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Use signed integer for label indices (better handling of unlabeled -1 case)

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This commit is contained in:
Simon Giraudot
2017-08-09 09:57:15 +02:00
parent 8043d342e7
commit 2ebc55e9c3
8 changed files with 163 additions and 227 deletions
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Classification/examples/Classification/example_generation_and_training.cpp
+24 -58
View File
@@ -3,19 +3,20 @@
#include <iostream>
#include <string>
//#define CGAL_CLASSIFICATION_VERBOSE
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Classification.h>
#include <CGAL/IO/read_ply_points.h>
#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/Real_timer.h>
typedef CGAL::Simple_cartesian<double> Kernel;
typedef Kernel::Point_3 Point;
typedef CGAL::Point_set_3<Point> Point_set;
typedef Kernel::Iso_cuboid_3 Iso_cuboid_3;
typedef std::vector<Point> Point_range;
typedef CGAL::Identity_property_map<Point> Pmap;
typedef typename Point_set::Point_map Pmap;
typedef typename Point_set::Property_map<int> Imap;
namespace Classification = CGAL::Classification;
@@ -24,68 +25,34 @@ typedef Classification::Feature_handle
typedef Classification::Label_set Label_set;
typedef Classification::Feature_set Feature_set;
typedef Classification::Sum_of_weighted_features_classifier Classifier;
typedef Classification::Sum_of_weighted_features_classifier Classifier;
typedef Classification::Point_set_feature_generator<Kernel, Point_range, Pmap> Feature_generator;
/*
This interpreter is used to read a PLY input that contains training
attributes (with the PLY "label" property).
*/
class My_ply_interpreter
{
std::vector<Point>& points;
std::vector<std::size_t>& labels;
public:
My_ply_interpreter (std::vector<Point>& points,
std::vector<std::size_t>& labels)
: points (points), labels (labels)
{ }
// Init and test if input file contains the right properties
bool is_applicable (CGAL::Ply_reader& reader)
{
return reader.does_tag_exist<double> ("x")
&& reader.does_tag_exist<double> ("y")
&& reader.does_tag_exist<double> ("z")
&& reader.does_tag_exist<int> ("label");
}
// Describes how to process one line (= one point object)
void process_line (CGAL::Ply_reader& reader)
{
double x = 0., y = 0., z = 0.;
int l = 0;
reader.assign (x, "x");
reader.assign (y, "y");
reader.assign (z, "z");
reader.assign (l, "label");
points.push_back (Point (x, y, z));
labels.push_back(std::size_t(l));
}
};
typedef Classification::Point_set_feature_generator<Kernel, Point_set, Pmap> Feature_generator;
int main (int argc, char** argv)
{
std::string filename (argc > 1 ? argv[1] : "data/b9_training.ply");
std::ifstream in (filename.c_str());
std::vector<Point> pts;
std::vector<std::size_t> ground_truth;
Point_set pts;
std::cerr << "Reading input" << std::endl;
My_ply_interpreter interpreter (pts, ground_truth);
if (!in
|| !(CGAL::read_ply_custom_points (in, interpreter, Kernel())))
in >> pts;
Imap label_map;
bool lm_found = false;
boost::tie (label_map, lm_found) = pts.property_map<int> ("label");
if (!lm_found)
{
std::cerr << "Error: cannot read " << filename << std::endl;
std::cerr << "Error: \"label\" property not found in input file." << std::endl;
return EXIT_FAILURE;
}
std::vector<int> ground_truth;
ground_truth.reserve (pts.size());
std::copy (pts.range(label_map).begin(), pts.range(label_map).end(),
std::back_inserter (ground_truth));
///////////////////////////////////////////////////////////////////
