Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Paul Leroy
|
bd321fa4bb |
+64
-50
@@ -8,12 +8,12 @@ option( PLUGIN_G3POINT "Install example plugin" OFF )
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if ( PLUGIN_G3POINT )
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project( G3PointPlugin )
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AddPlugin( NAME ${PROJECT_NAME} )
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target_sources(G3PointPlugin
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PRIVATE
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ui/WolmanCustomPlot.ui
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PRIVATE
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ui/WolmanCustomPlot.ui
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)
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set(QG3POINT_PLUGIN_VERSION "0.6")
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@@ -22,36 +22,50 @@ target_sources(G3PointPlugin
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add_subdirectory( src )
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add_subdirectory( ui )
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# target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) # for mlpack
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# EIGEN
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set( EIGEN_ROOT_DIR "" CACHE PATH "Eigen root (contains the Eigen directory)" )
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if ( NOT EIGEN_ROOT_DIR )
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message( SEND_ERROR "No Eigen root directory specified (EIGEN_ROOT_DIR)" )
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else()
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message( STATUS "EIGEN_ROOT_DIR " ${EIGEN_ROOT_DIR} )
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endif()
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# BOOST
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find_package(Boost REQUIRED)
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message(STATUS "Boost_VERSION: ${Boost_VERSION}")
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message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
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# OPEN3D
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find_package( Open3D REQUIRED ) # Find installed Open3D, which exports Open3D::Open3D
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message( "Open3D_DIR ${Open3D_DIR}" )
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if(CMAKE_BUILD_TYPE STREQUAL "Debug")
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set( OPENCV_DEP_DLL_FILES
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${Open3D_DIR}/../bin/Open3D.dll
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${Open3D_DIR}/../bin/tbb12_debug.dll)
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elseif(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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set( OPENCV_DEP_DLL_FILES
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${Open3D_DIR}/../bin/Open3D.dll
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${Open3D_DIR}/../bin/tbb12.dll)
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endif()
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copy_files( "${OPENCV_DEP_DLL_FILES}" "${CLOUDCOMPARE_DEST_FOLDER}" 1) #mind the quotes!
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target_include_directories( ${PROJECT_NAME} PRIVATE
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C:/opt/eigen-3.4.0
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C:/Users/PaulLeroy/miniconda3/envs/env_4_CloudCompare/include
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C:/opt/open3d-devel-windows-amd64-0.19.0/include
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C:/opt/GeometricTools/GTE
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C:/opt/boost_1_77_0
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)
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# may be needed for debug
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
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#============
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target_include_directories( ${PROJECT_NAME} PRIVATE
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${GEOMETRIC_TOOLS_DIR}/GTE
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${EIGEN_ROOT_DIR}
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${Boost_INCLUDE_DIRS}
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)
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target_link_libraries( ${PROJECT_NAME} Open3D::Open3D )
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# QCUSTOMPLOT
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target_link_libraries(${PROJECT_NAME}
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QCustomPlot
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Qt5::PrintSupport
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)
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# Find installed Open3D, which exports Open3D::Open3D
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find_package( Open3D REQUIRED )
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target_link_libraries( ${PROJECT_NAME} Open3D::Open3D )
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message( "Open3D_DIR ${Open3D_DIR}" )
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set( OPENCV_DEP_DLL_FILES
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${Open3D_DIR}/../bin/Open3D.dll
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${Open3D_DIR}/../bin/tbb12.dll
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)
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copy_files( "${OPENCV_DEP_DLL_FILES}" "${CLOUDCOMPARE_DEST_FOLDER}" 1) #mind the quotes!
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# Copy OpenGL shaders
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copy_files( "${CMAKE_CURRENT_SOURCE_DIR}/shaders/DrawGrains.vs" "${CLOUDCOMPARE_DEST_FOLDER}/shaders/G3Point" 1) #mind the quotes!
