Minor examples formatting fixes

kzampog · Jun 25, 2022 · d0ba7a9 · d0ba7a9
1 parent 8485952
commit d0ba7a9
Show file tree

Hide file tree

Showing 6 changed files with 59 additions and 62 deletions.
diff --git a/examples/fusion.cpp b/examples/fusion.cpp
@@ -212,11 +212,11 @@ int main(int argc, char ** argv) {
 
         // Visualization
         rgbv.setImage(rgb_img.ptr, w, h, "RGB24");
-//        pcdv.addObject<cilantro::PointCloudRenderable>("model", model, rp)->setPointValues(confidence);
+        // pcdv.addObject<cilantro::PointCloudRenderable>("model", model, rp)->setPointValues(confidence);
         pcdv.addObject<cilantro::PointCloudRenderable>("model", model, rp);
         pcdv.addObject<cilantro::CameraFrustumRenderable>("cam", w, h, K, cam_pose.matrix(), 0.1f, cilantro::RenderingProperties().setLineWidth(2.0f).setLineColor(1.0f,1.0f,0.0f));
-//        pcdv.addObject<cilantro::PointCloudRenderable>("frame", frame.transformed(cam_pose), cilantro::RenderingProperties().setOpacity(0.2f).setPointColor(0.8f, 0.8f, 0.8f).setUseLighting(false));
-//        pcdv.setCameraPose(cam_pose);
+        // pcdv.addObject<cilantro::PointCloudRenderable>("frame", frame.transformed(cam_pose), cilantro::RenderingProperties().setOpacity(0.2f).setPointColor(0.8f, 0.8f, 0.8f).setUseLighting(false));
+        // pcdv.setCameraPose(cam_pose);
 
         pcdv.clearRenderArea();
         rgbv.render();

diff --git a/examples/image_point_cloud_conversions.cpp b/examples/image_point_cloud_conversions.cpp
@@ -52,10 +52,10 @@ int main(int argc, char ** argv) {
 
         // Get point cloud from RGBD image pair
         cilantro::DepthValueConverter<unsigned short,float> dc1(1000.0f);
-//        cloud.fromDepthImage(depth_img.ptr, dc1, w, h, K, false, true);
-//        cloud.fromRGBDImages(rgb_img.ptr, depth_img.ptr, dc1, w, h, K, false, true);
-//        cilantro::RGBDImagesToPointsColors(rgb_img.ptr, depth_img.ptr, dc1, w, h, K, cloud.points, cloud.colors, false);
-//        cilantro::depthImageToPointsNormals(depth_img.ptr, dc1, w, h, K, cloud.points, cloud.normals, false);
+        // cloud.fromDepthImage(depth_img.ptr, dc1, w, h, K, false, true);
+        // cloud.fromRGBDImages(rgb_img.ptr, depth_img.ptr, dc1, w, h, K, false, true);
+        // cilantro::RGBDImagesToPointsColors(rgb_img.ptr, depth_img.ptr, dc1, w, h, K, cloud.points, cloud.colors, false);
+        // cilantro::depthImageToPointsNormals(depth_img.ptr, dc1, w, h, K, cloud.points, cloud.normals, false);
         cilantro::RGBDImagesToPointsNormalsColors(rgb_img.ptr, depth_img.ptr, dc1, w, h, K, cloud.points, cloud.normals, cloud.colors, false);
 
         // Get a depth map back from the point cloud

diff --git a/examples/multidimensional_scaling.cpp b/examples/multidimensional_scaling.cpp
@@ -48,7 +48,6 @@ int main(int argc, char ** argv) {
     std::cout << "Embedding dimension: " << mds.getEmbeddedPoints().rows() << std::endl;
 
     size_t dim = mds.getEmbeddedPoints().rows();
-//    std::cout << mds.getComputedEigenValues().transpose() << std::endl;
 
     // Create a new cloud by re-embedding the embedded points back to 3D
     cilantro::VectorSet<float,3> points_reproj(3, distances_sq.rows());

diff --git a/examples/non_rigid_icp.cpp b/examples/non_rigid_icp.cpp
@@ -59,7 +59,7 @@ int main(int argc, char ** argv) {
     cilantro::Timer timer;
     timer.start();
 
-//    cilantro::SimpleCombinedMetricSparseAffineWarpFieldICP3f icp(dst.points, dst.normals, src.points, src_to_control_nn, control_points.cols(), regularization_nn);
+    // cilantro::SimpleCombinedMetricSparseAffineWarpFieldICP3f icp(dst.points, dst.normals, src.points, src_to_control_nn, control_points.cols(), regularization_nn);
     cilantro::SimpleCombinedMetricSparseRigidWarpFieldICP3f icp(dst.points, dst.normals, src.points, src_to_control_nn, control_points.cols(), regularization_nn);
 
