bool NormalColorMapFilter<T>::update(const T& mapIn, T& mapOut)
{
const auto& normalX = mapIn[inputLayersPrefix_ + "x"];
const auto& normalY = mapIn[inputLayersPrefix_ + "y"];
const auto& normalZ = mapIn[inputLayersPrefix_ + "z"];
mapOut = mapIn;
mapOut.add(outputLayer_);
auto& color = mapOut[outputLayer_];
// X: -1 to +1 : Red: 0 to 255
// Y: -1 to +1 : Green: 0 to 255
// Z: 0 to 1 : Blue: 128 to 255
// For each cell in map.
for (size_t i = 0; i < color.size(); ++i) {
const Eigen::Vector3f colorVector((normalX(i) + 1.0) / 2.0,
(normalY(i) + 1.0) / 2.0,
(normalZ(i) / 2.0) + 0.5);
colorVectorToValue(colorVector, color(i));
}
return true;
}
void GlobFit::dumpData(const std::vector<RelationEdge>& vecRelationEdge, const std::string& stageName)
{
size_t maxVerticesNum = 0;
for (size_t i = 0, iEnd = _vecPrimitive.size(); i < iEnd; ++ i) {
Primitive* pPrimitive = _vecPrimitive[i];
pPrimitive->prepareParameters();
maxVerticesNum = std::max(pPrimitive->getPointIdx().size(), maxVerticesNum);
}
std::locale loc("C");
std::string path = boost::filesystem::current_path().string();
path = path+"/matlab/data/"+stageName+"/";
boost::filesystem::create_directories(path);
std::ofstream constraints((path+"constraints.dat").c_str());
std::ofstream primitiveType((path+"primitiveType.dat").c_str());
std::ofstream inputParameters((path+"inputParameters.dat").c_str());
std::ofstream numVertices((path+"numVertices.dat").c_str());
std::ofstream coordX((path+"coordX.dat").c_str());
std::ofstream coordY((path+"coordY.dat").c_str());
std::ofstream coordZ((path+"coordZ.dat").c_str());
std::ofstream normalX((path+"normalX.dat").c_str());
std::ofstream normalY((path+"normalY.dat").c_str());
std::ofstream normalZ((path+"normalZ.dat").c_str());
std::ofstream confVertices((path+"confVertices.dat").c_str());
constraints.imbue(loc);
primitiveType.imbue(loc);
inputParameters.imbue(loc);
inputParameters.precision(16);
numVertices.imbue(loc);
coordX.imbue(loc);
coordX.precision(16);
coordY.imbue(loc);
coordY.precision(16);
coordZ.imbue(loc);
coordZ.precision(16);
normalX.imbue(loc);
normalX.precision(16);
normalY.imbue(loc);
normalY.precision(16);
normalZ.imbue(loc);
normalZ.precision(16);
confVertices.imbue(loc);
confVertices.precision(16);
for (size_t i = 0, iEnd = vecRelationEdge.size(); i < iEnd; ++ i) {
const RelationEdge& relationEdge = vecRelationEdge[i];
constraints << relationEdge << std::endl;
}
for (size_t i = 0, iEnd = _vecPrimitive.size(); i < iEnd; ++ i) {
Primitive* pPrimitive = _vecPrimitive[i];
primitiveType << pPrimitive->getType() << std::endl;
pPrimitive->prepareParameters();
for (size_t j = 0, jEnd = Primitive::getNumParameter(); j < jEnd; ++ j) {
inputParameters << pPrimitive->getParameter(j) << " ";
}
inputParameters << std::endl;
numVertices << pPrimitive->getPointIdx().size() << std::endl;
for (size_t j = 0, jEnd = pPrimitive->getPointIdx().size(); j < jEnd; ++ j) {
const RichPoint* richPoint = _vecPointSet[pPrimitive->getPointIdx()[j]];
const Point& point = richPoint->point;
const Vector& normal = richPoint->normal;
coordX << point.x() << " ";
coordY << point.y() << " ";
coordZ << point.z() << " ";
normalX << normal.x() << " ";
normalY << normal.y() << " ";
normalZ << normal.z() << " ";
confVertices << richPoint->confidence << " ";
}
for (size_t j = pPrimitive->getPointIdx().size(); j < maxVerticesNum; ++ j) {
coordX << 0 << " ";
coordY << 0 << " ";
coordZ << 0 << " ";
normalX << 0 << " ";
normalY << 0 << " ";
normalZ << 0 << " ";
confVertices << 0 << " ";
}
coordX << std::endl;
coordY << std::endl;
coordZ << std::endl;
normalX << std::endl;
normalY << std::endl;
normalZ << std::endl;
confVertices << std::endl;
}
return;
}