q3DMASC/q3DMASC.cpp

//##########################################################################
//#                                                                        #
//#                     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 "q3DMASC.h"

//local
#include "q3DMASCDisclaimerDialog.h"

//qCC_db
#include <ccPointCloud.h>

//Qt
#include <QtGui>
#include <QtCore>
#include <QApplication>
#include <QMessageBox>
#include <QStringList>

q3DMASCPlugin::q3DMASCPlugin(QObject* parent/*=0*/)
	: QObject(parent)
	, ccStdPluginInterface( ":/CC/plugin/q3DMASCPlugin/info.json" )
	, m_classifyAction(0)
	, m_trainAction(0)
{
}

void q3DMASCPlugin::onNewSelection(const ccHObject::Container& selectedEntities)
{
	if (m_classifyAction)
	{
		//classification: only one point cloud
		m_classifyAction->setEnabled(selectedEntities.size() == 1 && selectedEntities[0]->isA(CC_TYPES::POINT_CLOUD));
	}

	if (m_trainAction)
	{
		m_trainAction->setEnabled(m_app && m_app->dbRootObject() && m_app->dbRootObject()->getChildrenNumber() != 0); //need some loaded entities to train the classifier!
	}

	m_selectedEntities = selectedEntities;
}

QList<QAction*> q3DMASCPlugin::getActions()
{
	QList<QAction*> group;

	if (!m_trainAction)
	{
		m_trainAction = new QAction("Train classifier", this);
		m_trainAction->setToolTip("Train classifier");
		m_trainAction->setIcon(QIcon(QString::fromUtf8(":/CC/plugin/q3DMASCPlugin/iconCreate.png")));
		connect(m_trainAction, SIGNAL(triggered()), this, SLOT(doTrainAction()));
	}
	group.push_back(m_trainAction);

	if (!m_classifyAction)
	{
		m_classifyAction = new QAction("Classify", this);
		m_classifyAction->setToolTip("Classify cloud");
		m_classifyAction->setIcon(QIcon(QString::fromUtf8(":/CC/plugin/q3DMASCPlugin/iconClassify.png")));
		connect(m_classifyAction, SIGNAL(triggered()), this, SLOT(doClassifyAction()));
	}
	group.push_back(m_classifyAction);

	return group;
}

#include <opencv2/ml.hpp>

class IScalarFieldWrapper
{
public:
	virtual double pointValue(unsigned index) const = 0;
	virtual bool isValid() const = 0;
};

class ScalarFieldWrapper : public IScalarFieldWrapper
{
public:
	ScalarFieldWrapper(CCLib::ScalarField* sf)
		: m_sf(sf)
	{}

	virtual inline double pointValue(unsigned index) const override { return m_sf->at(index); }
	virtual inline bool isValid() const { return m_sf != nullptr; }

protected:
	CCLib::ScalarField* m_sf;
};

class DimScalarFieldWrapper : public IScalarFieldWrapper
{
public:
	enum Dim { DimX = 0, DimY = 1, DimZ = 2 };
	
	DimScalarFieldWrapper(ccPointCloud* cloud, Dim dim)
		: m_cloud(cloud)
		, m_dim(dim)
	{}

	virtual inline double pointValue(unsigned index) const override { return m_cloud->getPoint(index)->u[m_dim]; }
	virtual inline bool isValid() const { return m_cloud != nullptr; }

protected:
	ccPointCloud* m_cloud;
	Dim m_dim;
};

class ColorScalarFieldWrapper : public IScalarFieldWrapper
{
public:
	enum Band { Red = 0, Green = 1, Blue = 2 };

	ColorScalarFieldWrapper(ccPointCloud* cloud, Band band)
		: m_cloud(cloud)
		, m_band(band)
	{}

	virtual inline double pointValue(unsigned index) const override { return m_cloud->getPointColor(index).rgb[m_band]; }
	virtual inline bool isValid() const { return m_cloud != nullptr && m_cloud->hasColors(); }

protected:
	ccPointCloud* m_cloud;
	Band m_band;
};

#include <LASFields.h>

void q3DMASCPlugin::doClassifyAction()
{
	if (!m_app)
	{
		assert(false);
		return;
	}

	//disclaimer accepted?
	if (!ShowClassifyDisclaimer(m_app))
	{
		return;
	}

	if (m_selectedEntities.empty() || !m_selectedEntities.front()->isA(CC_TYPES::POINT_CLOUD))
	{
		m_app->dispToConsole("Select one and only one point cloud!", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
		return;
	}

	ccPointCloud* cloud = static_cast<ccPointCloud*>(m_selectedEntities.front());

	//look for the classification field
	int classifSFIdx = cloud->getScalarFieldIndexByName(LAS_FIELD_NAMES[LAS_CLASSIFICATION]); //LAS_FIELD_NAMES[LAS_CLASSIFICATION] = "Classification"
	if (!classifSFIdx)
	{
		m_app->dispToConsole("Missing 'Classification' field", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
		return;
	}
	CCLib::ScalarField* classifSF = cloud->getScalarField(classifSFIdx);
	if (!classifSF || classifSF->size() < cloud->size())
	{
		assert(false);
		return;
	}

	struct RTParams
	{
		int maxDepth = 25; //To be left as a parameter of the training plugin (default 25)
		int minSampleCount = 1; //To be left as a parameter of the training plugin (default 1)
		int maxCategories = 0; //Normally not important as there’s no categorical variable
		const bool calcVarImportance = true; //Must be true
		int activeVarCount = 0; //USE 0 as the default parameter (works best)
		int maxTreeCount = 100; //Left as a parameter of the training plugin (default: 100)
	};
	RTParams params;

	struct Feature
	{
		enum Source
		{
			ScalarField, DimX, DimY, DimZ, Red, Green, Blue
		};

