saberbud/qG3Point
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

segment_labels_steepest_slope

Browse Source
This commit is contained in:
Paul Leroy
2023-12-20 19:16:33 +01:00
parent 8a72f0cc09
commit 1cc97dada1
2 changed files with 168 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/ActionA.h
+1
View File
@@ -11,6 +11,7 @@ namespace G3Point
{
void add_to_stack(int index, const Eigen::ArrayXi& n_donors, const Eigen::ArrayXXi& donors, std::vector<int>& stack);
int segment_labels(bool useParallelStrategy=true);
int segment_labels_steepest_slope(bool useParallelStrategy=true);
void get_neighbors_distances_slopes(unsigned index);
bool query_neighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool useParallelStrategy=true);
void performActionA( ccMainAppInterface *appInterface );
src/ActionA.cpp
+165 -11
View File
@@ -24,14 +24,15 @@ namespace G3Point
{
Eigen::ArrayXXi neighbors_indexes;
Eigen::ArrayXXf neighbors_distances;
Eigen::ArrayXXf neighbors_slopes;
Eigen::ArrayXXd neighbors_distances;
Eigen::ArrayXXd neighbors_slopes;
int kNN = 20;
ccOctree::Shared octree;
ccPointCloud* cloud;
unsigned char bestOctreeLevel = 0;
CCCoreLib::DgmOctree::NearestNeighboursSearchStruct nNSS;
ccMainAppInterface *app;
Eigen::ArrayXi stack;
RGBAColorsTableType getRandomColors(int randomColorsNumber)
{
@@ -158,19 +159,24 @@ void add_to_stack(int index, const Eigen::ArrayXi& n_donors, const Eigen::ArrayX
int segment_labels(bool useParallelStrategy)
{
std::cout << "[segment_labels]" << std::endl;
// for each point, find in the neighborhood the point with the minimum slope (the receiver)
Eigen::ArrayXf min_slopes(neighbors_slopes.rowwise().minCoeff());
Eigen::ArrayXd min_slopes(neighbors_slopes.rowwise().minCoeff());
Eigen::ArrayXi index_of_min_slope = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi receivers(cloud->size());
for (unsigned index = 0; index < cloud->size(); index++)
{
float min_slope = min_slopes(index);
double min_slope = min_slopes(index);
int count = 0;
for (int k = 0; k < kNN; k++)
{
if (neighbors_slopes(index, k) == min_slope)
{
index_of_min_slope(index) = k;
count++;
if (count > 1)
std::cout << "[segment_labels] slope already seen, index " << index << ", k "<< k << std::endl;
}
}
receivers(index) = neighbors_indexes(index, index_of_min_slope(index));
@@ -191,20 +197,30 @@ int segment_labels(bool useParallelStrategy)
}
// identify the donors for each receiver
std::cout << "[segment_labels] identify the donors for each receiver" << std::endl;
Eigen::ArrayXi nDonors = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXXi donors = Eigen::ArrayXXi::Zero(cloud->size(), kNN);
std::cout << "[segment_labels] loop" << std::endl;
for (unsigned int k = 0; k < cloud->size(); k++)
{
int receiver = receivers(k);
if (receiver != k) // this receiver is not a local maximum
{
if (nDonors(receiver) < kNN - 1)
{
nDonors(receiver) = nDonors(receiver) + 1;
donors(receiver, nDonors(receiver) - 1) = k;
}
else
{
std::cout << "maximum number of donors reached, k " << k << ", receiver(k) " << receiver << ", nDonors " << nDonors(receiver) << std::endl;
}
}
}
// build the stacks
std::cout << "[segment_labels] build the stacks" << std::endl;
Eigen::ArrayXi labels = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi labelsk = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi labelsnpoint = Eigen::ArrayXi::Zero(cloud->size());
@@ -279,6 +295,144 @@ int segment_labels(bool useParallelStrategy)
return nLabels;
}
int segment_labels_steepest_slope(bool useParallelStrategy)
{
std::cout << "[segment_labels]" << std::endl;
// for each point, find in the neighborhood the point with the steepest slope (the receiver)
Eigen::ArrayXd steepest_slopes(neighbors_slopes.rowwise().maxCoeff());
Eigen::ArrayXi index_of_steepest_slope = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi receivers(cloud->size());
for (unsigned index = 0; index < cloud->size(); index++)
{
double steepest_slope = steepest_slopes(index);
int count = 0;
for (int k = 0; k < kNN; k++)
{
if (neighbors_slopes(index, k) == steepest_slope)
{
index_of_steepest_slope(index) = k;
count++;
if (count > 1)
std::cout << "[segment_labels] slope already seen, index " << index << ", k "<< k << std::endl;
}
}
receivers(index) = neighbors_indexes(index, index_of_steepest_slope(index));
}
// if the minimum slope is positive, the receiver is a base level node
int nb_maxima = (steepest_slopes < 0).count();
Eigen::ArrayXi localMaximumIndexes = Eigen::ArrayXi::Zero(nb_maxima);
int l = 0;
for (unsigned int k = 0; k < cloud->size(); k++)
{