//! [Generator]
@@ -94,7 +61,7 @@ int main (int argc, char** argv)
std::cerr << "Generating features" << std::endl;
CGAL::Real_timer t;
t.start();
Feature_generator generator (features, pts, Pmap(),
Feature_generator generator (features, pts, pts.point_map(),
5); // using 5 scales
t.stop();
std::cerr << features.size() << " feature(s) generated in " << t.time() << " second(s)" << std::endl;
@@ -107,7 +74,6 @@ int main (int argc, char** argv)
Label_handle ground = labels.add ("ground");
Label_handle vegetation = labels.add ("vegetation");
Label_handle roof = labels.add ("roof");
Label_handle facade = labels.add ("facade");
Classifier classifier (labels, features);
@@ -120,9 +86,9 @@ int main (int argc, char** argv)
t.reset();
t.start();
std::vector<std::size_t> label_indices;
std::vector<int> label_indices(pts.size(), -1);
Classification::classify_with_graphcut<CGAL::Sequential_tag>
(pts, Pmap(), labels, classifier,
(pts, pts.point_map(), labels, classifier,
generator.neighborhood().k_neighbor_query(12),
0.2, 10, label_indices);
t.stop();
Classification/examples/Classification/example_random_forest.cpp
+49 -85
View File
@@ -3,20 +3,22 @@
#include <iostream>
#include <string>
//#define CGAL_CLASSIFICATION_VERBOSE
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Classification.h>
#include <CGAL/Classification/Random_forest_classifier.h>
#include <CGAL/IO/read_ply_points.h>
#include <CGAL/Point_set_3.h>
#include <CGAL/Point_set_3/IO.h>
#include <CGAL/Real_timer.h>
typedef CGAL::Simple_cartesian<double> Kernel;
typedef Kernel::Point_3 Point;
typedef CGAL::Point_set_3<Point> Point_set;
typedef Kernel::Iso_cuboid_3 Iso_cuboid_3;
typedef std::vector<Point> Point_range;
typedef CGAL::Identity_property_map<Point> Pmap;
typedef typename Point_set::Point_map Pmap;
typedef typename Point_set::Property_map<int> Imap;
typedef typename Point_set::Property_map<unsigned char> UCmap;
namespace Classification = CGAL::Classification;
@@ -27,72 +29,38 @@ typedef Classification::Feature_set
typedef Classification::Random_forest_classifier Classifier;
typedef Classification::Point_set_feature_generator<Kernel, Point_range, Pmap> Feature_generator;
/*
This interpreter is used to read a PLY input that contains training
attributes (with the PLY "label" property).
*/
class My_ply_interpreter
{
std::vector<Point>& points;
std::vector<std::size_t>& labels;
public:
My_ply_interpreter (std::vector<Point>& points,
std::vector<std::size_t>& labels)
: points (points), labels (labels)
{ }
// Init and test if input file contains the right properties
bool is_applicable (CGAL::Ply_reader& reader)
{
return reader.does_tag_exist<double> ("x")
&& reader.does_tag_exist<double> ("y")
&& reader.does_tag_exist<double> ("z")
&& reader.does_tag_exist<int> ("label");
}
// Describes how to process one line (= one point object)
void process_line (CGAL::Ply_reader& reader)
{
double x = 0., y = 0., z = 0.;
int l = 0;
reader.assign (x, "x");
reader.assign (y, "y");
reader.assign (z, "z");
reader.assign (l, "label");
points.push_back (Point (x, y, z));
labels.push_back(std::size_t(l));
}
};
typedef Classification::Point_set_feature_generator<Kernel, Point_set, Pmap> Feature_generator;
int main (int argc, char** argv)
{
std::string filename (argc > 1 ? argv[1] : "data/b9_training.ply");
std::ifstream in (filename.c_str());
std::vector<Point> pts;
std::vector<std::size_t> ground_truth;
Point_set pts;
std::cerr << "Reading input" << std::endl;