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copy_files( "${CMAKE_CURRENT_SOURCE_DIR}/shaders/DrawGrains.fs" "${CLOUDCOMPARE_DEST_FOLDER}/shaders/G3Point" 1) #mind the quotes!
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@@ -59,38 +73,38 @@ target_sources(G3PointPlugin
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# git commit hash
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# Get the current working branch
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execute_process(
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COMMAND git rev-parse --abbrev-ref HEAD
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_BRANCH_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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COMMAND git rev-parse --abbrev-ref HEAD
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_BRANCH_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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# Get the latest commit hash
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execute_process(
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COMMAND git rev-parse --short HEAD
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_COMMIT_HASH_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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COMMAND git rev-parse --short HEAD
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_COMMIT_HASH_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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# Get the latest commit hash
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execute_process(
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COMMAND git describe
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_TAG_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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COMMAND git describe
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_TAG_G3POINT
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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# Get the current working branch
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execute_process(
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COMMAND git rev-parse --abbrev-ref HEAD
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_BRANCH_CC
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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COMMAND git rev-parse --abbrev-ref HEAD
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_BRANCH_CC
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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# Get the latest commit hash
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execute_process(
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COMMAND git rev-parse --short HEAD
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_COMMIT_HASH_CC
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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COMMAND git rev-parse --short HEAD
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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OUTPUT_VARIABLE GIT_COMMIT_HASH_CC
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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message(${PROJECT_NAME} " " GIT_BRANCH_G3POINT " " ${GIT_BRANCH_G3POINT})
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message(${PROJECT_NAME} " " GIT_COMMIT_HASH_G3POINT " " ${GIT_COMMIT_HASH_G3POINT})
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@@ -100,12 +114,12 @@ target_sources(G3PointPlugin
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message(${PROJECT_NAME} " " QG3POINT_VERSION " " ${QG3POINT_PLUGIN_VERSION})
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target_compile_definitions(${PROJECT_NAME} PRIVATE
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GIT_BRANCH_CC="${GIT_BRANCH_CC}"
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GIT_COMMMIT_HASH_CC="${GIT_COMMIT_HASH_CC}"
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PUBLIC GIT_BRANCH_G3POINT="${GIT_BRANCH_G3POINT}"
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GIT_COMMMIT_HASH_G3POINT="${GIT_COMMIT_HASH_G3POINT}"
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GIT_TAG_G3POINT="${GIT_TAG_G3POINT}"
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G3POINT_VERSION="${QG3POINT_PLUGIN_VERSION}"
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)
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GIT_BRANCH_CC="${GIT_BRANCH_CC}"
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GIT_COMMMIT_HASH_CC="${GIT_COMMIT_HASH_CC}"
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PUBLIC GIT_BRANCH_G3POINT="${GIT_BRANCH_G3POINT}"
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GIT_COMMMIT_HASH_G3POINT="${GIT_COMMIT_HASH_G3POINT}"
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GIT_TAG_G3POINT="${GIT_TAG_G3POINT}"
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G3POINT_VERSION="${QG3POINT_PLUGIN_VERSION}"
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)
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endif()
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@@ -63,9 +63,9 @@ private:
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bool updateLocalMaximumIndexes();
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bool updateLabelsAndColors();
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bool checkStacks(const std::vector<std::vector<int>>& stacks, int count);
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void addToStackBraunWillett(int index, const Eigen::ArrayXi& delta, const Eigen::ArrayXi &Di, std::vector<int>& stack, int local_maximum);
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void addToStackBraunWillett(int index, const Eigen::ArrayXi& delta, const Eigen::ArrayXi& Di, std::vector<int>& stack, int local_maximum);
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int segmentLabelsBraunWillett();
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void getNeighborsDistancesSlopes(unsigned index);
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void getNeighborsDistancesSlopes(unsigned index, std::vector<char>& duplicates);
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void computeNodeSurfaces();
