#include "TreeIso.h"
#include "TreeIsoHelper.h"
#include <ecvMainAppInterface.h>
#include <ecvQtHelpers.h>
#include <ecvPointCloud.h>
#include <QCoreApplication>
#include <QElapsedTimer>
#include <QProgressDialog>
#include <cmath>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/geometries/polygon.hpp>

Include dependency graph for TreeIso.cpp:

Typedefs
typedef boost::geometry::model::d2::point_xy< double >	point_xy

typedef boost::geometry::model::polygon< point_xy >	polygon

typedef boost::geometry::model::multi_point< point_xy >	multi_point

typedef boost::geometry::model::multi_polygon< polygon >	multi_polygon

typedef std::vector< float >	Vec3d

Functions
template<class result_t = std::chrono::milliseconds, class clock_t = std::chrono::steady_clock, class duration_t = std::chrono::milliseconds>
static auto	Since (std::chrono::time_point< clock_t, duration_t > const &start)

void	knn_cpp_build (knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &kdtree, unsigned n_thread)

void	knn_cpp_query (knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &kdtree, Eigen::MatrixXf &query_points, size_t k, std::vector< std::vector< size_t >> &res_idx, std::vector< Vec3d > &res_dists)

float	knn_cpp_query_min_d (knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &kdtree, Eigen::MatrixXf &query_points, size_t k)

void	knn_cpp_nearest_neighbors (const std::vector< Vec3d > &dataset, size_t k, std::vector< std::vector< uint32_t >> &res_idx, std::vector< Vec3d > &res_dists, unsigned n_thread)

template<typename T >
void	unique_group (std::vector< T > &arr, std::vector< std::vector< T >> &u_group, std::vector< T > &arr_unq, std::vector< T > &ui)

template<typename T >
void	unique_group (std::vector< T > &arr, std::vector< std::vector< T >> &u_group, std::vector< T > &arr_unq)

template<typename T >
void	unique_group (std::vector< T > &arr, std::vector< std::vector< T >> &u_group)

template<typename T1 , typename T2 >
void	get_subset (std::vector< T1 > &arr, std::vector< T2 > &indices, std::vector< T1 > &arr_sub)

template<typename T1 , typename T2 >
void	get_subset (const std::vector< std::vector< T1 >> &arr, const std::vector< T2 > &indices, Eigen::MatrixXf &arr_sub)

template<typename T1 , typename T2 >
void	get_subset (const std::vector< std::vector< T1 >> &arr, const std::vector< T2 > &indices, std::vector< std::vector< T1 >> &arr_sub)

template<typename T1 , typename T2 >
bool	get_subset (ccPointCloud *pcd, std::vector< T2 > &indices, std::vector< std::vector< T1 >> &arr_sub)

template<typename T >
void	toTranslatedVector (const ccPointCloud *pc, std::vector< std::vector< T >> &y)

bool	perform_cut_pursuit (const uint32_t K, const float regStrength, const std::vector< Vec3d > &pc, std::vector< float > &edgeWeight, std::vector< uint32_t > &Eu, std::vector< uint32_t > &Ev, std::vector< uint32_t > &in_component, std::vector< std::vector< uint32_t >> &components)

void	perform_cut_pursuit2d (const uint32_t K, const float regStrength, const std::vector< Vec3d > &pc_vec, Vec3d &edgeWeight, std::vector< uint32_t > &Eu, std::vector< uint32_t > &Ev, std::vector< uint32_t > &in_component)

template<typename T >
size_t	arg_min_col (std::vector< T > &arr)

template<typename T >
size_t	arg_max_col (std::vector< T > &arr)

template<typename T >
void	min_col (std::vector< std::vector< T >> &arr, std::vector< T > &min_vals)

template<typename T >
T	min_col (std::vector< T > &arr)

template<typename T >
T	mean_col (std::vector< T > &arr)

template<typename T >
T	median_col (std::vector< T > &arr)

template<typename T >
T	mode_col (std::vector< T > &arr)

template<typename T >
void	max_col (std::vector< std::vector< T >> &arr, std::vector< T > &max_vals)