     // Parameter setting
@@ -77,40 +77,38 @@ int main(int argc, char ** argv) {
 
     timer.stop();
 
+    // // Example 2: Compute a densely supported warp field (each point has its own local transformation)
+    // float res = 0.005f;
+    // float regularization_sigma = 3.0f*res;
 
-//    // Example 2: Compute a densely supported warp field (each point has its own local transformation)
-//    float res = 0.005f;
-//    float regularization_sigma = 3.0f*res;
-//
-//    dst.gridDownsample(res).removeInvalidData();
-//    src.gridDownsample(res).removeInvalidData();
-//
-//    float max_correspondence_dist_sq = 0.04f*0.04f;
-//
-//    std::vector<cilantro::NeighborSet<float>> regularization_nn;
-//    cilantro::KDTree3f(src.points).search(src.points, cilantro::KNNNeighborhoodSpecification<>(12), regularization_nn);
-//
-//    // Perform ICP registration
-//    cilantro::Timer timer;
-//    timer.start();
-//
-////    cilantro::SimpleCombinedMetricDenseAffineWarpFieldICP3f icp(dst.points, dst.normals, src.points, regularization_nn);
-//    cilantro::SimpleCombinedMetricDenseRigidWarpFieldICP3f icp(dst.points, dst.normals, src.points, regularization_nn);
-//
-//    // Parameter setting
-//    icp.correspondenceSearchEngine().setMaxDistance(max_correspondence_dist_sq);
-//    icp.regularizationWeightEvaluator().setSigma(regularization_sigma);
-//
-//    icp.setMaxNumberOfIterations(15).setConvergenceTolerance(2.5e-3f);
-//    icp.setMaxNumberOfGaussNewtonIterations(1).setGaussNewtonConvergenceTolerance(5e-4f);
-//    icp.setMaxNumberOfConjugateGradientIterations(500).setConjugateGradientConvergenceTolerance(1e-5f);
-//    icp.setPointToPointMetricWeight(0.1f).setPointToPlaneMetricWeight(1.0f).setStiffnessRegularizationWeight(200.0f);
-//    icp.setHuberLossBoundary(1e-2f);
-//
-//    auto tf_est = icp.estimate().getTransform();
-//
-//    timer.stop();
+    // dst.gridDownsample(res).removeInvalidData();
+    // src.gridDownsample(res).removeInvalidData();
 
+    // float max_correspondence_dist_sq = 0.04f*0.04f;
+
+    // std::vector<cilantro::NeighborSet<float>> regularization_nn;
+    // cilantro::KDTree3f(src.points).search(src.points, cilantro::KNNNeighborhoodSpecification<>(12), regularization_nn);
+
+    // // Perform ICP registration
+    // cilantro::Timer timer;
+    // timer.start();
+
+    // // cilantro::SimpleCombinedMetricDenseAffineWarpFieldICP3f icp(dst.points, dst.normals, src.points, regularization_nn);
+    // cilantro::SimpleCombinedMetricDenseRigidWarpFieldICP3f icp(dst.points, dst.normals, src.points, regularization_nn);
+
+    // // Parameter setting
+    // icp.correspondenceSearchEngine().setMaxDistance(max_correspondence_dist_sq);
+    // icp.regularizationWeightEvaluator().setSigma(regularization_sigma);
+
+    // icp.setMaxNumberOfIterations(15).setConvergenceTolerance(2.5e-3f);
+    // icp.setMaxNumberOfGaussNewtonIterations(1).setGaussNewtonConvergenceTolerance(5e-4f);
+    // icp.setMaxNumberOfConjugateGradientIterations(500).setConjugateGradientConvergenceTolerance(1e-5f);
+    // icp.setPointToPointMetricWeight(0.1f).setPointToPlaneMetricWeight(1.0f).setStiffnessRegularizationWeight(200.0f);
+    // icp.setHuberLossBoundary(1e-2f);
+
+    // auto tf_est = icp.estimate().getTransform();
+
+    // timer.stop();
 
     std::cout << "Registration time: " << timer.getElapsedTime() << "ms" << std::endl;
     std::cout << "Iterations performed: " << icp.getNumberOfPerformedIterations() << std::endl;

diff --git a/examples/rigid_icp.cpp b/examples/rigid_icp.cpp
@@ -84,30 +84,30 @@ int main(int argc, char ** argv) {
     cilantro::Timer timer;
     timer.start();
 