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bool computeNormalsAndOrientThemWithCloudCompare();
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void orientNormals(const Eigen::Vector3d &sensorCenter);
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+36
-22
@@ -369,7 +369,7 @@ Eigen::ArrayXXd G3PointAction::computeMeanAngleBetweenNormalsAtBorders()
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Eigen::ArrayXXi duplicated_labels(m_cloud->size(), m_kNN);
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for (int n = 0; n < m_kNN; n++)
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{
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duplicated_labels(Eigen::placeholders::all, n) = m_labels;
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duplicated_labels(Eigen::all, n) = m_labels;
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}
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Eigen::ArrayXXi labels_of_neighbors(m_cloud->size(), m_kNN);
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for (int index = 0; index < static_cast<int>(m_cloud->size()); index++)
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@@ -403,12 +403,12 @@ Eigen::ArrayXXd G3PointAction::computeMeanAngleBetweenNormalsAtBorders()
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for (auto i : indborder)
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{
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auto neighbors = m_neighborsIndexes(i, Eigen::placeholders::all); // indexes of the neighbors of i
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Eigen::Vector3d N1(m_normals(i, Eigen::placeholders::all)); // normal at i
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auto neighbors = m_neighborsIndexes(i, Eigen::all); // indexes of the neighbors of i
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Eigen::Vector3d N1(m_normals(i, Eigen::all)); // normal at i
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for (auto j : neighbors)
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{
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// Take the normals vector for i and j
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Eigen::Vector3d N2(m_normals(j, Eigen::placeholders::all)); // normal at j
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Eigen::Vector3d N2(m_normals(j, Eigen::all)); // normal at j
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double angle = angleRot2VecMat(N1, N2);
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if ((m_labels(i) != -1) && (m_labels(j) != -1)) // points which belong to the discarded grains have the -1 label
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{
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@@ -1047,7 +1047,7 @@ void G3PointAction::fit()
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}
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void G3PointAction::exportResults()
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{
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{
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if (m_grainsAsEllipsoids)
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{
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m_grainsAsEllipsoids->exportResultsAsCloud();
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@@ -1263,21 +1263,21 @@ bool G3PointAction::wolman()
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Eigen::ArrayXXf dq(n_iter, 3);
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Eigen::ArrayXf d_sample = d[0];
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dq(0, Eigen::placeholders::all) << quant(d[0], 0.1), quant(d[0], 0.5), quant(d[0], 0.9);
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dq(0, Eigen::all) << quant(d[0], 0.1), quant(d[0], 0.5), quant(d[0], 0.9);
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for (int i = 1; i < n_iter; i++)
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{
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Eigen::ArrayXf tmp(d_sample.size() + d[i].size());
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tmp << d_sample, d[i];
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d_sample = tmp;
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dq(i, Eigen::placeholders::all) << quant(d[i], 0.1), quant(d[i], 0.5), quant(d[i], 0.9);
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dq(i, Eigen::all) << quant(d[i], 0.1), quant(d[i], 0.5), quant(d[i], 0.9);
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}
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// std::cout << "d_sample " << d_sample << std::endl;
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// compute standard deviation
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Eigen::Array3d edq {std_dev(dq(Eigen::placeholders::all, 0)),
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std_dev(dq(Eigen::placeholders::all, 1)),
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std_dev(dq(Eigen::placeholders::all, 2))};
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Eigen::Array3d edq {std_dev(dq(Eigen::all, 0)),
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std_dev(dq(Eigen::all, 1)),
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std_dev(dq(Eigen::all, 2))};
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Eigen::Array3d dq_final {quant(d_sample, 0.1),
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quant(d_sample, 0.5),
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quant(d_sample, 0.9)};
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@@ -1430,11 +1430,11 @@ bool G3PointAction::cleanLabels()
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Eigen::RowVector3d centroid = points.colwise().mean();
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points.rowwise() -= centroid;
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// SVD decomposition A = U S V∗
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s(k, Eigen::placeholders::all) = points.jacobiSvd().singularValues();
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s(k, Eigen::all) = points.jacobiSvd().singularValues();
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}
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// filtering condition: (l2 / l0 > min_flatness) or (l1 / l0 > 2 * min_flatness)
