-
Notifications
You must be signed in to change notification settings - Fork 7
/
Hemisphere_plane.m
159 lines (142 loc) · 3.1 KB
/
Hemisphere_plane.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
function [data,data_clean]=Hemisphere_plane
%pctest7.m
%Generates ground truth and noisy point clouds for hemisphere on a plane
%No. of points in each of the parts
npoints=1200;
psize=3;
%Noise level
sigma=0.025;
sigma=0.06;
sigma=0.03;
sigma=0.015;
%sigma=0;
P=zeros(npoints,4);
R=sqrt(1/(3*pi));
R2=R^2;
for n=1:npoints
x=rand()-0.5; y=rand()-0.5;
x2=x^2; y2=y^2;
if (x2+y2)>R2
P(n,:)=[x y 0 1];
else
theta=2*pi*rand();
phi=0.5*pi*rand();
x=R*cos(theta)*sin(phi);
y=R*sin(theta)*sin(phi);
z=R*cos(phi);
P(n,:)=[x y z 0.5];
end
end
fileID=fopen('pc_hemi_gt.asc','w');
for n=1:npoints
fprintf(fileID,'%f %f %f %f\n',P(n,1),P(n,2),P(n,3),P(n,4));
end
fclose(fileID);
data_clean=P(:,1:3);
P(:,1:3)=P(:,1:3)+sigma*randn(npoints,3);
fileID=fopen('pc_hemi_noise.asc','w');
for n=1:npoints
fprintf(fileID,'%f %f %f %f\n',P(n,1),P(n,2),P(n,3),P(n,4));
end
fclose(fileID);
fileID=fopen('pc_hemi_gt.asc','r');
Porig=textscan(fileID,'%f %f %f %f');
fclose(fileID);
np=max(size(Porig{1}(:)));
Pgt=zeros(np,4);
Pgt(:,1)=Porig{1}(:);
Pgt(:,2)=Porig{2}(:);
Pgt(:,3)=Porig{3}(:);
Pgt(:,4)=Porig{4}(:);
fileID=fopen('pc_hemi_noise.asc','r');
Porig=textscan(fileID,'%f %f %f %f');
fclose(fileID);
np=max(size(Porig{1}(:)));
Pnoise=zeros(np,4);
Pnoise(:,1)=Porig{1}(:);
Pnoise(:,2)=Porig{2}(:);
Pnoise(:,3)=Porig{3}(:);
Pnoise(:,4)=Porig{4}(:);
figure(1)
scatter3(Pgt(:,1),Pgt(:,2),Pgt(:,3),psize,Pgt(:,4),'filled')
xlabel('x'); ylabel('y'); zlabel('z');
colormap(jet)
colorbar
title('Ground Truth Point Cloud')
axis equal
axis([-.55 .55 -.55 .55 -0.05 0.4])
figure(2)
scatter3(Pnoise(:,1),Pnoise(:,2),Pnoise(:,3),psize,Pnoise(:,4),'filled')
xlabel('x'); ylabel('y'); zlabel('z');
colormap(jet)
colorbar
title('Noisy Point Cloud')
axis equal
axis([-.55 .55 -.55 .55 -0.05 0.4])
%Calculate overall point cloud error
%Distance of each point from the manifold
dist=zeros(np,1);
for n=1:np
x0=Pnoise(n,1); y0=Pnoise(n,2); z0=Pnoise(n,3);
r0=sqrt(x0^2+y0^2+z0^2); theta0=acos(z0/r0); phi0=atan(y0/x0);
rxy=sqrt(x0^2+y0^2);
if rxy>R
dist(n)=z0;
else
dist(n)=abs(r0-R);
end
end
pc_error=mean(dist)
data=Pnoise';
data=data(1:3,:);
figure;plot3(data(1,:),data(2,:),data(3,:))
% fileID=fopen('feats_denoised_hemisphere k=30.asc','r');
% Porig=textscan(fileID,'%f %f %f %f');
% fclose(fileID);
%
% np=max(size(Porig{1}(:)));
% Pdenoised=zeros(np,4);
% Pdenoised(:,1)=Porig{1}(:);
% Pdenoised(:,2)=Porig{2}(:);
% Pdenoised(:,3)=Porig{3}(:);
% Pdenoised(:,4)=Porig{4}(:);
%
% figure(3)
% scatter3(Pdenoised(:,1),Pdenoised(:,2),Pdenoised(:,3),psize,Pdenoised(:,4),'filled')
% xlabel('x'); ylabel('y'); zlabel('z');
% colormap(jet)
% colorbar
% title('Denoised Point Cloud')
% axis equal
% axis([-.55 .55 -.55 .55 -0.05 0.4])
%
% %Calculate overall point cloud error
%
% %Distance of each point from the manifold
% dist=zeros(np,1);
%
% tic
% R2=R^2;
% for n=1:np
% x0=Pdenoised(n,1); y0=Pdenoised(n,2); z0=Pdenoised(n,3);
% r2xy=x0^2+y0^2;
% r0=sqrt(r2xy+z0^2); theta0=acos(z0/r0); phi0=atan(y0/x0);
%
%
% if r2xy>R2
% dist(n)=z0;
% else
% dist(n)=abs(r0-R);
% end
%
% end
%
% pc_error_denoised=mean(dist)
%
% toc
%
%
%
%
%
%