private void predictFrame(string file)
{
StreamReader depthFile = new StreamReader(file);
List <KinectData> depths = new List <KinectData>();
//LOAD KINECT DATA (X Y Z)
while (!depthFile.EndOfStream)
{
var line = depthFile.ReadLine().Split(' ');
if (line.Length > 1)
{
var dat = new KinectData();
dat.X = float.Parse(line[0]);
dat.Y = float.Parse(line[1]);
dat.Depth = float.Parse(line[2]);
depths.Add(dat);
}
}
depthFile.Close();
//WRITE PREDICTION INPUT
StreamWriter predictionInput = new StreamWriter(@"C:\temp\predictionInput.dat", false);
predictionInput.WriteLine("f1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 f16 f17 f18 f19 f20 f21 f22 f23 f24 Class");
float initDepth = depths[depths.Count / 2].Depth;
for (int i = 0; i < depths.Count; i++)
{
string featStr = "";
foreach (var o in offsets)
{
float entry = 0;
if (i + o < 0 || i + o >= depths.Count)
{
entry = 0; // if out of bounds --> 0
}
else
{
float thisDepth = depths[i + o].Depth != 0.0f ? depths[i + o].Depth : depths[i].Depth;
entry = (depths[i].Depth - initDepth) / thisDepth;
if (float.IsInfinity(entry))
{
entry = 0; //Pixel invalid (infinite)
}
}
featStr += (entry.ToString().Replace(',', '.') + " ");
}
predictionInput.WriteLine(featStr + "0");
predictionInput.Flush();
}
predictionInput.Close();
//CREATE PREDICTION FILE
predictFileRDF(new StringBuilder(@"C:\temp\predictionInput.dat"), new StringBuilder(forestDir));
//READ PREDICTION FILE
StreamReader sr = new StreamReader(@"C:\Users\Martin\Documents\Visual Studio 2013\Projects\netica\SLRS\SLRS\bin\Debug\ranger.prediction");
var predictions = sr.ReadToEnd().Split(' ').ToList();
sr.Close();
predictions.Remove(predictions.First());
//CREATE PCD FILE
string fileName = file.Split('\\').Last();
string newFileName = fileName.Replace(".dth", ".pcd");
string newPath = @"C:\temp\PCD\pcd\";
StreamWriter pcdFile = new StreamWriter(newPath + newFileName, false);
for (int i = 0; i < predictions.Count; i++)
{
if (predictions[i] == "1")
{
var point = Helper.depthToPCD(depths[i].X, depths[i].Y, depths[i].Depth);
pcdFile.WriteLine(String.Format("{0} {1} {2}", point.X.ToString().Replace(',', '.'), point.Y.ToString().Replace(',', '.'), point.Z.ToString().Replace(',', '.')));
pcdFile.Flush();
}
}
pcdFile.Close();
}
private void predictFrame(string file)
{
StreamReader depthFile = new StreamReader(file);
List<KinectData> depths = new List<KinectData>();
//LOAD KINECT DATA (X Y Z)
while (!depthFile.EndOfStream)
{
var line = depthFile.ReadLine().Split(' ');
if (line.Length > 1)
{
var dat = new KinectData();
dat.X = float.Parse(line[0]);
dat.Y = float.Parse(line[1]);
dat.Depth = float.Parse(line[2]);
depths.Add(dat);
}
}
depthFile.Close();
//WRITE PREDICTION INPUT
StreamWriter predictionInput = new StreamWriter(@"C:\temp\predictionInput.dat",false);
predictionInput.WriteLine("f1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 f16 f17 f18 f19 f20 f21 f22 f23 f24 Class");
float initDepth = depths[depths.Count / 2].Depth;
for (int i = 0; i < depths.Count ; i++)
{
string featStr = "";
foreach (var o in offsets)
{
float entry = 0;
if (i + o < 0 || i + o >= depths.Count)
entry = 0; // if out of bounds --> 0
else
{
float thisDepth = depths[i + o].Depth != 0.0f ? depths[i + o].Depth : depths[i].Depth;
entry = (depths[i].Depth - initDepth) / thisDepth;
if (float.IsInfinity(entry))
entry = 0; //Pixel invalid (infinite)
}
featStr += (entry.ToString().Replace(',', '.') + " ");
}
predictionInput.WriteLine(featStr + "0");
predictionInput.Flush();
}
predictionInput.Close();
//CREATE PREDICTION FILE
predictFileRDF(new StringBuilder(@"C:\temp\predictionInput.dat"), new StringBuilder(forestDir));
//READ PREDICTION FILE
StreamReader sr = new StreamReader(@"C:\Users\Martin\Documents\Visual Studio 2013\Projects\netica\SLRS\SLRS\bin\Debug\ranger.prediction");
var predictions = sr.ReadToEnd().Split(' ').ToList();
sr.Close();
predictions.Remove(predictions.First());
//CREATE PCD FILE
string fileName = file.Split('\\').Last();
string newFileName = fileName.Replace(".dth", ".pcd");
string newPath = @"C:\temp\PCD\pcd\";
StreamWriter pcdFile = new StreamWriter(newPath + newFileName, false);
for (int i=0; i< predictions.Count; i++)
{
if (predictions[i] == "1")
{
var point = Helper.depthToPCD(depths[i].X, depths[i].Y, depths[i].Depth);
pcdFile.WriteLine(String.Format("{0} {1} {2}", point.X.ToString().Replace(',', '.'), point.Y.ToString().Replace(',', '.'), point.Z.ToString().Replace(',', '.')));
pcdFile.Flush();
}
}
pcdFile.Close();
}