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Xb condition = (s(Eigen::placeholders::all, 2) / s(Eigen::placeholders::all, 0) > m_minFlatness)
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|| (s(Eigen::placeholders::all, 1) / s(Eigen::placeholders::all, 0) > 2. * m_minFlatness);
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Xb condition = (s(Eigen::all, 2) / s(Eigen::all, 0) > m_minFlatness)
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|| (s(Eigen::all, 1) / s(Eigen::all, 0) > 2. * m_minFlatness);
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size_t numberOfGrainsToKeep = condition.count();
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if (numberOfGrainsToKeep == m_stacks.size())
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{
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@@ -1648,7 +1648,7 @@ int G3PointAction::segmentLabelsBraunWillett()
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return nLabels;
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}
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void G3PointAction::getNeighborsDistancesSlopes(unsigned index)
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void G3PointAction::getNeighborsDistancesSlopes(unsigned index, std::vector<char>& duplicates)
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{
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const CCVector3* P = m_cloud->getPoint(index);
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@@ -1670,7 +1670,15 @@ void G3PointAction::getNeighborsDistancesSlopes(unsigned index)
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float distance = (*P - *neighbor).norm();
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m_neighborsDistances(index, k) = distance;
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// compute the slope to the neighbor
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m_neighborsSlopes(index, k) = (P->z - neighbor->z) / distance;
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if (distance != 0)
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{
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m_neighborsSlopes(index, k) = (P->z - neighbor->z) / distance;
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}
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else
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{
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m_neighborsSlopes(index, k) = 0.; // it is possible to have duplicates in the cloud
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duplicates[index] = 1;
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}
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}
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}
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}
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@@ -1742,7 +1750,7 @@ void G3PointAction::orientNormals(const Eigen::Vector3d& sensorCenter)
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{
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const CCVector3 *point = m_cloud->getPoint(i);
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Eigen::Vector3d P1 = sensorCenter - Eigen::Vector3d(point->x, point->y, point->z);
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Eigen::Vector3d P2 = m_normals(i, Eigen::placeholders::all);
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Eigen::Vector3d P2 = m_normals(i, Eigen::all);
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double angle = atan2(P1.cross(P2).norm(), P1.dot(P2));
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if ((angle < - M_PI / 2) || (angle > M_PI / 2))
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{
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@@ -1810,7 +1818,7 @@ bool G3PointAction::computeNormalsWithOpen3D()
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}
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bool G3PointAction::queryNeighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool useParallelStrategy)
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{
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{
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QString errorStr;
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ccProgressDialog progressDlg(true, appInterface->getMainWindow());
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@@ -1838,8 +1846,8 @@ bool G3PointAction::queryNeighbors(ccPointCloud* cloud, ccMainAppInterface* appI
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size_t nPoints = m_cloud->size();
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CCCoreLib::DgmOctree::NearestNeighboursSearchStruct nNSS;
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std::vector<unsigned> pointsIndexes;
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pointsIndexes.resize(nPoints);
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std::vector<unsigned> pointsIndexes(nPoints);
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std::vector<char> duplicates(nPoints, 0);
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if (useParallelStrategy)
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{
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@@ -1850,17 +1858,23 @@ bool G3PointAction::queryNeighbors(ccPointCloud* cloud, ccMainAppInterface* appI
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int threadCount = std::max(1, ccQtHelpers::GetMaxThreadCount() - 2);
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std::cout << "[query_neighbor] parallel strategy, thread count " << threadCount << std::endl;
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QThreadPool::globalInstance()->setMaxThreadCount(threadCount);
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QtConcurrent::blockingMap(pointsIndexes, [=](int index){getNeighborsDistancesSlopes(index);});
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QtConcurrent::blockingMap(pointsIndexes, [&](int index){getNeighborsDistancesSlopes(index, duplicates);});
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}
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else
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{
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//manually call the static per-point method!
