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duplicates shall be removed before segmentation + 1 bug

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keep only one g3point_summits cloud
better handling of stacks checking
correction: very strange hardcoded value 10 instead of nlabels
This commit is contained in:
Paul Leroy
2025-03-26 10:52:15 +01:00
parent 1205ce6b4d
commit fc26651ac5
3 changed files with 41 additions and 15 deletions
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include/G3PointAction.h
+1 -1
View File
@@ -64,7 +64,7 @@ private:
bool updateLabelsAndColors();
bool checkStacks(const std::vector<std::vector<int>>& stacks, int count);
void addToStackBraunWillett(int index, const Eigen::ArrayXi& delta, const Eigen::ArrayXi &Di, std::vector<int>& stack, int local_maximum);
int segmentLabelsBraunWillett(bool useParallelStrategy=true);
int segmentLabelsBraunWillett();
void getNeighborsDistancesSlopes(unsigned index);
void computeNodeSurfaces();
bool computeNormalsAndOrientThemWithCloudCompare();
src/G3PointAction.cpp
+36 -10
View File
@@ -463,13 +463,17 @@ bool G3PointAction::checkStacks(const std::vector<std::vector<int>>& stacks, int
if (errorCount)
{
ccLog::Error("[G3PointAction::check_stacks] number of duplicates " + QString::number(errorCount));
ccLog::Warning("[G3PointAction::check_stacks] number of duplicates " + QString::number(errorCount));
ret = false;
}
// the number of points in the stacks shall be equal to count
if(indexes.size() != count)
{
ccLog::Warning("[G3PointAction::check_stacks] size of indexes " + QString::number(indexes.size()) + ", point count " + QString::number(m_cloud->size()));
ccLog::Warning("[G3PointAction::check_stacks] point in stacks "
+ QString::number(indexes.size())
+ ", expected " + QString::number(m_cloud->size())
+ " (may be due to duplicates in the point cloud)");
ret = false;
}
@@ -602,12 +606,11 @@ bool G3PointAction::exportLocalMaximaAsCloud(const Eigen::ArrayXi& localMaximumI
cloud->showColors(true);
ccHObject* parent = m_cloud->getParent();
int nbChildren = parent->getChildrenNumber();
int nbChildren = m_cloud->getChildrenNumber();
std::vector<ccHObject *> toDelete;
for (int k = 0; k < nbChildren; k++)
{
auto child = parent->getChild(k);
auto child = m_cloud->getChild(k);
if (child->getName() == cloudName)
{
@@ -821,7 +824,7 @@ bool G3PointAction::EigenArrayToFile(QString name, T array)
bool G3PointAction::cluster()
{
ccLog::Print("[cluster_labels]");
ccLog::Print("[cluster labels]");
size_t nlabels = m_stacks.size();
m_maxAngle1 = m_dlg->getMaxAngle1();
@@ -865,7 +868,7 @@ bool G3PointAction::cluster()
// If the radius of the sink is above the distance to the other sink (by a factor of rad_factor), set Dist to 1
Eigen::ArrayXXi Dist = Eigen::ArrayXXi::Zero(nlabels, nlabels);
Dist = (m_radiusFactor * D2 > D1).select(1, Dist);
for (int i = 0; i < 10; i++) // set the values of the diagonal to 0
for (int i = 0; i < nlabels; i++) // set the values of the diagonal to 0
{
Dist(i, i) = 0;
}
@@ -903,6 +906,7 @@ bool G3PointAction::cluster()
if (!checkStacks(m_stacks, m_cloud->size()))
{
ccLog::Error("m_stacks is not valid");
return false;
}
// create the condition matrix and force the symmetry of the matrix
@@ -1328,6 +1332,7 @@ bool G3PointAction::cleanLabels()
// merge points considering the normals at the border
{
ccLog::Print("[cleanLabels] merge points considering the normals at the border");
std::cout << "[cleanLabels] merge points considering the normals at the border" << std::endl;
Eigen::ArrayXXd A = computeMeanAngleBetweenNormalsAtBorders();
XXb condition = (A > m_maxAngle2) || (A != A); // add true on the diagonal (important for the if hereafter)
XXb symmetrical_condition = (condition == condition.transpose()).select(condition, true);
@@ -1340,10 +1345,11 @@ bool G3PointAction::cleanLabels()
//remove small labels
{
ccLog::Print("[cleanLabels] remove small labels");
std::cout << "[cleanLabels] remove small labels" << std::endl;
Eigen::ArrayXi stackSize(m_stacks.size());
for (size_t k = 0; k < m_stacks.size(); k++)
{
stackSize(k) = static_cast<float>(m_stacks[k].size());
stackSize(k) = static_cast<int>(m_stacks[k].size());
}
Xb condition = (stackSize > m_nMin);
