void VFH::loadFeatureModels (const boost::filesystem::path &base_dir, const std::string &extension,
std::vector<vfh_model> &models)
{
if (!boost::filesystem::exists (base_dir) && !boost::filesystem::is_directory (base_dir))
return;
for (boost::filesystem::directory_iterator it (base_dir); it != boost::filesystem::directory_iterator (); ++it)
{
if (boost::filesystem::is_directory (it->status ()))
{
std::stringstream ss;
ss << it->path ();
pcl::console::print_highlight ("Loading %s (%lu models loaded so far).\n", ss.str ().c_str (), (unsigned long)models.size ());
loadFeatureModels (it->path (), extension, models);
}
if(boost::filesystem::is_regular_file (it->status ()))
std::cout<<boost::filesystem::extension (it->path ())<<" "<<extension<<std::endl;
if(boost::filesystem::extension (it->path ()) == extension)
std::cout<<"YES"<<std::endl;
if (boost::filesystem::is_regular_file (it->status ()) && boost::filesystem::extension (it->path ()) == extension)
{
std::cout<<"in"<<std::endl;
vfh_model m;
if (loadHist (base_dir / it->path ().filename (), m))
models.push_back (m);
}
}
}
int
main (int argc, char** argv)
{
if (argc < 2)
{
PCL_ERROR ("Need at least two parameters! Syntax is: %s [model_directory] [options]\n", argv[0]);
return (-1);
}
std::string extension (".pcd");
transform (extension.begin (), extension.end (), extension.begin (), (int(*)(int))tolower);
std::string kdtree_idx_file_name = "kdtree.idx";
std::string training_data_h5_file_name = "training_data.h5";
std::string training_data_list_file_name = "training_data.list";
std::ofstream ofs;
ofs.open(training_data_h5_file_name.c_str(), std::ofstream::out | std::ofstream::trunc);
ofs.close();
std::vector<vfh_model> models;
// Load the model histograms
loadFeatureModels (argv[1], extension, models);
pcl::console::print_highlight ("Loaded %d VFH models. Creating training data %s/%s.\n",
(int)models.size (), training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ());
// Convert data into FLANN format
flann::Matrix<float> data (new float[models.size () * models[0].second.size ()], models.size (), models[0].second.size ());
for (size_t i = 0; i < data.rows; ++i)
for (size_t j = 0; j < data.cols; ++j)
data[i][j] = models[i].second[j];
// Save data to disk (list of models)
flann::save_to_file (data, training_data_h5_file_name, "training_data");
std::ofstream fs;
fs.open (training_data_list_file_name.c_str ());
for (size_t i = 0; i < models.size (); ++i)
fs << models[i].first << "\n";
fs.close ();
// Build the tree index and save it to disk
pcl::console::print_error ("Building the kdtree index (%s) for %d elements...\n", kdtree_idx_file_name.c_str (), (int)data.rows);
flann::Index<flann::ChiSquareDistance<float> > index (data, flann::LinearIndexParams ());
// flann::Index<flann::HellingerDistance<float> > index (data, flann::LinearIndexParams ());
//flann::Index<flann::ChiSquareDistance<float> > index (data, flann::KDTreeIndexParams (4));
index.buildIndex ();
index.save (kdtree_idx_file_name);
delete[] data.ptr ();
return (0);
}
void VFH::reloadVFH(std::string path_to_dir)
{
kdtree_idx_file_name = "kdtree.idx";
training_data_h5_file_name = "training_data.h5";
training_data_list_file_name = "training_data.list";
std::vector<vfh_model> models;
std::string model_directory (path_to_dir);
// Load the model histograms
loadFeatureModels (model_directory, ".vfh", models);
pcl::console::print_highlight ("Loaded %d VFH models. Creating training data %s/%s.\n",
(int)models.size (), training_data_h5_file_name.c_str (), training_data_list_file_name.c_str ());
flann::Matrix<float> data (new float[models.size () * models[0].second.size ()], models.size (), models[0].second.size ());
for (size_t i = 0; i < data.rows; ++i)
for (size_t j = 0; j < data.cols; ++j)
data[i][j] = models[i].second[j];
std::cout<<"Saving data to disk"<<std::endl;
// Save data to disk (list of models)
flann::save_to_file (data, training_data_h5_file_name, "training_data");
std::ofstream fs;
fs.open (training_data_list_file_name.c_str ());
for (size_t i = 0; i < models.size (); ++i)
{
std::cout<<models[i].first<<std::endl;
fs << models[i].first << "\n";
}
fs.close ();
// Build the tree index and save it to disk
pcl::console::print_error ("Building the kdtree index (%s) for %d elements...\n", kdtree_idx_file_name.c_str (), (int)data.rows);
flann::Index<flann::ChiSquareDistance<float> > index (data, flann::LinearIndexParams ());
//flann::Index<flann::ChiSquareDistance<float> > index (data, flann::KDTreeIndexParams (4));
index.buildIndex ();
index.save (kdtree_idx_file_name);
delete[] data.ptr ();
}
