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comments ColorimetricSegmenter

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Tri-Thien TRUONG
2020-03-18 17:37:51 +01:00
parent 8fba1cabbc
commit 7953d1d1cb
1 changed files with 51 additions and 89 deletions
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ColorimetricSegmenter.cpp
+51 -89
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@@ -15,30 +15,12 @@
//# #
//##########################################################################
// First:
// Replace all occurrences of 'ExamplePlugin' by your own plugin class name in this file.
// This includes the resource path to info.json in the constructor.
// Second:
// Open ExamplePlugin.qrc, change the "prefix" and the icon filename for your plugin.
// Change the name of the file to <yourPluginName>.qrc
// Third:
// Open the info.json file and fill in the information about the plugin.
// "type" should be one of: "Standard", "GL", or "I/O" (required)
// "name" is the name of the plugin (required)
// "icon" is the Qt resource path to the plugin's icon (from the .qrc file)
// "description" is used as a tootip if the plugin has actions and is displayed in the plugin dialog
// "authors", "maintainers", and "references" show up in the plugin dialog as well
#include <iostream>
#include <QtGui>
#include "ColorimetricSegmenter.h"
// Default constructor:
// - pass the Qt resource path to the info.json file (from <yourPluginName>.qrc file)
// - constructor should mainly be used to initialize actions and other members
@@ -51,7 +33,6 @@ ColorimetricSegmenter::ColorimetricSegmenter( QObject *parent )
{
}
void ColorimetricSegmenter::handleNewEntity(ccHObject* entity)
{
assert(entity && m_app);
@@ -89,49 +70,39 @@ void ColorimetricSegmenter::onNewSelection( const ccHObject::Container &selected
return;
}
// If you need to check for a specific type of object, you can use the methods
// in ccHObjectCaster.h or loop and check the objects' classIDs like this:
//
// for ( ccHObject *object : selectedEntities )
// {
// if ( object->getClassID() == CC_TYPES::VIEWPORT_2D_OBJECT )
// {
// // ... do something with the viewports
// }
// }
// For example - only enable our action if something is selected.
m_action_filterScalar->setEnabled( !selectedEntities.empty() );
// Only enable our action if something is selected.
m_action_filterScalar->setEnabled(!selectedEntities.empty());
m_action_filterRgb->setEnabled(!selectedEntities.empty());
m_action_filterHSV->setEnabled(!selectedEntities.empty());
}
// This method returns all the 'actions' your plugin can perform.
// getActions() will be called only once, when plugin is loaded.
QList<QAction *> ColorimetricSegmenter::getActions()
QList<QAction*> ColorimetricSegmenter::getActions()
{
// default action (if it has not been already created, this is the moment to do it)
if ( !m_action_filterScalar )
// Scalar filter
if (!m_action_filterScalar)
{
// Here we use the default plugin name, description, and icon,
// but each action should have its own.
m_action_filterScalar = new QAction( "Filter with scalar field", this );
m_action_filterScalar->setToolTip( "Filter the points on the selected cloud by scalar value" );
m_action_filterScalar->setIcon( getIcon() );
m_action_filterScalar = new QAction("Filter with scalar field", this);
m_action_filterScalar->setToolTip("Filter the points on the selected cloud by scalar value");
m_action_filterScalar->setIcon(getIcon());
// Connect appropriate signal
connect(m_action_filterScalar, &QAction::triggered, this, &ColorimetricSegmenter::filterScalarField );
connect(m_action_filterScalar, &QAction::triggered, this, &ColorimetricSegmenter::filterScalarField);
connect(m_action_filterScalar, SIGNAL(newEntity(ccHObject*)), this, SLOT(handleNewEntity(ccHObject*)));
connect(m_action_filterScalar, SIGNAL(entityHasChanged(ccHObject*)), this, SLOT(handleEntityChange(ccHObject*)));
connect(m_action_filterScalar, SIGNAL(newErrorMessage(QString)), this, SLOT(handleErrorMessage(QString)));
}
// RGB Filter
if (!m_action_filterRgb)
{
m_action_filterRgb = new QAction( "Filter RGB", this);
m_action_filterRgb->setToolTip( "Filter the points on the selected cloud by RGB color" );
m_action_filterRgb = new QAction("Filter RGB", this);
m_action_filterRgb->setToolTip("Filter the points on the selected cloud by RGB color");
m_action_filterRgb->setIcon(getIcon());
// Connect appropriate signal
@@ -143,6 +114,7 @@ QList<QAction *> ColorimetricSegmenter::getActions()
}
// HSV Filter
if (!m_action_filterHSV)
{
m_action_filterHSV = new QAction("Filter HSV", this);
@@ -161,7 +133,8 @@ QList<QAction *> ColorimetricSegmenter::getActions()
return { m_action_filterScalar, m_action_filterRgb, m_action_filterHSV };
}
// Get all point clouds that are selected in CC
// return a vector with ccPointCloud objects
std::vector<ccPointCloud*> ColorimetricSegmenter::getSelectedPointClouds()
{
if (m_app == nullptr)
@@ -183,6 +156,7 @@ std::vector<ccPointCloud*> ColorimetricSegmenter::getSelectedPointClouds()
return clouds;
}
// Algorithm for the scalar filter
void ColorimetricSegmenter::filterScalarField()
{
if (m_app == nullptr)
@@ -206,7 +180,8 @@ void ColorimetricSegmenter::filterScalarField()
}
}
// Algorithm for the RGB filter
// It uses a color range with RGB values, and keeps the points with a color within that range.