size_t numberOfGrainsToKeep = condition.count();
@@ -1366,6 +1372,7 @@ bool G3PointAction::cleanLabels()
// remove flattish labels
{
ccLog::Print("[cleanLabels] remove flattish labels");
std::cout << "[cleanLabels] remove flattish labels" << std::endl;
Eigen::ArrayX3d s(m_stacks.size(), 3);
for (size_t k = 0; k < m_stacks.size(); k++)
{
@@ -1421,7 +1428,7 @@ void G3PointAction::addToStackBraunWillett(int index, const Eigen::ArrayXi& delt
}
}
int G3PointAction::segmentLabelsBraunWillett(bool useParallelStrategy)
int G3PointAction::segmentLabelsBraunWillett()
{
std::cout << "[segment_labels]" << std::endl;
@@ -1573,6 +1580,12 @@ int G3PointAction::segmentLabelsBraunWillett(bool useParallelStrategy)
m_initialStacks.push_back(stack);
}
if (!checkStacks(m_initialStacks, m_cloud->size())) // check the stacks coherency
{
m_cloud->deleteScalarField(sfIdx);
return -1;
}
if (g3point_label)
{
g3point_label->computeMinAndMax();
@@ -1817,7 +1830,13 @@ void G3PointAction::segment()
init();
// Find neighbors of each point of the cloud
queryNeighbors(m_cloud, m_app, true);
bool useParallelStrategy;
#ifdef NDEBUG
useParallelStrategy = true;
#else
useParallelStrategy = false;
#endif
queryNeighbors(m_cloud, m_app, useParallelStrategy);
computeNodeSurfaces();
@@ -1840,6 +1859,11 @@ void G3PointAction::segment()
// Perform initial segmentation
int nLabels = segmentLabelsBraunWillett();
if (nLabels == -1)
{
ccLog::Error("[G3Point::segment] initial segmentation failed, abort segmentation");
return;
}
exportLocalMaximaAsCloud(m_initial_localMaximumIndexes);
@@ -1867,6 +1891,7 @@ void G3PointAction::clusterAndOrClean()
if (!cluster())
{
ccLog::Error("[G3PointAction::clusterAndOrClean] clustering failed");
return;
}
}
@@ -1875,6 +1900,7 @@ void G3PointAction::clusterAndOrClean()
if (!cleanLabels())
{
ccLog::Error("[G3PointAction::clusterAndOrClean] cleaning failed");
return;
}
}
}
ui/G3PointDisclaimer.ui
+4 -4
View File
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1086</width>
<height>392</height>
<width>823</width>
<height>308</height>
</rect>
</property>
<property name="windowTitle">
@@ -31,8 +31,8 @@ li.unchecked::marker { content: &quot;\2610&quot;; }
li.checked::marker { content: &quot;\2612&quot;; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Segoe UI'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Calibri,sans-serif'; font-size:12pt; font-weight:700; color:#1f497d;&quot;&gt;G3Point: grain segmentation algorithm&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-weight:700; color:#1f497d;&quot;&gt;Plugin&lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-weight:600; color:#1f497d;&quot;&gt; &lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; color:#1f497d;&quot;&gt;P. Leroy&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; color:#1f497d;&quot;&gt;Leroy, P., Guérit, L., Steer, P. &amp;amp; Lague, D. (2025). &lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-style:italic; color:#1f497d;&quot;&gt;G3Point plugin for CloudCompare [software]&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-weight:700; color:#1f497d;&quot;&gt;Plugin&lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-weight:600; color:#1f497d;&quot;&gt; &lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; color:#1f497d;&quot;&gt;Leroy, P., Guérit, L., Steer, P. &amp;amp; Lague, D. (2025).&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-style:italic; color:#1f497d;&quot;&gt;G3Point plugin for CloudCompare [software]&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; color:#1f497d;&quot;&gt;Univ Rennes, CNRS, Lidar Platform, OSERen, UAR 3343, Rennes France. https://doi.org/10.26169/g3point.&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:6pt; color:#1f497d; background-color:#ffffff;&quot;&gt; &lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; background-color:#ffffff;&quot;&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; font-weight:700; color:#1f497d; background-color:#ffffff;&quot;&gt;Article&lt;/span&gt;&lt;span style=&quot; font-family:'Slack-Lato','appleLogo','sans-serif'; font-size:10pt; color:#1f497d; background-color:#ffffff;&quot;&gt; Steer, P., Guerit, L., Lague, D., Crave, A., and Gourdon, A.&lt;/span&gt;&lt;/p&gt;