private void FilterUndergroundPoints()
{
List <int> discardedIndices = new UndergroundFilter().Execute(samples, Path.Combine(DmrDirectory, DmrFileName));
Console.WriteLine($"UndergroundFilter: Discard {discardedIndices.Count} examples.");
samples = UndergroundFilter.DiscardFilteredExamples(discardedIndices, samples);
}
public void ExecuteTest(string[] args)
{
string dmr = String.Join("\n", GenerateDmrGrid());
// write dmr
File.WriteAllText(Path.Combine(workdir, dmrfilename), dmr);
new CoreProcedure(Path.Combine(workdir, dmrfilename)).Dmr2Pcd();
for (int i = 0; i < 5000; i++)
{
Vector3 tmp = Vector3.Multiply((float)dimension, common.Numpy.RandomVector());
tmp = Vector3.Subtract(tmp,
new Vector3(0, 0, (float)dimension / 2.0f));
AugmentableObjectSample samp = new AugmentableObjectSample("BIRD", new Vector3(0.1f, 0.1f, 0.1f),
tmp,
5);
samples.Add(samp);
if (samp.location.Z > 0.0f)
{
solutions.Add(1);
}
else
{
solutions.Add(0);
}
}
// write augs
string serialized_augs = external_tools.common.PointCloudiaFormatSerializer.PointBoundingBoxAndMaxDimFormat(samples);
File.WriteAllText(Path.Combine(workdir, augsfilename), serialized_augs);
// write sols
File.WriteAllText(Path.Combine(workdir, "sols"), String.Join("\n", solutions));
List <int> predictions = UndergroundFilter.Execute(samples, Path.Combine(workdir, dmrfilename));
int[] preds = new int[samples.Count];
foreach (int p in predictions)
{
preds[p] = 1;
}
for (int i = 0; i < predictions.Count; i++)
{
if (preds[i] != solutions[i])
{
Console.WriteLine(preds[i] + " " + solutions[i]);
}
}
Console.ReadLine();
}
