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.txt", "../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};
    // 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);

                            fullRegistration(configFilename, pipelineSettings, outputFilename, &seedRef, &seedSource, &seedCustomRotation);
                        
                        }
                    }
                }
            }
        }
    }

    return 0;
}