Paul Leroy
106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
#include "Eigen/Dense"
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#include <ccOctree.h>
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#include <vector>
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#include <QObject>
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#include <G3PointDialog.h>
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#include <GrainsAsEllipsoids.h>
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#pragma once
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class ccMainAppInterface;
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class ccPointCloud;
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namespace G3Point
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{
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class G3PointAction : public QObject
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{
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Q_OBJECT
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typedef Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic> XXb;
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typedef Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic> Xb;
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public:
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explicit G3PointAction(ccPointCloud *cloud, ccMainAppInterface *app=nullptr);
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~G3PointAction();
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static void createAction(ccMainAppInterface *appInterface);
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static void GetG3PointAction(ccPointCloud *cloud, ccMainAppInterface *app=nullptr);
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void segment();
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void clusterAndOrClean();
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void getBorders();
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bool cluster();
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void fit();
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void exportResults();
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bool processNewStacks(std::vector<std::vector<int>>& newStacks, int pointCount);
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bool merge(XXb& condition);
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bool keep(Xb& condition);
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bool cleanLabels();
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void clean();
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private:
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bool sfConvertToRandomRGB(const ccHObject::Container &selectedEntities, QWidget* parent);
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void addToStack(int index, const Eigen::ArrayXi& n_donors, const Eigen::ArrayXXi& donors, std::vector<int>& stack);
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int segmentLabels(bool useParallelStrategy=true);
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double angleRot2VecMat(const Eigen::Vector3d &a, const Eigen::Vector3d &b);
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Eigen::ArrayXXd computeMeanAngleBetweenNormalsAtBorders();
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bool exportLocalMaximaAsCloud(const Eigen::ArrayXi &localMaximumIndexes);
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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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int segmentLabelsBraunWillett(bool useParallelStrategy=true);
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void getNeighborsDistancesSlopes(unsigned index);
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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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bool computeNormalsWithOpen3D();
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bool queryNeighbors(ccPointCloud* cloud, ccMainAppInterface* appInterface, bool useParallelStrategy=true);
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void init();
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void showDlg();
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void resetDlg();
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void setCloud(ccPointCloud *cloud);
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int m_kNN = 20;
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double m_radiusFactor = 0.6;
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double m_maxAngle1 = 60;
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double m_maxAngle2 = 10;
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int m_nMin = 50;
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double m_minFlatness = 0.1;
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ccPointCloud* m_cloud;
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ccMainAppInterface *m_app;
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G3PointDialog* m_dlg;
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Eigen::ArrayXXi m_neighborsIndexes;
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Eigen::ArrayXXd m_neighborsDistances;
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Eigen::ArrayXXd m_neighborsSlopes;
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Eigen::ArrayXXd m_normals;
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Eigen::ArrayXi m_initial_labels;
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Eigen::ArrayXi m_initial_labelsnpoint;
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Eigen::ArrayXi m_initial_localMaximumIndexes;
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Eigen::ArrayXi m_labels;
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Eigen::ArrayXi m_labelsnpoint;
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Eigen::ArrayXi m_localMaximumIndexes;
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Eigen::ArrayXi m_ndon;
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Eigen::ArrayXd m_area;
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QSharedPointer<RGBAColorsTableType> m_grainColors;
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std::vector<std::vector<int>> m_initialStacks;
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std::vector<std::vector<int>> m_stacks;
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ccOctree::Shared m_octree;
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unsigned char m_bestOctreeLevel = 0;
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CCCoreLib::DgmOctree::NearestNeighboursSearchStruct m_nNSS;
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static G3PointAction* s_g3PointAction;
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GrainsAsEllipsoids* m_grainsAsEllipsoids;
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};
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}
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