fred_exp_sacia_param_grid_search.cpp

#include "./include/tools.hpp"
#include <ctime>

// RUN FROM THE BUILD FOLDER
// Author: DS, 2021-07-22
int main(int argc, char **argv)
{
    time_t timetoday;
    time(&timetoday);
    std::cout << "exp_sacia_param_grid_search initiated on : " << asctime(localtime(&timetoday)) << std::endl;

    std::string configFilenames[] = {"../data/exp_sacia_param_grid_search_yaw110deg.txt"}; // including path

    Settings pipelineSettings = getPipelineDefaultSettings();

    // set up values to be traversed (exponential growing )
    double saciaNumSampleVals[] = {5, 10.0, 20, 40, 80};
    double d = 0.5;
    double saciaMinSampleDistVals[] = {0., 1.1 * d, 2.1 * d, 4.1 * d, 8.1 * d};
    double saciaNumIterVals[] = {800};
    double saciaMaxCorrDistVals[] = {0.5, 1.0, 2.0, 4.0, 8.0};

    double normalsSearchRadiusVals[] = {1.0, 1.5, 3.0, 6.0, 9.0};
    double fpfhSearchRadiusVals[] = {1.2, 1.5, 2.0, 3.0, 5.0};
    // num iterations per combination of sacia values
    int numberIter = 1;

    double seedRef(0.1), seedSource(0.2), seedCustomRotation(0.3);
    // for assessing stability of pose estimation, use same seed for several iterations and observe if pose estimation is stable
    seedRef = 0.19, seedSource = 0.344, seedCustomRotation = .7668;
    double inc = 0.37;

    for (std::string configFilename : configFilenames)
    {

        for (size_t i = 1; i <= numberIter; i++)
        {

            seedRef += inc;
            seedSource += inc;
            seedCustomRotation += inc;
            // write results from each iteration in own logfile to ease excel analysis
            std::string outputFilename = appendTimestamp("../results/exp_sacia_param_grid_search_fixedYaw");

            for (double saciaNumIter : saciaNumIterVals)
            {
                pipelineSettings.setValue(SACIA_NUM_ITERATIONS, saciaNumIter);

                for (double saciaNumSample : saciaNumSampleVals)
                {
                    pipelineSettings.setValue(SACIA_NUM_SAMPLES, saciaNumSample);

                    for (double saciaMinSampleDist : saciaMinSampleDistVals)
                    {
                        pipelineSettings.setValue(SACIA_MIN_SAMPLE_DIST, saciaMinSampleDist);

                        for (double saciaMaxCorrDist : saciaMaxCorrDistVals)
                        {
                            pipelineSettings.setValue(SACIA_MAX_CORRESPONDENCE_DIST, saciaMaxCorrDist);

                            for (double normalsSearchRadius : normalsSearchRadiusVals)
                            {
                                pipelineSettings.setValue(NORMALS_SEARCH_RADIUS, normalsSearchRadius);

                                for (double fpfhSearchRadius : fpfhSearchRadiusVals)
                                {
                                    pipelineSettings.setValue(FPFH_SEARCH_RADIUS, fpfhSearchRadius*normalsSearchRadius);
                                    fullRegistration(configFilename, pipelineSettings, outputFilename, &seedRef, &seedSource, &seedCustomRotation);
                                }
                            }
                        }
                    }
                }
            }
        }
    }

    return 0;
}