My_ply_interpreter interpreter (pts, ground_truth);
if (!in
|| !(CGAL::read_ply_custom_points (in, interpreter, Kernel())))
in >> pts;
Imap label_map;
bool lm_found = false;
boost::tie (label_map, lm_found) = pts.property_map<int> ("label");
if (!lm_found)
{
std::cerr << "Error: cannot read " << filename << std::endl;
std::cerr << "Error: \"label\" property not found in input file." << std::endl;
return EXIT_FAILURE;
}
std::vector<int> ground_truth;
ground_truth.reserve (pts.size());
std::copy (pts.range(label_map).begin(), pts.range(label_map).end(),
std::back_inserter (ground_truth));
Feature_set features;
std::cerr << "Generating features" << std::endl;
CGAL::Real_timer t;
t.start();
Feature_generator generator (features, pts, Pmap(),
Feature_generator generator (features, pts, pts.point_map(),
5); // using 5 scales
t.stop();
std::cerr << "Done in " << t.time() << " second(s)" << std::endl;
@@ -102,7 +70,6 @@ int main (int argc, char** argv)
Label_handle ground = labels.add ("ground");
Label_handle vegetation = labels.add ("vegetation");
Label_handle roof = labels.add ("roof");
Label_handle facade = labels.add ("facade");
Classifier classifier (labels, features);
@@ -115,11 +82,11 @@ int main (int argc, char** argv)
t.reset();
t.start();
std::vector<std::size_t> label_indices;
std::vector<int> label_indices(pts.size(), -1);
Classification::classify_with_graphcut<CGAL::Sequential_tag>
(pts, Pmap(), labels, classifier,
(pts, pts.point_map(), labels, classifier,
generator.neighborhood().k_neighbor_query(12),
0.2, 10, label_indices);
0.2, 1, label_indices);
t.stop();
std::cerr << "Classification with graphcut done in " << t.time() << " second(s)" << std::endl;
@@ -138,40 +105,37 @@ int main (int argc, char** argv)
std::cerr << "Accuracy = " << evaluation.accuracy() << std::endl
<< "Mean F1 score = " << evaluation.mean_f1_score() << std::endl
<< "Mean IoU = " << evaluation.mean_intersection_over_union() << std::endl;
std::ofstream f ("classification.ply");
f.precision(18);
f << "ply" << std::endl
<< "format ascii 1.0" << std::endl
<< "element vertex " << pts.size() << std::endl
<< "property float x" << std::endl
<< "property float y" << std::endl
<< "property float z" << std::endl
<< "property uchar red" << std::endl
<< "property uchar green" << std::endl
<< "property uchar blue" << std::endl
<< "end_header" << std::endl;
for (std::size_t i = 0; i < pts.size(); ++ i)
// Color point set according to class
UCmap red = pts.add_property_map<unsigned char>("red", 0).first;
UCmap green = pts.add_property_map<unsigned char>("green", 0).first;
UCmap blue = pts.add_property_map<unsigned char>("blue", 0).first;
for (std::size_t i = 0; i < label_indices.size(); ++ i)
{
f << pts[i] << " ";
label_map[i] = label_indices[i]; // update label map with computed classification
Label_handle label = labels[label_indices[i]];
if (label == ground)
f << "245 180 0" << std::endl;
else if (label == vegetation)
f << "0 255 27" << std::endl;
else if (label == roof)
f << "255 0 170" << std::endl;
else if (label == facade)
f << "128 128 128" << std::endl;
else
{
f << "0 0 0" << std::endl;
std::cerr << "Error: unknown classification label" << std::endl;
red[i] = 245; green[i] = 180; blue[i] = 0;
}
else if (label == vegetation)
{
red[i] = 0; green[i] = 255; blue[i] = 27;
}
else if (label == roof)
{
red[i] = 255; green[i] = 0; blue[i] = 170;
}
}
// Write result
std::ofstream f ("classification.ply");
f.precision(18);
f << pts;
std::cerr << "All done" << std::endl;
return EXIT_SUCCESS;