float ExplainedVariationNormal(const Superpixels& sp)
{
Eigen::Vector3f mean_normal = Eigen::Vector3f::Zero();
unsigned int num_valid = 0;
for(const Point& p : sp.points) {
if(p.is_valid) {
mean_normal += p.normal;
num_valid++;
}
}
mean_normal /= mean_normal.norm();
// auto part = sp.ComputePartition();
// std::cout << mean_normal.transpose() << std::endl;
// for(unsigned int i=0; i<part.numSegments(); i++) {
// std::cout << mean_normal.transpose() << std::endl;
// std::cout << sp.cluster[i].center.normal.transpose() << " -> " << 1.0f - mean_normal.dot(sp.cluster[i].center.normal.transpose()) << std::endl;
// float total = 0.0f;
// for(unsigned int j : part.segmentPixelIds(i)) {
// float d = 1.0f - mean_normal.dot(sp.points[j].normal);
// total += d;
// std::cout << "\t" << sp.points[j].normal.transpose() << " -> " << d << std::endl;
// }
// total /= static_cast<float>(part.segmentSize(i));
// std::cout << "total=" << total << std::endl;
// }
return ExplainedVariation(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].normal; },
[&sp](unsigned int i) { return sp.cluster[i].center.normal; },
mean_normal,
[](const Eigen::Vector3f& a, const Eigen::Vector3f& b) { return 1.0f - a.dot(b); }
);
}
float CompressionErrorPosition(const Superpixels& sp)
{
return CompressionError(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].position; },
[&sp](unsigned int i) { return sp.cluster[i].center.position; },
[](const Eigen::Vector3f& a, const Eigen::Vector3f& b) { return (a-b).norm(); }
);
}
float CompressionErrorDepth(const Superpixels& sp)
{
return CompressionError(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].depth(); },
[&sp](unsigned int i) { return sp.cluster[i].center.depth(); },
[](float a, float b) { return std::abs(a-b); }
);
}
float CompressionErrorNormal(const Superpixels& sp)
{
return CompressionError(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].normal; },
[&sp](unsigned int i) { return sp.cluster[i].center.normal; },
[](const Eigen::Vector3f& a, const Eigen::Vector3f& b) {
// protect acos from slightly wrong dot product results
float h = a.dot(b);
h = std::min(1.0f, std::max(0.0f, h));
return 180.0f / boost::math::constants::pi<float>() * std::acos(h);
}
);
}
float ExplainedVariationPosition(const Superpixels& sp)
{
Eigen::Vector3f mean_pos = Eigen::Vector3f::Zero();
unsigned int num_valid = 0;
for(const Point& p : sp.points) {
if(p.is_valid) {
mean_pos += p.position;
num_valid++;
}
}
mean_pos /= static_cast<float>(num_valid);
return ExplainedVariation(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].position; },
[&sp](unsigned int i) { return sp.cluster[i].center.position; },
mean_pos,
[](const Eigen::Vector3f& a, const Eigen::Vector3f& b) { return (a-b).norm(); }
);
}
float ExplainedVariationDepth(const Superpixels& sp)
{
float mean_depth = 0.0f;
unsigned int num_valid = 0;
for(const Point& p : sp.points) {
if(p.is_valid) {
mean_depth += p.depth();
num_valid++;
}
}
mean_depth /= static_cast<float>(num_valid);
return ExplainedVariation(
sp.ComputePartition(),
[&sp](unsigned int j) { return sp.points[j].depth(); },
[&sp](unsigned int i) { return sp.cluster[i].center.depth(); },
mean_depth,
[](float a, float b) { return std::abs(a-b); }
);
}