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for (unsigned i = 0; i < nPoints; ++i)
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{
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getNeighborsDistancesSlopes(i);
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getNeighborsDistancesSlopes(i, duplicates);
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}
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}
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auto trueCount = std::count(duplicates.begin(), duplicates.end(), 1);
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if (trueCount)
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{
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ccLog::Warning("[G3Point] You have duplicates (" + QString::number(trueCount) + "), the algorithm will continue but you may think of cleaning your cloud.");
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}
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return true;
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}
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@@ -1950,7 +1964,7 @@ void G3PointAction::getBorders()
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Eigen::ArrayXXi duplicatedLabelsInColumns(m_cloud->size(), m_kNN);
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for (int n = 0; n < m_kNN; n++)
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{
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duplicatedLabelsInColumns(Eigen::placeholders::all, n) = m_labels;
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duplicatedLabelsInColumns(Eigen::all, n) = m_labels;
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}
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Eigen::ArrayXXi labelsOfNeighbors(m_cloud->size(), m_kNN);
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for (int index = 0; index < static_cast<float>(m_cloud->size()); index++)
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+12
-12
@@ -626,15 +626,15 @@ bool GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd& p
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Eigen::MatrixXd d(xyz.rows(), 10);
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d << xyz(Eigen::placeholders::all, 0).pow(2).matrix()
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, xyz(Eigen::placeholders::all, 1).pow(2).matrix()
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, xyz(Eigen::placeholders::all, 2).pow(2).matrix()
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, (2 * xyz(Eigen::placeholders::all, 1) * xyz(Eigen::placeholders::all, 2)).matrix()
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, (2 * xyz(Eigen::placeholders::all, 0) * xyz(Eigen::placeholders::all, 2)).matrix()
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, (2 * xyz(Eigen::placeholders::all, 0) * xyz(Eigen::placeholders::all, 1)).matrix()
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, (2 * xyz(Eigen::placeholders::all, 0)).matrix()
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, (2 * xyz(Eigen::placeholders::all, 1)).matrix()
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, (2 * xyz(Eigen::placeholders::all, 2)).matrix()
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d << xyz(Eigen::all, 0).pow(2).matrix()
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, xyz(Eigen::all, 1).pow(2).matrix()
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, xyz(Eigen::all, 2).pow(2).matrix()
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, (2 * xyz(Eigen::all, 1) * xyz(Eigen::all, 2)).matrix()
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, (2 * xyz(Eigen::all, 0) * xyz(Eigen::all, 2)).matrix()
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, (2 * xyz(Eigen::all, 0) * xyz(Eigen::all, 1)).matrix()
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, (2 * xyz(Eigen::all, 0)).matrix()
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, (2 * xyz(Eigen::all, 1)).matrix()
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, (2 * xyz(Eigen::all, 2)).matrix()
|
||||
, Eigen::MatrixXd::Ones(xyz.rows(), 1);
|
||||
|
||||
Eigen::MatrixXd s = d.transpose() * d;
|
||||
@@ -686,7 +686,7 @@ bool GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd& p
|
||||
{
|
||||
if (eigenValues(k) == eigenValue)
|
||||
{
|
||||
v = eigensolver.eigenvectors()(Eigen::placeholders::all, k).real();
|
||||
v = eigensolver.eigenvectors()(Eigen::all, k).real();
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -698,7 +698,7 @@ bool GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd& p
|
||||
{
|
||||
if (abs(eigenValues(k)) == eigenValue)
|
||||
{
|
||||
v = eigensolver.eigenvectors()(Eigen::placeholders::all, k).real();
|
||||
v = eigensolver.eigenvectors()(Eigen::all, k).real();
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -710,7 +710,7 @@ bool GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd& p
|
||||
{
|
||||
if (eigenValues(k) == eigenValue)
|
||||
{
|
||||
v = eigensolver.eigenvectors()(Eigen::placeholders::all, k).real();
|
||||
v = eigensolver.eigenvectors()(Eigen::all, k).real();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user