mirror of
https://github.com/dgirardeau/q3DMASC.git
synced 2026-08-30 00:50:49 +08:00
Paul Leroy
372 lines
9.8 KiB
C++
372 lines
9.8 KiB
C++
//##########################################################################
|
|
//# #
|
|
//# CLOUDCOMPARE PLUGIN: q3DMASC #
|
|
//# #
|
|
//# This program is free software; you can redistribute it and/or modify #
|
|
//# it under the terms of the GNU General Public License as published by #
|
|
//# the Free Software Foundation; version 2 or later of the License. #
|
|
//# #
|
|
//# This program is distributed in the hope that it will be useful, #
|
|
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
|
|
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
|
|
//# GNU General Public License for more details. #
|
|
//# #
|
|
//# COPYRIGHT: Dimitri Lague / CNRS / UEB #
|
|
//# #
|
|
//##########################################################################
|
|
|
|
#include "ContextBasedFeature.h"
|
|
|
|
//Local
|
|
#include "q3DMASCTools.h"
|
|
|
|
//qCC_db
|
|
#include <ccScalarField.h>
|
|
|
|
//Qt
|
|
#include <QMutex>
|
|
|
|
using namespace masc;
|
|
|
|
bool ContextBasedFeature::checkValidity(QString corePointRole, QString &error) const
|
|
{
|
|
if (!Feature::checkValidity(corePointRole, error))
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if (type == Invalid)
|
|
{
|
|
assert(false);
|
|
error = "invalid feature type";
|
|
return false;
|
|
}
|
|
|
|
if (!cloud1)
|
|
{
|
|
error = "one cloud is required to compute context-based features";
|
|
return false;
|
|
}
|
|
|
|
CCCoreLib::ScalarField* classifSF = Tools::GetClassificationSF(cloud1);
|
|
if (!classifSF)
|
|
{
|
|
error = QString("Context cloud (%1) has no classification field").arg(cloud1Label);
|
|
return false;
|
|
}
|
|
if (classifSF->size() < cloud1->size())
|
|
{
|
|
error = QString("Context cloud (%1) has an invalid classification field").arg(cloud1Label);
|
|
return false;
|
|
}
|
|
|
|
if (!scaled() && kNN < 1)
|
|
{
|
|
error = QString("invalid kNN value for a scale-less context-based feature (%1)").arg(kNN);
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool ContextBasedFeature::prepare( const CorePoints& corePoints,
|
|
QString& errorMessage,
|
|
CCCoreLib::GenericProgressCallback* progressCb/*=nullptr*/,
|
|
SFCollector* generatedScalarFields/*=nullptr*/)
|
|
{
|
|
if (!corePoints.cloud)
|
|
{
|
|
//invalid input
|
|
assert(false);
|
|
errorMessage = "internal error (no input core points)";
|
|
return false;
|
|
}
|
|
|
|
if (!cloud1)
|
|
{
|
|
//invalid input
|
|
assert(false);
|
|
errorMessage = "internal error (no contextual cloud)";
|
|
return false;
|
|
}
|
|
|
|
if (!checkValidity(corePoints.role, errorMessage))
|
|
{
|
|
assert(false);
|
|
return false;
|
|
}
|
|
|
|
CCCoreLib::ScalarField* classifSF = Tools::GetClassificationSF(cloud1);
|
|
if (!classifSF || classifSF->size() < cloud1->size())
|
|
{
|
|
assert(false);
|
|
//already checked by 'checkValidity'
|
|
return false;
|
|
}
|
|
cloud1->setCurrentOutScalarField(cloud1->getScalarFieldIndexByName(classifSF->getName()));
|
|
|
|
//build the final SF name
|
|
QString typeStr = ToString(type);
|
|
QString resultSFName = typeStr + "_" + cloud1Label + "_" + QString::number(ctxClassLabel);
|
|
if (scaled())
|
|
{
|
|
resultSFName += "@" + QString::number(scale);
|
|
}
|
|
else
|
|
{
|
|
resultSFName += "@kNN=" + QString::number(kNN);
|
|
}
|
|
|
|
//and the scalar field
|
|
assert(!sf);
|
|
sfWasAlreadyExisting = CheckSFExistence(corePoints.cloud, qPrintable(resultSFName));
|
|
sf = PrepareSF(corePoints.cloud, qPrintable(resultSFName), generatedScalarFields, SFCollector::CAN_REMOVE);
|
|
if (!sf)
|
|
{
|
|
errorMessage = QString("Failed to prepare scalar %1 @ scale %2").arg(resultSFName).arg(scale);
|
|
return false;
|
|
}
|
|
source.name = sf->getName();
|
|
|
|
// NOT NECESSARY IF THE VALUE IS ALREADY COMPUTED
|
|
if (!scaled() && !sfWasAlreadyExisting) //with 'kNN' neighbors, we can compute the values right away