template<typename T >
void	mean_col (std::vector< std::vector< T >> &arr, std::vector< T > &mean_vals)

template<typename T >
void	decimate_vec (std::vector< std::vector< T >> &arr, T res, std::vector< std::vector< T >> &vec_dec)

template<typename T >
void	sort_indexes_by_row (std::vector< std::vector< T >> &v, std::vector< size_t > &idx, std::vector< std::vector< T >> &v_sorted)

template<typename ValueType , typename IndexType >
void	sort_indexes (std::vector< ValueType > &v, std::vector< IndexType > &idx, std::vector< ValueType > &v_sorted)

template<typename T >
void	unique_index_by_rows (std::vector< std::vector< T >> &arr, std::vector< size_t > &ia, std::vector< size_t > &ic)

Variables
static const char	InitSegsSFName [] = "init_segs"

static const char	IntermedSegsSFName [] = "intermediate_segs"

static const char	FinalSegsSFName [] = "final_segs"

Typedef Documentation

◆ multi_point

typedef boost::geometry::model::multi_point<point_xy> multi_point

Definition at line 38 of file TreeIso.cpp.

◆ multi_polygon

typedef boost::geometry::model::multi_polygon<polygon> multi_polygon

Definition at line 39 of file TreeIso.cpp.

◆ point_xy

typedef boost::geometry::model::d2::point_xy<double> point_xy

Definition at line 36 of file TreeIso.cpp.

◆ polygon

typedef boost::geometry::model::polygon<point_xy> polygon

Definition at line 37 of file TreeIso.cpp.

◆ Vec3d

typedef std::vector<float> Vec3d

Definition at line 41 of file TreeIso.cpp.

Function Documentation

◆ arg_max_col()

template<typename T >

size_t arg_max_col ( std::vector< T > & arr )

Definition at line 1393 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd().

◆ arg_min_col()

template<typename T >

size_t arg_min_col ( std::vector< T > & arr )

Definition at line 1386 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd().

◆ decimate_vec()

template<typename T >

void decimate_vec	(	std::vector< std::vector< T >> &	arr,
		T	res,
		std::vector< std::vector< T >> &	vec_dec
	)

Definition at line 1501 of file TreeIso.cpp.

References cloudViewer::utility::floor(), and min_col().

Referenced by TreeIso::Init_seg_pcd(), and TreeIso::Intermediate_seg_pcd().

◆ get_subset() [1/4]

template<typename T1 , typename T2 >

bool get_subset	(	ccPointCloud *	pcd,
		std::vector< T2 > &	indices,
		std::vector< std::vector< T1 >> &	arr_sub
	)

Definition at line 1201 of file TreeIso.cpp.

References cloudViewer::PointCloudTpl< T >::getPoint(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ get_subset() [2/4]

template<typename T1 , typename T2 >

void get_subset	(	const std::vector< std::vector< T1 >> &	arr,
		const std::vector< T2 > &	indices,
		Eigen::MatrixXf &	arr_sub
	)

Definition at line 1165 of file TreeIso.cpp.

References size.

◆ get_subset() [3/4]

template<typename T1 , typename T2 >

void get_subset	(	const std::vector< std::vector< T1 >> &	arr,
		const std::vector< T2 > &	indices,
		std::vector< std::vector< T1 >> &	arr_sub
	)

Definition at line 1185 of file TreeIso.cpp.

◆ get_subset() [4/4]

template<typename T1 , typename T2 >

void get_subset	(	std::vector< T1 > &	arr,
		std::vector< T2 > &	indices,
		std::vector< T1 > &	arr_sub
	)

Definition at line 1155 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd(), TreeIso::Init_seg_pcd(), and TreeIso::Intermediate_seg_pcd().

◆ knn_cpp_build()

void knn_cpp_build	(	knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &	kdtree,
		unsigned	n_thread
	)

Definition at line 947 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd(), and TreeIso::Intermediate_seg_pcd().