		Feature(Source p_source, QString p_name)
			: source(p_source)
			, name(p_name)
		{}

		Source source;
		QString name; //especially for scalar fields
	};

	std::vector<Feature> features;
	features.push_back(Feature(Feature::DimZ, "Z"));
	features.push_back(Feature(Feature::ScalarField, "Intensity"));
	features.push_back(Feature(Feature::ScalarField, "Intensity"));

	int sampleCount = static_cast<int>(cloud->size());
	int attributesPerSample = static_cast<int>(features.size());

	//NUMBER_OF_TRAINING_SAMPLES = number of points
	//ATTRIBUTES_PER_SAMPLE = number of scalar fields
	cv::Mat training_data, train_labels;
	try
	{
		training_data.create(sampleCount, attributesPerSample, CV_32FC1);
		train_labels.create(attributesPerSample, 1, CV_8U);
	}
	catch (const cv::Exception& cvex)
	{
		ccLog::Error(cvex.msg.c_str());
		return;
	}

	//fill the classification labels vector
	{
		for (unsigned i = 0; i < cloud->size(); ++i)
		{
			ScalarType pointClass = classifSF->getValue(i);
			int iClass = static_cast<int>(pointClass);
			if (iClass < 0 || iClass > 255)
			{
				m_app->dispToConsole("Classification values out of range (0-255)", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
				return;
			}
			train_labels.at<unsigned char>(i) = static_cast<unsigned char>(iClass);
		}
	}


	//fill the training data matrix
	for (int fIndex = 0; fIndex < attributesPerSample; ++fIndex)
	{
		QScopedPointer<IScalarFieldWrapper> source(nullptr);

		const Feature& f = features[fIndex];
		switch (f.source)
		{
		case Feature::ScalarField:
		{
			int sfIdx = cloud->getScalarFieldIndexByName(qPrintable(f.name));
			if (sfIdx >= 0)
			{
				source.reset(new ScalarFieldWrapper(cloud->getScalarField(sfIdx)));
			}
			else
			{
				ccLog::Error(QString("Internal error: unknwon scalar field '%1'").arg(f.name));
				return;
			}
		}
		break;

		case Feature::DimX:
			source.reset(new DimScalarFieldWrapper(cloud, DimScalarFieldWrapper::DimX));
			break;
		case Feature::DimY:
			source.reset(new DimScalarFieldWrapper(cloud, DimScalarFieldWrapper::DimY));
			break;
		case Feature::DimZ:
			source.reset(new DimScalarFieldWrapper(cloud, DimScalarFieldWrapper::DimZ));
			break;

		case Feature::Red:
			source.reset(new ColorScalarFieldWrapper(cloud, ColorScalarFieldWrapper::Red));
			break;
		case Feature::Green:
			source.reset(new ColorScalarFieldWrapper(cloud, ColorScalarFieldWrapper::Green));
			break;
		case Feature::Blue:
			source.reset(new ColorScalarFieldWrapper(cloud, ColorScalarFieldWrapper::Blue));
			break;
		}

		if (!source || !source->isValid())
		{
			assert(false);
			ccLog::Error(QString("Internal error: invalid source '%1'").arg(f.name));
		}

		for (unsigned i = 0; i < cloud->size(); ++i)
		{
			double value = source->pointValue(i);
			training_data.at<float>(i, fIndex) = static_cast<float>(value);
		}
	}

	cv::Ptr<cv::ml::RTrees> rtrees;
	rtrees = cv::ml::RTrees::create();
	rtrees->setMaxDepth(params.maxDepth);
	rtrees->setMinSampleCount(params.minSampleCount);
	rtrees->setCalculateVarImportance(params.calcVarImportance);
	rtrees->setActiveVarCount(params.activeVarCount);
	cv::TermCriteria terminationCriteria(cv::TermCriteria::MAX_ITER, params.maxTreeCount, std::numeric_limits<double>::epsilon());
	rtrees->setTermCriteria(terminationCriteria);
	
	//rtrees->setRegressionAccuracy(0);
	//rtrees->setUseSurrogates(false);
	//rtrees->setMaxCategories(params.maxCategories); //not important?
	//rtrees->setPriors(cv::Mat());

	rtrees->train(training_data, cv::ml::ROW_SAMPLE, train_labels);

}

//OpenCV

void q3DMASCPlugin::doTrainAction()
{
	//disclaimer accepted?
	if (!ShowTrainDisclaimer(m_app))
		return;

	//if (m_selectedEntities.size() != 2
	//	|| !m_selectedEntities[0]->isA(CC_TYPES::POINT_CLOUD)
	//	|| !m_selectedEntities[1]->isA(CC_TYPES::POINT_CLOUD))
	//{
	//	m_app->dispToConsole("Select two point clouds!",ccMainAppInterface::ERR_CONSOLE_MESSAGE);
	//	return;
	//}
	//
	//ccPointCloud* cloud1 = static_cast<ccPointCloud*>(m_selectedEntities[0]);
	//ccPointCloud* cloud2 = static_cast<ccPointCloud*>(m_selectedEntities[1]);
}

void q3DMASCPlugin::registerCommands(ccCommandLineInterface* cmd)
{
	if (!cmd)
	{
		assert(false);
		return;
	}
	//cmd->registerCommand(ccCommandLineInterface::Command::Shared(new CommandCanupoClassif));
}