|
|
{
|
|
unsigned pointCount = corePoints.size();
|
|
QString logMessage = QString("Computing %1 on cloud %2 with context cloud %3\n(core points: %4)").arg(typeStr).arg(corePoints.cloud->getName()).arg(cloud1Label).arg(pointCount);
|
|
|
|
//first: look for the number of points in the relevent class
|
|
const ScalarType fClass = static_cast<ScalarType>(ctxClassLabel);
|
|
unsigned classCount = 0;
|
|
for (unsigned i = 0; i < classifSF->size(); ++i)
|
|
{
|
|
if (classifSF->getValue(i) == fClass)
|
|
++classCount;
|
|
}
|
|
|
|
if (classCount >= static_cast<unsigned>(kNN))
|
|
{
|
|
ccPointCloud classCloud;
|
|
if (!classCloud.reserve(classCount))
|
|
{
|
|
errorMessage = "Not enough memory";
|
|
return false;
|
|
}
|
|
|
|
for (unsigned i = 0; i < classifSF->size(); ++i)
|
|
{
|
|
if (classifSF->getValue(i) == fClass)
|
|
{
|
|
classCloud.addPoint(*cloud1->getPoint(i));
|
|
}
|
|
}
|
|
|
|
//compute the octree
|
|
ccLog::Print(QString("Computing octree of class %1 points (%2 points)").arg(ctxClassLabel).arg(classCount));
|
|
ccOctree::Shared classOctree = classCloud.computeOctree(progressCb);
|
|
if (!classOctree)
|
|
{
|
|
errorMessage = "Failed to compute octree (not enough memory?)";
|
|
return false;
|
|
}
|
|
|
|
//now extract the neighborhoods
|
|
unsigned char octreeLevel = classOctree->findBestLevelForAGivenPopulationPerCell(static_cast<unsigned>(std::max(3, kNN)));
|
|
ccLog::Print(QString("[Initial octree level] level = %1").arg(octreeLevel));
|
|
|
|
if (progressCb)
|
|
{
|
|
progressCb->setMethodTitle(qPrintable("Compute " + typeStr));
|
|
progressCb->setInfo(qPrintable(logMessage));
|
|
}
|
|
ccLog::Print(logMessage);
|
|
CCCoreLib::NormalizedProgress nProgress(progressCb, pointCount);
|
|
|
|
QMutex mutex;
|
|
double meanNeighborhoodSize = 0;
|
|
int tenth = pointCount / 10;
|
|
bool cancelled = false;
|
|
#ifndef _DEBUG
|
|
#if defined(_OPENMP)
|
|
#pragma omp parallel for
|
|
#endif
|
|
#endif
|
|
for (int i = 0; i < static_cast<int>(pointCount); ++i)
|
|
{
|
|
const CCVector3* P = corePoints.cloud->getPoint(i);
|
|
CCCoreLib::ReferenceCloud Yk(&classCloud);
|
|
double maxSquareDist = 0;
|
|
|
|
ScalarType s = CCCoreLib::NAN_VALUE;
|
|
|
|
int neighborhoodSize = 0;
|
|
if (classOctree->findPointNeighbourhood(P, &Yk, static_cast<unsigned>(kNN), octreeLevel, maxSquareDist, 0, &neighborhoodSize) >= static_cast<unsigned>(kNN))
|
|
{
|
|
CCVector3d sumQ(0, 0, 0);
|
|
for (int k = 0; k < kNN; ++k)
|
|
{
|
|
sumQ += CCVector3d::fromArray(Yk.getPoint(k)->u);
|
|
}
|
|
|
|
switch (type)
|
|
{
|
|
case DZ:
|
|
s = static_cast<ScalarType>(P->z - sumQ.z / kNN);
|
|
break;
|
|
case DH:
|
|
s = static_cast<ScalarType>(sqrt(pow(P->x - sumQ.x / kNN, 2.0) + pow(P->y - sumQ.y / kNN, 2.0)));
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (i && (i % tenth) == 0)
|
|
{
|
|
double density = meanNeighborhoodSize / tenth;
|
|
if (density < 1.1)
|
|
{
|
|
if (octreeLevel + 1 < CCCoreLib::DgmOctree::MAX_OCTREE_LEVEL)
|
|
++octreeLevel;
|
|
}
|
|
else while (density > 2.9)
|
|
{
|
|
if (octreeLevel <= 5)
|
|
break;
|
|
--octreeLevel;
|
|
density /= 2.0;
|
|
}
|
|
ccLog::Print(QString("[Adaptative octree level] Mean neighborhood size: %1 --> new level = %2").arg(meanNeighborhoodSize / tenth).arg(octreeLevel));
|
|
meanNeighborhoodSize = 0;
|
|
}
|
|
else
|
|
{
|
|
meanNeighborhoodSize += neighborhoodSize;
|
|
}
|
|
|
|
sf->setValue(i, s);
|
|
|
|
if (progressCb)
|
|
{
|
|
mutex.lock();
|
|
cancelled = !nProgress.oneStep();
|
|
mutex.unlock();
|
|
if (cancelled)
|
|
{
|
|
//process cancelled by the user
|
|
errorMessage = "Process cancelled";
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (progressCb)
|
|
{
|
|
progressCb->stop();
|
|
}
|
|
|
|
if (cancelled)
|
|
{
|
|
sf->computeMinAndMax();
|
|
return false;
|
|
}
|
|
|
|
}
|
|
else // classCount < kNN
|
|
{
|
|
//specific case: not enough points of this class in the whole cloud!
