void
pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::loadFeaturesAndCreateFLANN ()
{
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
std::cout << "Models size:" << models->size () << std::endl;
for (size_t i = 0; i < models->size (); i++)
{
std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);
bf::path inside = path;
bf::directory_iterator end_itr;
for (bf::directory_iterator itr_in (inside); itr_in != end_itr; ++itr_in)
{
#if BOOST_FILESYSTEM_VERSION == 3
std::string file_name = (itr_in->path ().filename ()).string();
#else
std::string file_name = (itr_in->path ()).filename ();
#endif
std::vector < std::string > strs;
boost::split (strs, file_name, boost::is_any_of ("_"));
if (strs[0] == "descriptor")
{
std::string full_file_name = itr_in->path ().string ();
std::string name = file_name.substr (0, file_name.length () - 4);
std::vector < std::string > strs;
boost::split (strs, name, boost::is_any_of ("_"));
flann_model descr_model;
descr_model.model = models->at (i);
descr_model.view_id = atoi (strs[1].c_str ());
if (use_cache_)
{
std::stringstream dir_keypoints;
std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);
dir_keypoints << path << "/keypoint_indices_" << descr_model.view_id << ".pcd";
std::stringstream dir_pose;
dir_pose << path << "/pose_" << descr_model.view_id << ".txt";
Eigen::Matrix4f pose_matrix;
PersistenceUtils::readMatrixFromFile (dir_pose.str (), pose_matrix);
std::pair<std::string, int> pair_model_view = std::make_pair (models->at (i).id_, descr_model.view_id);
poses_cache_[pair_model_view] = pose_matrix;
//load keypoints and save them to cache
typename pcl::PointCloud<PointInT>::Ptr keypoints (new pcl::PointCloud<PointInT> ());
pcl::io::loadPCDFile (dir_keypoints.str (), *keypoints);
keypoints_cache_[pair_model_view] = keypoints;
}
typename pcl::PointCloud<FeatureT>::Ptr signature (new pcl::PointCloud<FeatureT> ());
pcl::io::loadPCDFile (full_file_name, *signature);
int size_feat = sizeof(signature->points[0].histogram) / sizeof(float);
for (size_t dd = 0; dd < signature->points.size (); dd++)
{
descr_model.keypoint_id = static_cast<int> (dd);
descr_model.descr.resize (size_feat);
memcpy (&descr_model.descr[0], &signature->points[dd].histogram[0], size_feat * sizeof(float));
flann_models_.push_back (descr_model);
}
}
}
}
convertToFLANN (flann_models_, flann_data_);
flann_index_ = new flann::Index<DistT> (flann_data_, flann::KDTreeIndexParams (4));
flann_index_->buildIndex ();
}
void
pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::loadFeaturesAndCreateFLANN ()
{
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
std::map < std::string, boost::shared_ptr<std::vector<int> > > single_categories;
if (use_single_categories_)
{
for (size_t i = 0; i < models->size (); i++)
{
std::map<std::string, boost::shared_ptr<std::vector<int> > >::iterator it;
std::string cat_model = models->at (i).class_;
it = single_categories.find (cat_model);
if (it == single_categories.end ())
{
boost::shared_ptr < std::vector<int> > v (new std::vector<int>);
single_categories[cat_model] = v;
}
}
}
for (size_t i = 0; i < models->size (); i++)
{
std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);
bf::path inside = path;
bf::directory_iterator end_itr;
for (bf::directory_iterator itr_in (inside); itr_in != end_itr; ++itr_in)
{
#if BOOST_FILESYSTEM_VERSION == 3
std::string file_name = (itr_in->path ().filename ()).string();
#else
std::string file_name = (itr_in->path ()).filename ();
#endif
std::vector < std::string > strs;
boost::split (strs, file_name, boost::is_any_of ("_"));
if (strs[0] == "descriptor")
{
int view_id = atoi (strs[1].c_str ());
std::vector < std::string > strs1;
boost::split (strs1, strs[2], boost::is_any_of ("."));
int descriptor_id = atoi (strs1[0].c_str ());
std::string full_file_name = itr_in->path ().string ();
typename pcl::PointCloud<FeatureT>::Ptr signature (new pcl::PointCloud<FeatureT>);
pcl::io::loadPCDFile (full_file_name, *signature);
flann_model descr_model;
descr_model.model = models->at (i);
descr_model.view_id = view_id;
descr_model.descriptor_id = descriptor_id;
int size_feat = sizeof(signature->points[0].histogram) / sizeof(double);
descr_model.descr.resize (size_feat);
memcpy (&descr_model.descr[0], &signature->points[0].histogram[0], size_feat * sizeof(double));
if (use_single_categories_)
{
std::map<std::string, boost::shared_ptr<std::vector<int> > >::iterator it;
std::string cat_model = models->at (i).class_;
it = single_categories.find (cat_model);
if (it == single_categories.end ())
{
std::cout << cat_model << std::endl;
std::cout << "Should not happen..." << std::endl;
}
else
{
it->second->push_back (static_cast<int> (flann_models_.size ()));
}
}
flann_models_.push_back (descr_model);
if (use_cache_)
{
std::stringstream dir_pose;
dir_pose << path << "/pose_" << descr_model.view_id << ".txt";
Eigen::Matrix4d pose_matrix;
PersistenceUtils::readMatrixFromFile (dir_pose.str (), pose_matrix);
std::pair<std::string, int> pair_model_view = std::make_pair (models->at (i).id_, descr_model.view_id);
poses_cache_[pair_model_view] = pose_matrix;
}
}
}
}
convertToFLANN (flann_models_, flann_data_);
flann_index_ = new flann::Index<DistT> (flann_data_, flann::LinearIndexParams ());
flann_index_->buildIndex ();
//single categories...
if (use_single_categories_)
{
std::map<std::string, boost::shared_ptr<std::vector<int> > >::iterator it;
single_categories_data_.resize (single_categories.size ());
single_categories_index_.resize (single_categories.size ());
single_categories_pointers_to_models_.resize (single_categories.size ());
int kk = 0;
for (it = single_categories.begin (); it != single_categories.end (); it++)
{
//create index and flann data
convertToFLANN (flann_models_, it->second, single_categories_data_[kk]);
single_categories_index_[kk] = new flann::Index<DistT> (single_categories_data_[kk], flann::LinearIndexParams ());
single_categories_pointers_to_models_[kk] = it->second;
category_to_vectors_indices_[it->first] = kk;
kk++;
}
}
}