void ColorimetricSegmenter::filterRgb()
{
if ( m_app == nullptr )
@@ -238,8 +213,10 @@ void ColorimetricSegmenter::filterRgb()
// Start timer
auto start = std::chrono::high_resolution_clock::now();
// Get margin value (percent)
double marginError = static_cast<double>(rgbDlg->margin->value()) / 100.0;
// Get all values to make the color range with RGB values
int redInf = rgbDlg->red_first->value() - (marginError * rgbDlg->red_first->value());
int redSup = rgbDlg->red_second->value() + marginError * rgbDlg->red_second->value();
int greenInf = rgbDlg->green_first->value() - marginError * rgbDlg->green_first->value();
@@ -294,11 +271,13 @@ void ColorimetricSegmenter::filterRgb()
auto stop = std::chrono::high_resolution_clock::now();
auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(stop - start).count();
QString s = QString::number(duration);
//Print time of execution
//std::cout << duration.count() << std::endl;
ccLog::Print("Time to execute : " + s);
ccLog::Print("Time to execute : " + s + " milliseconds.");
}
// Algorithm for the HSV filter
// It uses the Hue-Saturation-Value (HSV) color space to filter the point cloud
void ColorimetricSegmenter::filterHSV()
{
if (m_app == nullptr)
@@ -330,6 +309,7 @@ void ColorimetricSegmenter::filterHSV()
// Start timer
auto start = std::chrono::high_resolution_clock::now();
// Get HSV values
hsv hsv_first;
hsv_first.h = hsvDlg->hue_first->value();
hsv_first.s = hsvDlg->sat_first->value();
@@ -338,61 +318,43 @@ void ColorimetricSegmenter::filterHSV()
std::vector<ccPointCloud*> clouds = getSelectedPointClouds();
for (ccPointCloud* cloud : clouds) {
if (cloud->hasColors())
{
if (cloud->hasColors()) {
// Use only references for speed reasons
CCLib::ReferenceCloud* filteredCloud = new CCLib::ReferenceCloud(cloud);
// We manually add color ranges with HSV values
for (unsigned j = 0; j < cloud->size(); ++j)
{
const ccColor::Rgb& rgb = cloud->getPointColor(j);
hsv hsv_current = hsvDlg->rgb2hsv(rgb);
if ( 0 <= hsv_first.s && hsv_first.s <= 25 && 0 <= hsv_current.s && hsv_current.s <= 25) // hue is useless here, so we will check value
// Hue is useless here because the saturation is not high enough
if ( 0 <= hsv_first.s && hsv_first.s <= 25 && 0 <= hsv_current.s && hsv_current.s <= 25)
{
if (0 <= hsv_first.v && hsv_first.v <= 25 && 0 <= hsv_current.v && hsv_current.v <= 25) { // black
addPoint(filteredCloud, j);
}
else if (hsv_first.v > 25 && hsv_first.v <= 60 && hsv_current.v > 25 && hsv_current.v <= 60) { // grey
addPoint(filteredCloud, j);
}
else if (hsv_first.v > 60 && hsv_first.v <= 100 && hsv_current.v > 60 && hsv_current.v <= 100) { // white
addPoint(filteredCloud, j);
}
// We only check value
if (hsv_first.v >= 0 && hsv_first.v <= 25 && 0 <= hsv_current.v && hsv_current.v <= 25) addPoint(filteredCloud, j); // black
else if (hsv_first.v > 25 && hsv_first.v <= 60 && hsv_current.v > 25 && hsv_current.v <= 60) addPoint(filteredCloud, j); // grey
else if (hsv_first.v > 60 && hsv_first.v <= 100 && hsv_current.v > 60 && hsv_current.v <= 100) addPoint(filteredCloud, j); // white
}
else if (hsv_first.s > 25 && hsv_first.s <= 100 && hsv_current.s > 25 && hsv_current.s <= 100) { // we need to check value, then hue
