Update Python scripts for running dragon stand and lounge experiments…

…, Use latest version of Open3D. Fix typo: elasped_time -> elapsed_time.
bing-jian · Nov 28, 2020 · 1e3e878 · 1e3e878
1 parent 94f0932
commit 1e3e878
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Showing 13 changed files with 343 additions and 649 deletions.
diff --git a/C++/gmmreg_base.cpp b/C++/gmmreg_base.cpp
@@ -94,15 +94,15 @@ void Base::DenormalizeAll() {
   }
 }
 
-void Base::SaveElaspedTime(const char* f_config) {
+void Base::SaveElapsedTime(const char* f_config) {
   vnl_vector<double> elapsed_time;
   elapsed_time.set_size(1);
   elapsed_time[0] = elapsed_time_in_ms_;
-  char f_elasped_time[256] = {0};
-  GetPrivateProfileString(this->common_section_, "elasped_time_in_ms", NULL,
-                          f_elasped_time, 256, f_config);
+  char f_elapsed_time[256] = {0};
+  GetPrivateProfileString(this->common_section_, "elapsed_time_in_ms", NULL,
+                          f_elapsed_time, 256, f_config);
 
-  SaveVectorToAsciiFile(f_elasped_time, elapsed_time);
+  SaveVectorToAsciiFile(f_elapsed_time, elapsed_time);
 }
 
 void Base::SaveTransformed(const char* filename,

diff --git a/C++/gmmreg_base.h b/C++/gmmreg_base.h
@@ -67,7 +67,7 @@ class Base {
   void DenormalizeAll();
   int Initialize(const char* f_config);
 
-  void SaveElaspedTime(const char* f_config);
+  void SaveElapsedTime(const char* f_config);
 
   friend class RigidFunc;
   friend class ThinPlateSplineFunc;

diff --git a/C++/gmmreg_cpd.h b/C++/gmmreg_cpd.h
@@ -25,7 +25,6 @@ class CoherentPointDrift : public Base {
       const vnl_matrix<double>& gradient,
       vnl_matrix<double>& grad_all) override {};
   void PrepareOwnOptions(const char*) override;
-  virtual void PrepareBasisKernel() = 0;
   virtual double UpdateParam() = 0;
 
  protected:

diff --git a/C++/gmmreg_grbf.cpp b/C++/gmmreg_grbf.cpp
@@ -97,7 +97,7 @@ void GrbfRegistration::ComputeGradient(double lambda,
 
 void GrbfRegistration::SaveResults(const char* f_config,
     const vnl_vector<double>& params) {
-  SaveElaspedTime(f_config);
+  SaveElapsedTime(f_config);
 
   char f_transformed[256] = {0};
   char f_final_grbf[256] = {0};

diff --git a/C++/gmmreg_rigid.cpp b/C++/gmmreg_rigid.cpp
@@ -155,7 +155,7 @@ void RigidRegistration::PerformTransform(const vnl_vector<double>& x) {
 
 void RigidRegistration::SaveResults(const char* f_config,
                                     const vnl_vector<double>& params) {
-  SaveElaspedTime(f_config);
+  SaveElapsedTime(f_config);
   char f_transformed[256] = {0};
   char f_final_rigid[256] = {0};
   char f_final_matrix[256] = {0};

diff --git a/C++/gmmreg_tps.cpp b/C++/gmmreg_tps.cpp
@@ -186,7 +186,7 @@ void TpsRegistration::ComputeGradient(const double lambda,
 
 void TpsRegistration::SaveResults(const char* f_config,
     const vnl_vector<double>& params) {
-  SaveElaspedTime(f_config);
+  SaveElapsedTime(f_config);
 
   char f_transformed[256] = {0};
   char f_final_affine[256] = {0};

diff --git a/README.md b/README.md
@@ -155,7 +155,7 @@ Rotation angle error (in degrees)  | 0.96 | 0.07 | 9.08| 0.60 |
 Run time per pair (in milliseconds)| 120.14 | 47.09 | 413.48 | 116.62 |
 
 * Results on 2995 pairs (every 5 frames from the entire 3000 frames, e.g. registering i-th and (i+5)-th for i from 1 to 2995). 
-The avg pair-wise pose difference among these 295 pairs is ~5.43 degree.
+The avg pair-wise pose difference among these 2995 pairs is ~5.43 degree.
 The median angle error against the ground truth is ~0.4 degree and the median fps is ~16 fps with Intel i7-6850K CPU.
 
 Metric| Avg | Min | Max | Median |