_set, all_poses, gt_label);
int seg_num = segProj(cloud, seg_label, uv);
int true_pos = overlapGT(gt_label, seg_label, uv);
std::cerr << "P: " << (true_pos+0.0) / seg_num << std::endl;
acc += (true_pos+0.0) / seg_num;
//*
showLabel(gt_label, "GT");
showLabel(seg_label, "Seg");
//*/
}
std::cerr << "Seg-Acc: " << acc / acc_count << std::endl;
/*************************************************************************************************************************/
return 0;
}
void showGT(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, pcl::visualization::PCLVisualizer::Ptr viewer)
{
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);
pcl::transformPointCloud(*rec[i], *cur_cloud, it->shift, it->rotation*calibrate_rot);
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;
}
}
}
}
/*
int MeshOn2D(const std::vector<ModelT> &model_set, const std::vector<poseT> &poses, cv::Mat &map2d, float fx, float fy)
{
int img_h = 480;
int img_w = 640;
cv::Mat elev_map = cv::Mat::ones(img_h, img_w, CV_32FC1)*1000;
map2d = cv::Mat::zeros(img_h, img_w, CV_32SC1);
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++)
{
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(*model_set[i].model_cloud, *cur_cloud, Eigen::Vector3f (0, 0, 0), calibrate_rot);
pcl::transformPointCloud(*cur_cloud, *cur_cloud, it->shift, it->rotation);
int cur_label;
if( it->model_name == "link" )
cur_label = 1;
else if( it->model_name == "node" )
cur_label = 2;
size_t num = cur_cloud->size();
for( size_t i = 0 ; i < num ; i++ )
{
myPointXYZ *pt_ptr = &cur_cloud->at(i);
int img_x = round(pt_ptr->x / pt_ptr->z * fx + CENTER_X);
int img_y = round(pt_ptr->y / pt_ptr->z * fy + CENTER_Y);
if( img_x < 0 ) img_x = 0;
if( img_y < 0 ) img_y = 0;
if( img_x >= img_w ) img_x = img_w-1;
if( img_y >= img_h ) img_y = img_h-1;
if( pt_ptr->z < elev_map.at<float>(img_y, img_x) )
{
if( map2d.at<int>(img_y, img_x) <= 0 )
count++;
map2d.at<int>(img_y, img_x) = cur_label;
elev_map.at<float>(img_y, img_x) = pt_ptr->z;
}
}
}
}
}
return count;
}
int segProj(const pcl::PointCloud<PointT>::Ptr cloud, cv::Mat &map2d, cv::Mat &uv, float fx = FOCAL_X, float fy = FOCAL_Y)
{
size_t num = cloud->size();
int img_h = 480;
int img_w = 640;
map2d = cv::Mat::ones(img_h, img_w, CV_32SC1)*-1;
uv = cv::Mat::zeros(num, 2, CV_32SC1);
int *ptr_uv = (int *)uv.data;
cv::Mat link_count = cv::Mat::zeros(img_h, img_w, CV_32SC1);
cv::Mat node_count = cv::Mat::zeros(img_h, img_w, CV_32SC1);
cv::Mat back_count = cv::Mat::zeros(img_h, img_w, CV_32SC1);
int count = 0;
for( size_t i = 0 ; i < num ; i++ )
{
PointT *pt_ptr = &cloud->at(i);
int img_x = round(pt_ptr->x / pt_ptr->z * fx + CENTER_X);
int img_y = round(pt_ptr->y / pt_ptr->z * fy + CENTER_Y);
if( img_x < 0 ) img_x = 0;
if( img_y < 0 ) img_y = 0;
if( img_x >= img_w ) img_x = img_w-1;
if( img_y >= img_h ) img_y = img_h-1;
if( map2d.at<int>(img_y, img_x) < 0 )
{
*ptr_uv = img_y; ptr_uv++;
*ptr_uv = img_x; ptr_uv++;
count++;
}
if( pt_ptr->rgba > 255 )
link_count.at<int>(img_y, img_x)++;
else if( pt_ptr->rgba > 0 )
node_count.at<int>(img_y, img_x)++;
else
back_count.at<int>(img_y, img_x)++;
int link_num = link_count.at<int>(img_y, img_x);
int node_num = node_count.at<int>(img_y, img_x);
int back_num = back_count.at<int>(img_y, img_x);
if( link_num > node_num && link_num > back_num )
map2d.at<int>(img_y, img_x) = 1;
else if( node_num > back_num )
map2d.at<int>(img_y, img_x) = 2;
else
map2d.at<int>(img_y, img_x) = 0;
}
return count;
}
int overlapGT(const cv::Mat >_label, const cv::Mat &seg_label, const cv::Mat &uv)
{
int num = uv.rows;
int count = 0;
cv::Mat diff = cv::Mat::zeros(480, 640, CV_8UC1);
for(int i = 0 ; i < num ; i++ )
{
int img_y = uv.at<int>(i, 0);
int img_x = uv.at<int>(i, 1);
if( gt_label.at<int>(img_y, img_x) == seg_label.at<int>(img_y, img_x) )
count++;
if( gt_label.at<int>(img_y, img_x) == 0 && seg_label.at<int>(img_y, img_x) > 0)
count++;
//diff.at<uchar>(img_y, img_x) = 255;
}
//cv::imshow("DIFF", diff);
//cv::waitKey();
return count;
}
void showLabel(cv::Mat label_map, std::string name)
{
cv::Mat show_gt = cv::Mat::zeros(label_map.rows, label_map.cols, CV_8UC3);
for(int r = 0 ; r < label_map.rows; r++ ){
for(int c = 0 ; c < label_map.cols; c++ )
{
if(label_map.at<int>(r, c) == 1 )
{
show_gt.at<uchar>(r, c*3+2) = 255;
show_gt.at<uchar>(r, c*3+1) = 0;
show_gt.at<uchar>(r, c*3) = 0;
}
else if(label_map.at<int>(r, c) == 2 )
{
show_gt.at<uchar>(r, c*3+2) = 0;
show_gt.at<uchar>(r, c*3+1) = 0;
show_gt.at<uchar>(r, c*3) = 255;
}
}
}
cv::imshow(name.c_str(), show_gt);
cv::waitKey();
}
*/