if (0 <= hsv_first.v && hsv_first.v <= 25 && 0 <= hsv_current.v && hsv_current.v <= 25) { // black
addPoint(filteredCloud, j);
}
else if (hsv_first.v > 25 && hsv_first.v <= 100 && hsv_current.v > 25 && hsv_current.v <= 100) { // particular color
if (((hsv_first.h >= 0 && hsv_first.h <= 30) || (hsv_first.h >= 330 && hsv_first.h <= 360)) && ((hsv_current.h >= 0 && hsv_current.h <= 30) || (hsv_current.h >= 330 && hsv_current.h <= 360))) // red
{
addPoint(filteredCloud, j);
}
else if (hsv_first.h > 30 && hsv_first.h <= 90 && hsv_current.h > 30 && hsv_current.h <= 90) // yellow
{
addPoint(filteredCloud, j);
}
else if (hsv_first.h > 90 && hsv_first.h <= 150 && hsv_current.h > 90 && hsv_current.h <= 150) // green
{
addPoint(filteredCloud, j);
}
else if (hsv_first.h > 150 && hsv_first.h <= 210 && hsv_current.h > 150 && hsv_current.h <= 210) // cyan
{
addPoint(filteredCloud, j);
}
else if (hsv_first.h > 210 && hsv_first.h <= 270 && hsv_current.h > 210 && hsv_current.h <= 270) // blue
{
addPoint(filteredCloud, j);
}
else if (hsv_first.h > 270 && hsv_first.h <= 330 && hsv_current.h > 270 && hsv_current.h <= 330) // magenta
{
addPoint(filteredCloud, j);
}
else if (hsv_first.s > 25 && hsv_first.s <= 100 && hsv_current.s > 25 && hsv_current.s <= 100) {
// We need to check value first
if (0 <= hsv_first.v && hsv_first.v <= 25 && 0 <= hsv_current.v && hsv_current.v <= 25) addPoint(filteredCloud, j); // black
// Then, we can check value
else if (hsv_first.v > 25 && hsv_first.v <= 100 && hsv_current.v > 25 && hsv_current.v <= 100)
{
if (((hsv_first.h >= 0 && hsv_first.h <= 30) || (hsv_first.h >= 330 && hsv_first.h <= 360)) &&
((hsv_current.h >= 0 && hsv_current.h <= 30) || (hsv_current.h >= 330 && hsv_current.h <= 360))) addPoint(filteredCloud, j); // red
else if (hsv_first.h > 30 && hsv_first.h <= 90 && hsv_current.h > 30 && hsv_current.h <= 90) addPoint(filteredCloud, j); // yellow
else if (hsv_first.h > 90 && hsv_first.h <= 150 && hsv_current.h > 90 && hsv_current.h <= 150) addPoint(filteredCloud, j); // green
else if (hsv_first.h > 150 && hsv_first.h <= 210 && hsv_current.h > 150 && hsv_current.h <= 210) addPoint(filteredCloud, j); // cyan
else if (hsv_first.h > 210 && hsv_first.h <= 270 && hsv_current.h > 210 && hsv_current.h <= 270) addPoint(filteredCloud, j); // blue
else if (hsv_first.h > 270 && hsv_first.h <= 330 && hsv_current.h > 270 && hsv_current.h <= 330) addPoint(filteredCloud, j); // magenta
}
}
}
// Copy new cloud
ccPointCloud* newCloud = cloud->partialClone(filteredCloud);
newCloud->setName(QString::fromStdString("h:" + std::to_string((int)hsv_first.h) + "/s:" + std::to_string((int)hsv_first.s) + "/v:" + std::to_string((int)hsv_first.v)));
@@ -413,9 +375,9 @@ void ColorimetricSegmenter::filterHSV()
auto stop = std::chrono::high_resolution_clock::now();
auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(stop - start).count();
QString s = QString::number(duration);
//Print time of execution
//std::cout << duration.count() << std::endl;
ccLog::Print("Time to execute : " + s);
ccLog::Print("Time to execute : " + s + " milliseconds");
}
void ColorimetricSegmenter::addPoint(CCLib::ReferenceCloud* filteredCloud, unsigned int j)