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test debug

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This commit is contained in:
valorun
2020-04-19 15:57:39 +02:00
parent ee83b16f91
commit 75b94119ae
1 changed files with 34 additions and 19 deletions
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ColorimetricSegmenter.cpp
+34 -19
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@@ -36,6 +36,7 @@
#include "ColorimetricSegmenter.h"
#include "RgbDialog.h"
#include "ccLog.h"
#include "ccPointCloud.h"
#include "ccScalarField.h"
@@ -49,6 +50,7 @@ ColorimetricSegmenter::ColorimetricSegmenter( QObject *parent )
: QObject( parent )
, ccStdPluginInterface( ":/CC/plugin/ColorimetricSegmenter/info.json" )
, m_action_filterRgb( nullptr )
, m_action_filterRgbWithSegmentation(nullptr)
{
}
@@ -130,12 +132,12 @@ QList<QAction *> ColorimetricSegmenter::getActions()
{
// Here we use the default plugin name, description, and icon,
// but each action should have its own.
m_action_filterRgbWithSegmentation = new QAction( "Filter RGB", this);
m_action_filterRgbWithSegmentation = new QAction( "Filter RGB using segmentation", this);
m_action_filterRgbWithSegmentation->setToolTip( "Filter the points on the selected cloud by RGB color using segmentation" );
m_action_filterRgbWithSegmentation->setIcon(getIcon());
// Connect appropriate signal
connect(m_action_filterRgbWithSegmentation, &QAction::triggered, this, &ColorimetricSegmenter::filterRgb);
connect(m_action_filterRgbWithSegmentation, &QAction::triggered, this, &ColorimetricSegmenter::filterRgbWithSegmentation);
connect(m_action_filterRgbWithSegmentation, SIGNAL(newEntity(ccHObject*)), this, SLOT(handleNewEntity(ccHObject*)));
connect(m_action_filterRgbWithSegmentation, SIGNAL(entityHasChanged(ccHObject*)), this, SLOT(handleEntityChange(ccHObject*)));
@@ -234,12 +236,6 @@ void ColorimetricSegmenter::filterRgb()
}
}
void knn(ccPointCloud* cloud, const CCVector3* point, unsigned k, CCLib::ReferenceCloud* neighbours, unsigned thresholdDistance) {
double maxSquareDist;
neighbours = new CCLib::ReferenceCloud(cloud);
unsigned count = cloud->computeOctree()->findPointNeighbourhood(point, neighbours, k, 1, maxSquareDist, thresholdDistance);
}
void knnRegions(ccPointCloud* basePointCloud, std::vector<CCLib::ReferenceCloud*>* regions, const CCLib::ReferenceCloud* region, unsigned k, std::vector<CCLib::ReferenceCloud*>* neighbours, unsigned thresholdDistance) {
ccPointCloud* computedRegion = basePointCloud->partialClone(region);
// compute distances
@@ -255,8 +251,9 @@ void knnRegions(ccPointCloud* basePointCloud, std::vector<CCLib::ReferenceCloud*
}
// sort the vectors
std::vector<int>* index = new std::vector<int>(tempNeighbours->size());
int n = 0;
std::generate(index->begin(), index->end(),
[n=0]
[n]
()
mutable
{
@@ -317,7 +314,7 @@ double colorimetricalDifference(ccPointCloud* basePointCloud, CCLib::ReferenceCl
}
std::vector<CCLib::ReferenceCloud*>* regionGrowing(ccPointCloud* pointCloud, const unsigned TNN, const double TPP, const double TD)
std::vector<CCLib::ReferenceCloud*>* ColorimetricSegmenter::regionGrowing(ccPointCloud* pointCloud, const unsigned TNN, const double TPP, const double TD)
{
std::vector<unsigned> unlabeledPoints;
for (unsigned j = 0; j < pointCloud->size(); ++j)
@@ -326,11 +323,13 @@ std::vector<CCLib::ReferenceCloud*>* regionGrowing(ccPointCloud* pointCloud, con
}
std::vector<CCLib::ReferenceCloud*>* regions = new std::vector<CCLib::ReferenceCloud*>();
std::vector<unsigned>* points = new std::vector<unsigned>();
CCLib::DgmOctree* octree = new CCLib::DgmOctree(pointCloud);// used to search nearest neighbors
// while there is any point in {P} that hasn’t been labeled
while(unlabeledPoints.size() > 0)
{
// push an unlabeled point into stack Points
points->push_back(unlabeledPoints.back());
