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Major cleanup before integration in CloudCompare

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This commit is contained in:
Daniel Girardeau-Montaut
2023-05-20 20:07:18 +02:00
parent 8b2a5ee849
commit d0a153ee2f
17 changed files with 3646 additions and 4306 deletions
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include/qTreeIsoCommands.h
+57 -72
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@@ -1,3 +1,5 @@
#pragma once
//#######################################################################################
//# #
//# CLOUDCOMPARE PLUGIN: qTreeIso #
@@ -32,18 +34,15 @@
//# #
//#######################################################################################
#pragma once
// A Matlab version shared via:
// https://github.com/truebelief/artemis_treeiso
#ifndef QTreeIso_PLUGIN_COMMANDS_HEADER
#define QTreeIso_PLUGIN_COMMANDS_HEADER
//CloudCompare
#include "ccCommandLineInterface.h"
#include <ccCommandLineInterface.h>
//Local
#include "ccTreeIsoDlg.h"
#include "qTreeIso.h"
#include "TreeIso.h"
static const char COMMAND_TREEISO[] = "TREEISO";
@@ -52,7 +51,6 @@ static const char COMMAND_LAMBDA1[] = "LAMBDA1";
static const char COMMAND_K1[] = "K1";
static const char COMMAND_DECIMATE_RESOLUTION1[] = "DECIMATE_RESOLUTION1";
static const char COMMAND_LAMBDA2[] = "LAMBDA2";
static const char COMMAND_K2[] = "K2";
static const char COMMAND_MAX_GAP[] = "MAX_GAP";
@@ -61,37 +59,25 @@ static const char COMMAND_DECIMATE_RESOLUTION2[] = "DECIMATE_RESOLUTION2";
static const char COMMAND_RHO[] = "RHO";
static const char COMMAND_VERTICAL_OVERLAP_WEIGHT[] = "VERTICAL_OVERLAP_WEIGHT";
//! qTreeIso command line processor
struct CommandTreeIso : public ccCommandLineInterface::Command
{
CommandTreeIso() : ccCommandLineInterface::Command("TREEISO", COMMAND_TREEISO) {}
virtual bool process(ccCommandLineInterface& cmd) override
bool process(ccCommandLineInterface& cmd) override
{
cmd.print("[TreeIso]");
if (cmd.clouds().empty())
if (cmd.clouds().empty())
{
cmd.error("No cloud loaded");
return false;
}
//initial parameters
float reg_strength1 = 1.0; //lambda1
int min_nn1 = 5; //K1:key parameter
float decimate_res1 = 0.05;
qTreeIso::Parameters parameters;
int reg_strength2 = 20; //lambda2:key parameter
int min_nn2 = 20; //K2:key parameter
float decimate_res2 = 0.1;
float max_gap = 2.0;
float rel_height_length_ratio = 0.5; //rho
float vertical_weight = 0.5; //w:key parameter
bool try_init_seg=false;
bool try_init_seg = false;
bool try_intermediate_seg = false;
bool try_final_seg = false;
@@ -104,114 +90,118 @@ struct CommandTreeIso : public ccCommandLineInterface::Command
cmd.arguments().pop_front();
bool convert = false;
reg_strength1 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (reg_strength1 <=0.0))
parameters.reg_strength1 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.reg_strength1 <= 0.0))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_LAMBDA1));
}
cmd.print(QString("lambda1 (Regularization strength for initial segmentation) set: %1").arg(reg_strength1));
cmd.print(QString("lambda1 (Regularization strength for initial segmentation) set: %1").arg(parameters.reg_strength1));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_K1)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_K1))
{
try_init_seg = true;
cmd.arguments().pop_front();
bool convert = false;
min_nn1 = cmd.arguments().takeFirst().toInt(&convert);
if ((!convert) & (min_nn1<3))
parameters.min_nn1 = cmd.arguments().takeFirst().toInt(&convert);
if ((!convert) & (parameters.min_nn1 < 3))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_K1));
}
cmd.print(QString("K1 (Nearest neighbors to search for initial segmentation) set: %1").arg(min_nn1));
cmd.print(QString("K1 (Nearest neighbors to search for initial segmentation) set: %1").arg(parameters.min_nn1));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_DECIMATE_RESOLUTION1)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_DECIMATE_RESOLUTION1))
{
try_init_seg = true;
cmd.arguments().pop_front();
bool convert = false;
decimate_res1 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (decimate_res1 < 0.001))
parameters.decimate_res1 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.decimate_res1 < 0.001))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_DECIMATE_RESOLUTION1));
}
cmd.print(QString("Decimated resolution (in m) for initial segmentation set: %1").arg(decimate_res1));
cmd.print(QString("Decimated resolution (in m) for initial segmentation set: %1").arg(parameters.decimate_res1));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_LAMBDA2)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_LAMBDA2))
{
try_intermediate_seg = true;
cmd.arguments().pop_front();
bool convert = false;
reg_strength2 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (reg_strength2 <= 0.0))
parameters.reg_strength2 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.reg_strength2 <= 0.0))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_LAMBDA2));
}
cmd.print(QString("lambda2 (Regularization strength for intermediate segmentation) set: %1").arg(reg_strength2));
