const Production& Definition::getRandomProduction() const
{
int low = 0;
int high = possibleExpansions.size () - 1; // Convert from count to index.
int returnIndex = rg.getRandomInteger (low, high);
assert (returnIndex >= low && returnIndex <= high);
return possibleExpansions.at (returnIndex);
}
const Production& Definition::getRandomProduction() const
{
static RandomGenerator random;
int randomIndex = random.getRandomInteger(0, possibleExpansions.size() - 1);
return possibleExpansions[randomIndex];
}
void ObjRecRANSAC::doRecognition(vtkPoints* scene, double successProbability, list<PointSetShape*>& out)
{
if ( scene->GetNumberOfPoints() <= 0 )
return;
Stopwatch overallStopwatch(false);
overallStopwatch.start();
// Do some initial cleanup and setup
mInputScene = scene;
this->init_rec(scene);
mOccupiedPixelsByShapes.clear();
int i, numOfIterations = this->computeNumberOfIterations(successProbability, (int)scene->GetNumberOfPoints());
vector<OctreeNode*>& fullLeaves = mSceneOctree->getFullLeafs();
if ( (int)fullLeaves.size() < numOfIterations )
numOfIterations = (int)fullLeaves.size();
#ifdef OBJ_REC_RANSAC_VERBOSE
printf("ObjRecRANSAC::%s(): recognizing objects [%i iteration(s), %i thread(s)]\n",
__func__, numOfIterations, mNumOfThreads); fflush(stdout);
#endif
OctreeNode** leaves = new OctreeNode*[numOfIterations];
RandomGenerator randgen;
// Init the vector with the ids
vector<int> ids; ids.reserve(fullLeaves.size());
for ( i = 0 ; i < (int)fullLeaves.size() ; ++i ) ids.push_back(i);
// Sample the leaves at random
for ( i = 0 ; i < numOfIterations ; ++i )
{
// Choose a random position within the array of ids
int rand_pos = randgen.getRandomInteger(0, ids.size() - 1);
// Get the id at that random position
leaves[i] = fullLeaves[ids[rand_pos]];
// Delete the selected id
ids.erase(ids.begin() + rand_pos);
}
// Sample the oriented point pairs
this->sampleOrientedPointPairs(leaves, numOfIterations, mSampledPairs);
// Generate the object hypotheses
this->generateHypotheses(mSampledPairs);
list<AcceptedHypothesis> accepted_hypotheses;
// Accept hypotheses
this->acceptHypotheses(accepted_hypotheses);
// Convert the accepted hypotheses to shapes
this->hypotheses2Shapes(accepted_hypotheses, mShapes);
// Filter the weak hypotheses
list<ORRPointSetShape*> detectedShapes;
this->gridBasedFiltering(mShapes, detectedShapes);
// Save the shapes in 'out'
for ( list<ORRPointSetShape*>::iterator it = detectedShapes.begin() ; it != detectedShapes.end() ; ++it )
{
PointSetShape* shape = new PointSetShape(*it);
// Save the new created shape
out.push_back(shape);
// Get the nodes of the current shape
list<OctreeNode*>& nodes = (*it)->getOctreeSceneNodes();
// For all nodes of the current shape
for ( list<OctreeNode*>::iterator node = nodes.begin() ; node != nodes.end() ; ++node )
{
ORROctreeNodeData* data = (ORROctreeNodeData*)(*node)->getData();
// Get the ids from the current node
for ( list<int>::iterator id = data->getPointIds().begin() ; id != data->getPointIds().end() ; ++id )
shape->getScenePointIds().push_back(*id);
}
}
// Cleanup
delete[] leaves;
accepted_hypotheses.clear();
if ( mICPRefinement )
{
ObjRecICP objrec_icp;
objrec_icp.setEpsilon(1.5);
objrec_icp.doICP(*this, out);
}
mLastOverallRecognitionTimeSec = overallStopwatch.stop();
}