unlabeledPoints.pop_back();
// initialize a new region Rc and add current point to R
CCLib::ReferenceCloud* rc = new CCLib::ReferenceCloud(pointCloud);
rc->addPointIndex(unlabeledPoints.back());
@@ -342,8 +341,21 @@ std::vector<CCLib::ReferenceCloud*>* regionGrowing(ccPointCloud* pointCloud, con
points->pop_back();
// for each point p in {KNNTNN(Tpoint)}
CCLib::ReferenceCloud* knnResult;
knn(pointCloud, pointCloud->getPoint(tPointIndex), TNN, knnResult, TD);
CCLib::DgmOctree::NearestNeighboursSearchStruct nNSS = CCLib::DgmOctree::NearestNeighboursSearchStruct();
nNSS.level = 1;
nNSS.queryPoint = *(pointCloud->getPoint(tPointIndex));
Tuple3i* cellPos = new Tuple3i();
octree->getCellPos(octree->getCellCode(tPointIndex), 1, *cellPos, false); //SEG FAULT
/*nNSS.cellPos = cellPos;
CCVector3 cellCenter;
octree->computeCellCenter(octree->getCellCode(tPointIndex), 1, cellCenter);
nNSS.cellCenter = cellCenter;
nNSS.maxSearchSquareDistd = TD;
nNSS.minNumberOfNeighbors = TNN;*/
//octree->findNearestNeighborsStartingFromCell(nNSS);
//CCLib::DgmOctree::NeighboursSet knnResult = nNSS.pointsInNeighbourhood;
/*
for(int i=0; i < knnResult->size(); i++)
{
unsigned p = knnResult->getPointGlobalIndex(i);
@@ -358,12 +370,13 @@ std::vector<CCLib::ReferenceCloud*>* regionGrowing(ccPointCloud* pointCloud, con
points->push_back(p);
rc->addPointIndex(p);
}
}
}*/
}
regions->push_back(rc);
}
return regions;
//return regions;
return nullptr;
}
std::vector<CCLib::ReferenceCloud*>* findRegion(std::vector<std::vector<CCLib::ReferenceCloud*>*>* container, CCLib::ReferenceCloud* region)
@@ -382,7 +395,7 @@ std::vector<CCLib::ReferenceCloud*>* findRegion(std::vector<std::vector<CCLib::R
return nullptr;
}
std::vector<CCLib::ReferenceCloud*>* regionMergingAndRefinement(ccPointCloud* basePointCloud, std::vector<CCLib::ReferenceCloud*>* regions, const unsigned TNN, const double TRR, const double TD, const unsigned Min)
std::vector<CCLib::ReferenceCloud*>* ColorimetricSegmenter::regionMergingAndRefinement(ccPointCloud* basePointCloud, std::vector<CCLib::ReferenceCloud*>* regions, const unsigned TNN, const double TRR, const double TD, const unsigned Min)
{
std::vector<std::vector<CCLib::ReferenceCloud*>*>* homogeneous = new std::vector<std::vector<CCLib::ReferenceCloud*>*>();
@@ -461,7 +474,7 @@ void ColorimetricSegmenter::filterRgbWithSegmentation()
// Retrieve parameters from dialog
RgbDialog rgbDlg((QWidget*)m_app->getMainWindow());
ccLog::Print("test");
if (!rgbDlg.exec())
return;
@@ -475,6 +488,7 @@ void ColorimetricSegmenter::filterRgbWithSegmentation()
int blueSup = rgbDlg.area_blue->value() + marginError * rgbDlg.area_blue->value();
std::vector<ccPointCloud*> clouds = getSelectedPointClouds();
ccLog::Print("test");
for (ccPointCloud* cloud : clouds) {
if (cloud->hasColors())
@@ -483,7 +497,8 @@ void ColorimetricSegmenter::filterRgbWithSegmentation()
CCLib::ReferenceCloud* filteredCloud = new CCLib::ReferenceCloud(cloud);
std::vector<CCLib::ReferenceCloud*>* regions = regionGrowing(cloud, TNN, TPP, TD);
regions = regionMergingAndRefinement(cloud, regions, TNN, TRR, TD, Min);
/*regions = regionMergingAndRefinement(cloud, regions, TNN, TRR, TD, Min);
//m_app->dispToConsole(QString("[ColorimetricSegmenter] regions %1").arg(regions->size()), ccMainAppInterface::STD_CONSOLE_MESSAGE);
// retrieve the nearest region (in color range)
for(CCLib::ReferenceCloud* r : *regions)
@@ -502,10 +517,10 @@ void ColorimetricSegmenter::filterRgbWithSegmentation()
m_app->addToDB(newCloud, false, true, false, false);
m_app->dispToConsole("[ColorimetricSegmenter] Cloud successfully filtered ! ", ccMainAppInterface::STD_CONSOLE_MESSAGE);
m_app->dispToConsole("[ColorimetricSegmenter] Cloud successfully filtered with segmentation ! ", ccMainAppInterface::STD_CONSOLE_MESSAGE);
}
}
}*/
}