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Major upgrade of dependencies and running time

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1. Removed the Boost dependency by adopting a newer cut-pursuit version from the authors (resulting in a 5–15× speed improvement).
2. Fixed an issue with the nearest neighbor search caused by an incorrect 2D array order input to the knn_cpp query function.
3. Enabled customization of the number of threads for knn-cpp, yielding a slight speed improvement.
4. Optimized array calculations through enhanced use of STL algorithms.
This commit is contained in:
colorxixi
2025-02-02 06:03:48 -07:00
committed by ZXi
parent 7003518fc7
commit c928ee794c
29 changed files with 4641 additions and 4144 deletions
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include/TreeIso.h
+5 -5
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@@ -34,7 +34,7 @@
//# #
//#######################################################################################
// A Matlab version shared via:
// Matlab and python versions shared via:
// https://github.com/truebelief/artemis_treeiso
class ccMainAppInterface;
@@ -45,11 +45,11 @@ class TreeIso
{
public:
static bool Init_seg(const unsigned min_nn1, const float regStrength1, const float PR_DECIMATE_RES1, ccMainAppInterface* app, QProgressDialog* progressDlg);
static bool Intermediate_seg(const unsigned PR_MIN_NN2, const float PR_REG_STRENGTH2, const float PR_DECIMATE_RES2, const float PR_MAX_GAP, ccMainAppInterface* app, QProgressDialog* progressDlg);
static bool Init_seg(const unsigned PR_MIN_NN1,const float PR_REG_STRENGTH1,const float PR_DECIMATE_RES1,const unsigned PR_THREADS1,ccMainAppInterface* app,QProgressDialog* progressDlg);
static bool Intermediate_seg(const unsigned PR_MIN_NN2, const float PR_REG_STRENGTH2, const float PR_DECIMATE_RES2, const float PR_MAX_GAP, const unsigned PR_THREADS2, ccMainAppInterface* app, QProgressDialog* progressDlg);
static bool Final_seg(const unsigned PR_MIN_NN3, const float PR_REL_HEIGHT_LENGTH_RATIO, const float PR_VERTICAL_WEIGHT, ccMainAppInterface* app, QProgressDialog* progressDlg);
static bool Init_seg_pcd(ccPointCloud* pc, const unsigned min_nn1, const float regStrength1, const float PR_DECIMATE_RES1, QProgressDialog* progressDlg = nullptr);
static bool Intermediate_seg_pcd(ccPointCloud* pc, const unsigned PR_MIN_NN2, const float PR_REG_STRENGTH2, const float PR_DECIMATE_RES2, const float PR_MAX_GAP, QProgressDialog* progressDlg = nullptr);
static bool Init_seg_pcd(ccPointCloud* pc, const unsigned PR_MIN_NN1, const float PR_REG_STRENGTH1, const float PR_DECIMATE_RES1, const unsigned PR_THREADS1, QProgressDialog* progressDlg = nullptr);
static bool Intermediate_seg_pcd(ccPointCloud* pc, const unsigned PR_MIN_NN2, const float PR_REG_STRENGTH2, const float PR_DECIMATE_RES2, const float PR_MAX_GAP, const unsigned PR_THREADS2, QProgressDialog* progressDlg = nullptr);
static bool Final_seg_pcd(ccPointCloud* pc, const unsigned PR_MIN_NN3, const float PR_REL_HEIGHT_LENGTH_RATIO, const float PR_VERTICAL_WEIGHT, QProgressDialog* progressDlg = nullptr);
};