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Neighborhood features added (WIP)

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This commit is contained in:
Daniel Girardeau-Montaut
2018-12-01 22:40:04 +01:00
parent bf831dbb0b
commit a378bcb957
11 changed files with 638 additions and 232 deletions
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q3DMASCTools.cpp
+104 -31
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@@ -751,6 +751,8 @@ bool Tools::LoadTrainingFile( QString filename,
{
loadedClouds.push_back(it.value());
}
return true;
}
else
{
@@ -796,8 +798,9 @@ CCLib::ScalarField* Tools::RetrieveSF(const ccPointCloud* cloud, const QString&
struct FeaturesAndScales
{
std::vector<double> scales;
std::vector<PointFeature::Shared> pointFeatures;
std::vector<NeighborhoodFeature::Shared> neighborhoodFeatures;
size_t featureCount = 0;
QMap<double, std::vector<PointFeature::Shared> > pointFeaturesPerScale;
QMap<double, std::vector<NeighborhoodFeature::Shared> > neighborhoodFeaturesPerScale;
};
bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features, QString& error, CCLib::GenericProgressCallback* progressCb/*=nullptr*/)
@@ -811,7 +814,7 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
//gather all the scales that need to be extracted
QMap<ccPointCloud*, FeaturesAndScales> cloudsWithScaledFeatures;
//and prepare the features (scalar fields, etc.) at the same time
for (const Feature::Shared& feature : features)
{
QString errorMessage("invalid pointer");
@@ -828,30 +831,73 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
return false;
}
if (feature->getType() == Feature::Type::PointFeature && feature->scaled())
if (feature->scaled())
{
try
{
//build the scaled feature list attached to the first cloud
if (feature->cloud1)
switch (feature->getType())
{
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud1];
fas.pointFeatures.push_back(qSharedPointerCast<PointFeature>(feature));
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
//Point features
case Feature::Type::PointFeature:
{
//build the scaled feature list attached to the first cloud
if (feature->cloud1)
{
fas.scales.push_back(feature->scale);
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud1];
fas.pointFeaturesPerScale[feature->scale].push_back(qSharedPointerCast<PointFeature>(feature));
++fas.featureCount;
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
{
fas.scales.push_back(feature->scale);
}
}
//build the scaled feature list attached to the second cloud (if any)
if (feature->cloud2 && feature->cloud2 != feature->cloud1 && feature->op != Feature::NO_OPERATION)
{
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud2];
++fas.featureCount;
fas.pointFeaturesPerScale[feature->scale].push_back(qSharedPointerCast<PointFeature>(feature));
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
{
fas.scales.push_back(feature->scale);
}
}
}
break;
//build the scaled feature list attached to the second cloud (if any)
if (feature->cloud2 && feature->cloud2 != feature->cloud1 && feature->op != Feature::NO_OPERATION)
//Point features
case Feature::Type::NeighborhoodFeature:
{
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud2];
fas.pointFeatures.push_back(qSharedPointerCast<PointFeature>(feature));
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
//build the scaled feature list attached to the first cloud
if (feature->cloud1)
{
fas.scales.push_back(feature->scale);
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud1];
fas.neighborhoodFeaturesPerScale[feature->scale].push_back(qSharedPointerCast<NeighborhoodFeature>(feature));
++fas.featureCount;
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
{
fas.scales.push_back(feature->scale);
}
}
//build the scaled feature list attached to the second cloud (if any)
if (feature->cloud2 && feature->cloud2 != feature->cloud1 && feature->op != Feature::NO_OPERATION)
{
FeaturesAndScales& fas = cloudsWithScaledFeatures[feature->cloud2];
fas.neighborhoodFeaturesPerScale[feature->scale].push_back(qSharedPointerCast<NeighborhoodFeature>(feature));
++fas.featureCount;
if (std::find(fas.scales.begin(), fas.scales.end(), feature->scale) == fas.scales.end())
{
fas.scales.push_back(feature->scale);
}
}
}
break;
default:
assert(false);
break;
}
}
catch (const std::bad_alloc&)
@@ -860,6 +906,7 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
return false;
}
}
}
bool success = true;
@@ -894,8 +941,7 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
unsigned char octreeLevel = octree->findBestLevelForAGivenNeighbourhoodSizeExtraction(largestRadius);
unsigned pointCount = corePoints.size();
size_t featureCount = fas.pointFeatures.size() + fas.neighborhoodFeatures.size();
QString logMessage = QString("Computing %1 features on cloud %2\n(core points: %3)").arg(featureCount).arg(sourceCloud->getName()).arg(pointCount);
QString logMessage = QString("Computing %1 features on cloud %2\n(core points: %3)").arg(fas.featureCount).arg(sourceCloud->getName()).arg(pointCount);
if (progressCb)
{
progressCb->setMethodTitle("Compute features");
@@ -905,8 +951,10 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
CCLib::NormalizedProgress nProgress(progressCb, pointCount);
QMutex mutex;
#ifndef _DEBUG
#if defined(_OPENMP)
#pragma omp parallel for
#endif
#endif
for (int i = 0; i < static_cast<int>(pointCount); ++i)
{
@@ -953,14 +1001,9 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
nNSS.pointsInNeighbourhood.resize(kNN);
}
for (PointFeature::Shared& feature : fas.pointFeatures)
//Point features
for (PointFeature::Shared& feature : fas.pointFeaturesPerScale[fas.scales[scaleIndex]])
{
if (feature->scale != fas.scales[scaleIndex])
{
//we use the current neighborhood only for the features with the corresponding scales!
continue;
}
if (feature->cloud1 == sourceCloud && feature->statSF1 && feature->field1)
{
double outputValue = 0;
@@ -991,6 +1034,39 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
}
}
//Neighborhhod features
for (NeighborhoodFeature::Shared& feature : fas.neighborhoodFeaturesPerScale[fas.scales[scaleIndex]])
{
if (feature->cloud1 == sourceCloud && feature->sf1)
{
double outputValue = 0;
if (!feature->computeValue(nNSS.pointsInNeighbourhood, nNSS.queryPoint, outputValue))
{
//an error occurred
success = false;
break;
}
ScalarType v1 = static_cast<ScalarType>(outputValue);
feature->sf1->setValue(i, v1);
}
if (feature->cloud2 == sourceCloud && feature->sf2)
{
assert(feature->op != Feature::NO_OPERATION);
double outputValue = 0;
if (!feature->computeValue(nNSS.pointsInNeighbourhood, nNSS.queryPoint, outputValue))
{
//an error occurred
success = false;
break;
}
ScalarType v2 = static_cast<ScalarType>(outputValue);
feature->sf2->setValue(i, v2);
}
}
if (!success)
{
break;
@@ -1019,13 +1095,10 @@ bool Tools::PrepareFeatures(const CorePoints& corePoints, Feature::Set& features
for (const Feature::Shared& feature : features)
{
//we have to 'finish' the process for Point features
if (feature->getType() == Feature::Type::PointFeature && feature->scaled())
//we have to 'finish' the process for scaled features
if (feature->scaled() && !feature->finish(corePoints, error))
{
if (!qSharedPointerCast<PointFeature>(feature)->finish(corePoints, error))
{
return false;
}
return false;
}
}