107 lines
3.6 KiB
C
107 lines
3.6 KiB
C
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/*
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----
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This file is part of SECONDO.
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Copyright (C) 2019,
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Faculty of Mathematics and Computer Science,
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Database Systems for New Applications.
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SECONDO is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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SECONDO is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with SECONDO; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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----
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//[<] [\ensuremath{<}]
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//[>] [\ensuremath{>}]
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\setcounter{tocdepth}{3}
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\tableofcontents
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1 The MMRCloud class
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Encapsulates a main memory representation of all points in a Pointcloud2,
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using a vector of points and an MMRTree2 constructed over sequences of
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points in the vector. Points are represented as DbScanPoints.
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These conceptual sequences represent groups of leaves in the persistent RTree,
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i.e. points that are geometrically close. These may however be scattered across
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the entire SMI-File of the Cloud.
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Therefore, this class uses a main memory vector that holds all points in
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such sequences and a mapping index-array into the file that for each Point's
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index in the vector, holds its corresponding Record-ID.
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This allows us to save in the MMRTree not all Points, but rather only
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the start of every sequence and thereby reduce build-up time and
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memory consumption significantly.
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*/
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#include <vector>
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#include <memory>
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#include <limits>
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#include <iostream>
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#include "BitArray.h"
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#include "PointBase.h"
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#include "DbScanPoint.h"
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#include "DbScan.h"
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#include "../tcPointcloud2.h"
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namespace pointcloud2 {
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typedef RtreeT2<DIMENSIONS, PointIndex, MMRTREE_NODE_SIZE_MAX> MMCloudTreeT;
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class MMRCloud {
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static bool REPORT_TO_CONSOLE;
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static bool REPORT_DETAILED;
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public:
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/* The MMRTree constructed over the Cloud does not store individual
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* points, but rather the first point of a point sequence of neighboring
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* points. The size of a sequence is primarily determined by the number
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* of points stored in each node of the Pointcloud2's persistent RTree,
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* (theoretically, max. 76 points, usually about 70% of that).
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* If however maxSequenceLength is smaller, the points in the RTree node
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* will be refined into several sequences.
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* If maxSequenceLength is higher or -1,
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* the sequences will not be refined */
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MMRCloud(Pointcloud2* cloud, int maxSequenceLength);
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std::shared_ptr<std::vector<DbScanPoint<DIMENSIONS>>> _points;
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/* contains the _points indices of the first point of every point sequence
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* as retrieved from the persistent RTree */
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std::unique_ptr<MMCloudTreeT> _tree;
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/* the bounding box of all points in this Cloud */
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Rectangle<DIMENSIONS> _cloudBbox;
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/* Contains the SmiRecordId for every index in _points,
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* i.e. every Point in the Cloud. */
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std::vector<PointIndex> _indexOfSmiId;
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/* Holds "true" for every point in the Cloud which can still be assigned
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* to a new ObjId, or "false" for a point already assigned to an ObjID
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* in a previous call of analyzeGeom. */
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std::shared_ptr<BitArray> _bitMask;
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/* Estimates a typical distance between neighbor points in this cloud
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* by searching the nearest neighbors of (sampleSize) points and
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* calculating the median of the distances */
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double estimateTypicalPointDistance(const size_t sampleSize) const;
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};
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}
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