◆ knn_cpp_nearest_neighbors()

void knn_cpp_nearest_neighbors	(	const std::vector< Vec3d > &	dataset,
		size_t	k,
		std::vector< std::vector< uint32_t >> &	res_idx,
		std::vector< Vec3d > &	res_dists,
		unsigned	n_thread
	)

Definition at line 995 of file TreeIso.cpp.

References knncpp::KDTreeMinkowski< _Scalar, _Dimension, _Distance >::build(), knncpp::KDTreeMinkowski< _Scalar, _Dimension, _Distance >::query(), knncpp::KDTreeMinkowski< _Scalar, _Dimension, _Distance >::setBucketSize(), knncpp::KDTreeMinkowski< _Scalar, _Dimension, _Distance >::setSorted(), knncpp::KDTreeMinkowski< _Scalar, _Dimension, _Distance >::setThreads(), and size.

Referenced by TreeIso::Final_seg_pcd(), TreeIso::Intermediate_seg_pcd(), perform_cut_pursuit(), and perform_cut_pursuit2d().

◆ knn_cpp_query()

void knn_cpp_query	(	knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &	kdtree,
		Eigen::MatrixXf &	query_points,
		size_t	k,
		std::vector< std::vector< size_t >> &	res_idx,
		std::vector< Vec3d > &	res_dists
	)

Definition at line 957 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd().

◆ knn_cpp_query_min_d()

float knn_cpp_query_min_d	(	knncpp::KDTreeMinkowskiX< float, knncpp::EuclideanDistance< float >> &	kdtree,
		Eigen::MatrixXf &	query_points,
		size_t	k
	)

Definition at line 983 of file TreeIso.cpp.

Referenced by TreeIso::Intermediate_seg_pcd().

◆ max_col()

template<typename T >

void max_col	(	std::vector< std::vector< T >> &	arr,
		std::vector< T > &	max_vals
	)

Definition at line 1464 of file TreeIso.cpp.

References max().

Referenced by TreeIso::Final_seg_pcd().

◆ mean_col() [1/2]

template<typename T >

void mean_col	(	std::vector< std::vector< T >> &	arr,
		std::vector< T > &	mean_vals
	)

Definition at line 1480 of file TreeIso.cpp.

References size.

◆ mean_col() [2/2]

template<typename T >

T mean_col ( std::vector< T > & arr )

Definition at line 1423 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd(), TreeIso::Intermediate_seg_pcd(), and toTranslatedVector().

◆ median_col()

template<typename T >

T median_col ( std::vector< T > & arr )

Definition at line 1437 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd().

◆ min_col() [1/2]

template<typename T >

void min_col	(	std::vector< std::vector< T >> &	arr,
		std::vector< T > &	min_vals
	)

Definition at line 1400 of file TreeIso.cpp.

References min().

Referenced by decimate_vec(), and TreeIso::Final_seg_pcd().

◆ min_col() [2/2]

template<typename T >

T min_col ( std::vector< T > & arr )

Definition at line 1416 of file TreeIso.cpp.

References result.

◆ mode_col()

template<typename T >

T mode_col ( std::vector< T > & arr )

Definition at line 1453 of file TreeIso.cpp.

Referenced by TreeIso::Final_seg_pcd().

◆ perform_cut_pursuit()

bool perform_cut_pursuit	(	const uint32_t	K,
		const float	regStrength,
		const std::vector< Vec3d > &	pc,
		std::vector< float > &	edgeWeight,
		std::vector< uint32_t > &	Eu,
		std::vector< uint32_t > &	Ev,
		std::vector< uint32_t > &	in_component,
		std::vector< std::vector< uint32_t >> &	components
	)

Definition at line 1245 of file TreeIso.cpp.

References knn_cpp_nearest_neighbors().

Referenced by TreeIso::Init_seg_pcd().

◆ perform_cut_pursuit2d()

void perform_cut_pursuit2d	(	const uint32_t	K,
		const float	regStrength,
		const std::vector< Vec3d > &	pc_vec,
		Vec3d &	edgeWeight,
		std::vector< uint32_t > &	Eu,
		std::vector< uint32_t > &	Ev,
		std::vector< uint32_t > &	in_component
	)