-//    // Custom examples
-//    // Point features adaptors for correspondence search
-////    cilantro::PointNormalColorFeaturesAdaptor3f dst_feat(dst.points, dst.normals, dst.colors, 0.5, 5.0);
-////    cilantro::PointNormalColorFeaturesAdaptor3f src_feat(src.points, src.normals, src.colors, 0.5, 5.0);
-//    cilantro::PointFeaturesAdaptor3f dst_feat(dst.points);
-//    cilantro::PointFeaturesAdaptor3f src_feat(src.points);
-//
-//    cilantro::DistanceEvaluator<float> dist_eval;
-//    cilantro::CorrespondenceSearchKDTree<decltype(dst_feat)> corr_engine(dst_feat, src_feat, dist_eval);
-//
-//    cilantro::UnityWeightEvaluator<float> corr_weight_eval;
-//
-//    // Point-to-point
-////    cilantro::PointToPointMetricRigidTransformICP3f<decltype(corr_engine)> icp(dst.points, src.points, corr_engine);
-//    // Weighted combination of point-to-point and point-to-plane
-//    cilantro::CombinedMetricRigidTransformICP3f<decltype(corr_engine)> icp(dst.points, dst.normals, src.points, corr_engine, corr_weight_eval, corr_weight_eval);
+    // // Custom examples
+    // // Point features adaptors for correspondence search
+    // // cilantro::PointNormalColorFeaturesAdaptor3f dst_feat(dst.points, dst.normals, dst.colors, 0.5, 5.0);
+    // // cilantro::PointNormalColorFeaturesAdaptor3f src_feat(src.points, src.normals, src.colors, 0.5, 5.0);
+    // cilantro::PointFeaturesAdaptor3f dst_feat(dst.points);
+    // cilantro::PointFeaturesAdaptor3f src_feat(src.points);
+
+    // cilantro::DistanceEvaluator<float> dist_eval;
+    // cilantro::CorrespondenceSearchKDTree<decltype(dst_feat)> corr_engine(dst_feat, src_feat, dist_eval);
+
+    // cilantro::UnityWeightEvaluator<float> corr_weight_eval;
+
+    // // Point-to-point
+    // // cilantro::PointToPointMetricRigidTransformICP3f<decltype(corr_engine)> icp(dst.points, src.points, corr_engine);
+    // // Weighted combination of point-to-point and point-to-plane
+    // cilantro::CombinedMetricRigidTransformICP3f<decltype(corr_engine)> icp(dst.points, dst.normals, src.points, corr_engine, corr_weight_eval, corr_weight_eval);
 
     // Common instances
     // Point-to-point
-//    cilantro::SimplePointToPointMetricRigidProjectiveICP3f icp(dst.points, src.points);
-//    cilantro::SimplePointToPointMetricRigidICP3f icp(dst.points, src.points);
+    // cilantro::SimplePointToPointMetricRigidProjectiveICP3f icp(dst.points, src.points);
+    // cilantro::SimplePointToPointMetricRigidICP3f icp(dst.points, src.points);
 
     // Weighted combination of point-to-point and point-to-plane
-//    cilantro::SimpleCombinedMetricRigidProjectiveICP3f icp(dst.points, dst.normals, src.points);
+    // cilantro::SimpleCombinedMetricRigidProjectiveICP3f icp(dst.points, dst.normals, src.points);
     cilantro::SimpleCombinedMetricRigidICP3f icp(dst.points, dst.normals, src.points);
 
     // Parameter setting

diff --git a/examples/space_region_2d.cpp b/examples/space_region_2d.cpp
@@ -18,9 +18,9 @@ int main(int argc, char ** argv) {
 
     cilantro::SpaceRegion2f sr3(std::vector<Eigen::Vector3f>(1,Eigen::Vector3f(-1,1,-70)));
 
-//    SpaceRegion2D sr = sr1.unionWith(sr2).complement();
+    // SpaceRegion2D sr = sr1.unionWith(sr2).complement();
     cilantro::SpaceRegion2f sr = sr1.intersectionWith(sr2.complement()).unionWith(sr2.intersectionWith(sr1.complement())).intersectionWith(sr3);
-//    SpaceRegion2D sr = sr2.relativeComplement(sr1);
+    // SpaceRegion2D sr = sr2.relativeComplement(sr1);
 
     sr.transform(Eigen::Rotation2D<float>(-M_PI/4.0).toRotationMatrix(), Eigen::Vector2f(80,220));