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findRegion method

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This commit is contained in:
valorun
2020-02-27 20:51:43 +01:00
parent 652215bbdf
commit 2ca4d45215
1 changed files with 40 additions and 15 deletions
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ColorimetricSegmenter.cpp
+40 -15
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@@ -244,6 +244,10 @@ double colorimetricalDifference(ccColor::Rgb c1, ccColor::Rgb c2) {
return sqrt(pow(c1.r-c2.r, 2) + pow(c1.g-c2.g, 2) + pow(c1.b-c2.b, 2));
}
double colorimetricalDifference(ccPointCloud* basePointCloud, CCLib::ReferenceCloud* c1, CCLib::ReferenceCloud* c2) {
}
std::vector<CCLib::ReferenceCloud*> regionGrowing(ccPointCloud* pointCloud, const unsigned TNN, const double TPP, const double TD)
{
@@ -275,7 +279,7 @@ std::vector<CCLib::ReferenceCloud*> regionGrowing(ccPointCloud* pointCloud, cons
for(int i=0; i < knnResult->size(); i++)
{
unsigned p = knnResult->getPointGlobalIndex(i);
// if p is labelled or Dis(p,Tpoint)>TD
// if p is labelled
if(std::find(unlabeledPoints.begin(), unlabeledPoints.end(), p) != unlabeledPoints.end())
{
continue;
@@ -294,36 +298,57 @@ std::vector<CCLib::ReferenceCloud*> regionGrowing(ccPointCloud* pointCloud, cons
return regions;
}
std::vector<CCLib::ReferenceCloud*>* findRegion(std::vector<std::vector<CCLib::ReferenceCloud*>*>* container, CCLib::ReferenceCloud* region)
{
if(container->size() == 0)
{
return nullptr;
}
for(std::vector<CCLib::ReferenceCloud*>* l : *container)
{
if(std::find(l->begin(), l->end(), region) != l->end())
{
return l;
}
}
return nullptr;
}
std::vector<CCLib::ReferenceCloud*> regionMergingAndRefinement(ccPointCloud* basePointCloud, std::vector<CCLib::ReferenceCloud*>* regions, const unsigned TNN, const double TRR, const double TD)
{
std::vector<std::vector<CCLib::ReferenceCloud*>*> homogeneous;
std::vector<std::vector<CCLib::ReferenceCloud*>*>* homogeneous = new std::vector<std::vector<CCLib::ReferenceCloud*>*>();
// for each region Ri in {R}
for(CCLib::ReferenceCloud* ri : *regions)
{
// if Ri is not in {H}
for(std::vector<CCLib::ReferenceCloud*>* l : homogeneous)
if(findRegion(homogeneous, ri) == nullptr)
{
if(std::find(l->begin(), l->end(), ri) == l->end())
{
// create a new list to record Ri
std::vector<CCLib::ReferenceCloud*>* newRegionGroup = new std::vector<CCLib::ReferenceCloud*>();
newRegionGroup->push_back(ri);
homogeneous.push_back(newRegionGroup);
}
// create a new list to record Ri
std::vector<CCLib::ReferenceCloud*>* newRegionGroup = new std::vector<CCLib::ReferenceCloud*>();
newRegionGroup->push_back(ri);
homogeneous->push_back(newRegionGroup);
}
// for each region Rj in {KNNTNN2,TD2(Ri)}
std::vector<CCLib::ReferenceCloud*>* knnResult;
knnRegions(basePointCloud, regions, ri, TNN, knnResult, TD);
// for each region Rj in {KNNTNN2,TD2(Ri)}
for(CCLib::ReferenceCloud* rj : *knnResult)
{
// if CD(Ri,Rj)<TRR
if(colorimetricalDifference(basePointCloud, ri, rj) < TNN)
{
// if Rj is in {H}
//continue
// else
std::vector<CCLib::ReferenceCloud*>* regionContainer = findRegion(homogeneous, rj);
if(regionContainer != nullptr)
{
continue;
}
else
{
// add Rj to the list which contains Ri
// end if-else
// end if
regionContainer->push_back(rj);
}
}
}
}
// merge all the regions in the same list in {H} and get {R’}