if (steepest_slopes(k) < 0)
{
localMaximumIndexes(l) = k;
receivers(k) = k;
l++;
}
}
// identify the donors for each receiver
std::cout << "[segment_labels] identify the donors for each receiver" << std::endl;
Eigen::ArrayXi nDonors = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXXi donors = Eigen::ArrayXXi::Zero(cloud->size(), kNN);
std::cout << "[segment_labels] loop" << std::endl;
for (unsigned int k = 0; k < cloud->size(); k++)
{
int receiver = receivers(k);
if (receiver != k) // this receiver is not a local maximum
{
if (nDonors(receiver) < kNN - 1)
{
nDonors(receiver) = nDonors(receiver) + 1;
donors(receiver, nDonors(receiver) - 1) = k;
}
else
{
std::cout << "maximum number of donors reached, k " << k << ", receiver(k) " << receiver << ", nDonors " << nDonors(receiver) << std::endl;
}
}
}
// build the stacks
std::cout << "[segment_labels] build the stacks" << std::endl;
Eigen::ArrayXi labels = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi labelsk = Eigen::ArrayXi::Zero(cloud->size());
Eigen::ArrayXi labelsnpoint = Eigen::ArrayXi::Zero(cloud->size());
std::vector<std::vector<int>> stacks;
int sfIdx = cloud->getScalarFieldIndexByName("g3point_label");
if (sfIdx == -1)
{
sfIdx = cloud->addScalarField("g3point_label");
if (sfIdx == -1)
{
ccLog::Error("[G3Point::segment_labels] impossible to create scalar field g3point_label");
}
}
CCCoreLib::ScalarField* g3point_label = cloud->getScalarField(sfIdx);
RGBAColorsTableType randomColors = getRandomColors(localMaximumIndexes.size());
if (!cloud->resizeTheRGBTable(false))
{
ccLog::Error(QObject::tr("Not enough memory!"));
return -1;
}
for (int k = 0; k < localMaximumIndexes.size(); k++)
{
int localMaximumIndex = localMaximumIndexes(k);
std::vector<int> stack;
add_to_stack(localMaximumIndex, nDonors, donors, stack);
// labels
for (auto i : stack)
{
labels(i) = k;
labelsnpoint(i) = stack.size();
if (g3point_label)
{
g3point_label->setValue(i, k);
cloud->setPointColor(i, randomColors.getValue(k));
}
}
stacks.push_back(stack);
}
if (g3point_label)
{
g3point_label->computeMinAndMax();
}
cloud->setCurrentDisplayedScalarField(sfIdx);
cloud->showColors(true);
cloud->showSF(false);
// cloud->redrawDisplay();
// cloud->prepareDisplayForRefresh();
// ccHObject::Container selectedEntities;
// selectedEntities.push_back(cloud);
// if (!sfConvertToRandomRGB(selectedEntities, app->getMainWindow()))
// {
// ccLog::Error("[G3Point::segment_labels] impossible to convert g3point_label to RGB colors");
// }
if (app)
{
app->refreshAll();
app->updateUI();
}
int nLabels = localMaximumIndexes.size();
return nLabels;
}
void get_neighbors_distances_slopes(unsigned index)
{
const CCVector3* P = cloud->getPoint(index);
@@ -307,6 +461,7 @@ void get_neighbors_distances_slopes(unsigned index)
bool query_neighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool useParallelStrategy)
{
std::cout << "[query_neighbor]" << std::endl;
QString errorStr;
ccProgressDialog progressDlg(true, appInterface->getMainWindow());
@@ -333,7 +488,6 @@ bool query_neighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool
bestOctreeLevel = octree->findBestLevelForAGivenPopulationPerCell(static_cast<unsigned>(std::max(3, kNN)));
size_t nPoints = cloud->size();
int maxThreadCount = 0;
CCCoreLib::DgmOctree::NearestNeighboursSearchStruct nNSS;
std::vector<unsigned> pointsIndexes;
pointsIndexes.resize(nPoints);
@@ -344,11 +498,9 @@ bool query_neighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool
{
pointsIndexes[i] = i;
}
if (maxThreadCount == 0)
{
maxThreadCount = ccQtHelpers::GetMaxThreadCount();
}
QThreadPool::globalInstance()->setMaxThreadCount(maxThreadCount);
int threadCount = std::max(1, ccQtHelpers::GetMaxThreadCount() - 2);
std::cout << "[query_neighbor] parallel strategy, thread count " << threadCount << std::endl;
QThreadPool::globalInstance()->setMaxThreadCount(threadCount);
QtConcurrent::blockingMap(pointsIndexes, get_neighbors_distances_slopes);
}
else
@@ -398,12 +550,14 @@ void performActionA( ccMainAppInterface *appInterface )
neighbors_indexes.resize(cloud->size(), kNN);
neighbors_distances.resize(cloud->size(), kNN);
neighbors_slopes.resize(cloud->size(), kNN);
stack.resize(cloud->size());
// Find neighbors of each point of the cloud
query_neighbors(cloud, appInterface, true);
// Perform initial segmentation
int nLabels = segment_labels();
// int nLabels = segment_labels();
int nLabels = segment_labels_steepest_slope();
appInterface->dispToConsole( "[G3Point] initial segmentation: " + QString::number(nLabels) + " labels", ccMainAppInterface::STD_CONSOLE_MESSAGE );