|
|
//sf->fill(NAN_VALUE); //already the case
|
|
ccLog::Warning(QString("Cloud %1 has less than %2 points of class %3").arg(cloud1Label).arg(classCount).arg(ctxClassLabel));
|
|
}
|
|
|
|
sf->computeMinAndMax();
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool ContextBasedFeature::computeValue(CCCoreLib::DgmOctree::NeighboursSet& pointsInNeighbourhood, const CCVector3& queryPoint, ScalarType& outputValue) const
|
|
{
|
|
const ScalarType fClass = static_cast<ScalarType>(ctxClassLabel);
|
|
|
|
CCVector3d sumQ(0, 0, 0);
|
|
unsigned validCount = 0;
|
|
for (CCCoreLib::DgmOctree::PointDescriptor& Pd : pointsInNeighbourhood)
|
|
{
|
|
//we only consider points with the right class!!!
|
|
if (cloud1->getPointScalarValue(Pd.pointIndex) != fClass)
|
|
continue;
|
|
sumQ += CCVector3d::fromArray(Pd.point->u);
|
|
++validCount;
|
|
}
|
|
|
|
if (validCount == 0)
|
|
{
|
|
outputValue = CCCoreLib::NAN_VALUE;
|
|
return true;
|
|
}
|
|
|
|
switch (type)
|
|
{
|
|
case DZ:
|
|
outputValue = static_cast<ScalarType>(queryPoint.z - sumQ.z / validCount);
|
|
break;
|
|
case DH:
|
|
outputValue = static_cast<ScalarType>(sqrt(pow(queryPoint.x - sumQ.x / validCount, 2.0) + pow(queryPoint.y - sumQ.y / validCount, 2.0)));
|
|
break;
|
|
default:
|
|
assert(false);
|
|
outputValue = CCCoreLib::NAN_VALUE;
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool ContextBasedFeature::finish(const CorePoints& corePoints, QString& error)
|
|
{
|
|
if (!corePoints.cloud)
|
|
{
|
|
//invalid input
|
|
assert(false);
|
|
error = "internal error (no input core points)";
|
|
return false;
|
|
}
|
|
|
|
bool success = true;
|
|
|
|
if (sf)
|
|
{
|
|
sf->computeMinAndMax();
|
|
|
|
//update display
|
|
//if (corePoints.cloud->getDisplay())
|
|
{
|
|
int sfIndex = corePoints.cloud->getScalarFieldIndexByName(sf->getName());
|
|
corePoints.cloud->setCurrentDisplayedScalarField(sfIndex);
|
|
//corePoints.cloud->getDisplay()->redraw();
|
|
//QCoreApplication::processEvents();
|
|
}
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
QString ContextBasedFeature::toString() const
|
|
{
|
|
//use the default keyword + number of neighbors + the scale + the context class
|
|
QString str = ToString(type);
|
|
if (!scaled())
|
|
{
|
|
if (kNN != 1)
|
|
str += QString::number(kNN);
|
|
str += "_SC0";
|
|
}
|
|
else
|
|
{
|
|
str += "_SC" + QString::number(scale);
|
|
}
|
|
|
|
str += "_" + cloud1Label + "_" + QString::number(ctxClassLabel);
|
|
|
|
return str;
|
|
}
|