cmd.print(QString("lambda2 (Regularization strength for intermediate segmentation) set: %1").arg(parameters.reg_strength2));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_K2)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_K2))
{
try_intermediate_seg = true;
cmd.arguments().pop_front();
bool convert = false;
min_nn2 = cmd.arguments().takeFirst().toInt(&convert);
if ((!convert) & (min_nn2 < 3))
parameters.min_nn2 = cmd.arguments().takeFirst().toInt(&convert);
if ((!convert) & (parameters.min_nn2 < 3))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_K2));
}
cmd.print(QString("K2 (Nearest neighbors to search for intermediate segmentation) set: %1").arg(min_nn2));
cmd.print(QString("K2 (Nearest neighbors to search for intermediate segmentation) set: %1").arg(parameters.min_nn2));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_MAX_GAP)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_MAX_GAP))
{
try_intermediate_seg = true;
cmd.arguments().pop_front();
bool convert = false;
max_gap = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (max_gap <= 0.0001))
parameters.max_gap = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.max_gap <= 0.0001))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_MAX_GAP));
}
cmd.print(QString("Maximum point gap (in m) for intermediate segmentation set: %1").arg(max_gap));
cmd.print(QString("Maximum point gap (in m) for intermediate segmentation set: %1").arg(parameters.max_gap));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_DECIMATE_RESOLUTION2)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_DECIMATE_RESOLUTION2))
{
try_intermediate_seg = true;
cmd.arguments().pop_front();
bool convert = false;
decimate_res2 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (decimate_res2 < 0.001))
parameters.decimate_res2 = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.decimate_res2 < 0.001))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_DECIMATE_RESOLUTION2));
}
cmd.print(QString("Decimated resolution (in m) for intermediate segmentation set: %1").arg(decimate_res2));
cmd.print(QString("Decimated resolution (in m) for intermediate segmentation set: %1").arg(parameters.decimate_res2));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_RHO)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_RHO))
{
try_final_seg = true;
cmd.arguments().pop_front();
bool convert = false;
rel_height_length_ratio = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (rel_height_length_ratio < 0.001))
parameters.rel_height_length_ratio = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.rel_height_length_ratio < 0.001))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_RHO));
}
cmd.print(QString("Relative height to length ratio (used to detect non-stems for final segmentation) set: %1").arg(rel_height_length_ratio));
cmd.print(QString("Relative height to length ratio (used to detect non-stems for final segmentation) set: %1").arg(parameters.rel_height_length_ratio));
}
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_VERTICAL_OVERLAP_WEIGHT)) {
else if (ccCommandLineInterface::IsCommand(ARGUMENT, COMMAND_VERTICAL_OVERLAP_WEIGHT))
{
try_final_seg = true;
cmd.arguments().pop_front();
bool convert = false;
vertical_weight = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (vertical_weight < 0.001))
parameters.vertical_weight = cmd.arguments().takeFirst().toFloat(&convert);
if ((!convert) & (parameters.vertical_weight < 0.001))
{
return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_VERTICAL_OVERLAP_WEIGHT));
}
cmd.print(QString("Vertical overlapping ratio weight for final segmentation set: %1").arg(vertical_weight));
cmd.print(QString("Vertical overlapping ratio weight for final segmentation set: %1").arg(parameters.vertical_weight));
}
else
{
cmd.print("Parameters All Set");
@@ -219,37 +209,33 @@ struct CommandTreeIso : public ccCommandLineInterface::Command
}
}
TreeIso* m_treeiso = new TreeIso();
for (CLCloudDesc& desc : cmd.clouds())
{
ccPointCloud* pc = desc.pc;
//Convert CC point cloud to treeIso type
unsigned count = pc->size();
unsigned count = desc.pc->size();
if (count == 0)
{
cmd.print(QString("Cloud %1 is empty").arg(pc->getName()));
cmd.print(QString("Cloud %1 is empty").arg(desc.pc->getName()));
continue;
}
if (try_init_seg)
{
if (!m_treeiso->init_seg_pcd(pc, min_nn1, reg_strength1, decimate_res1))
if (!TreeIso::Init_seg_pcd(desc.pc, parameters.min_nn1, parameters.reg_strength1, parameters.decimate_res1))
{
return cmd.error("Failed to finish initial segmentation due to unknown reasons.");
}
}
if (try_intermediate_seg)
{
if (!m_treeiso->intermediate_seg_pcd(pc, min_nn2, reg_strength2, decimate_res2,max_gap))
if (!TreeIso::Intermediate_seg_pcd(desc.pc, parameters.min_nn2, parameters.reg_strength2, parameters.decimate_res2, parameters.max_gap))
{
return cmd.error("Failed to finish intermediate segmentation due to unknown reasons.");
}
}
if (try_final_seg)
{
if (!m_treeiso->final_seg_pcd(pc, min_nn2, rel_height_length_ratio, vertical_weight))
if (!TreeIso::Final_seg_pcd(desc.pc, parameters.min_nn2, parameters.rel_height_length_ratio, parameters.vertical_weight))
{
return cmd.error("Failed to finish final segmentation due to unknown reasons.");
}
@@ -260,4 +246,3 @@ struct CommandTreeIso : public ccCommandLineInterface::Command
}
};
#endif //QTREEISO_PLUGIN_COMMANDS_HEADER