187 lines
7.0 KiB
C
187 lines
7.0 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 ObjectIdManager class
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During analysis of a Pointcloud2, this class provides free object ids
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and the corresponding category ids. It also stores the object id of the
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biggest object which a point was assigned to so far. If alter in the
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analysis an even bigger object is found for the same point, that object
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will be preferred.
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*/
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#pragma once
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#include <vector>
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#include <cstddef>
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namespace pointcloud2 {
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class ObjectIdManager {
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/* This struct stores the size and category id of each object found
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* during the analysis. At the end of the analysis, small objects
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* are eliminated and the final, consecutive object ids are
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* determined */
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struct ObjInfo {
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/* the number of points assigned to this object */
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unsigned _size;
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/* the total number of neighborhood relationships found by DBSCAN
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* in this object, divided by the perimeter of the object's bbox */
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double _density;
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/* the category (i.e. the type of geometric primitive) this object
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* belongs to*/
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int _catId;
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/* the object id that will ultimately be used for this object
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* (objects are eliminated if they are too small) */
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int _finalObjId;
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ObjInfo(unsigned size, double density, int catId) {
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_size = size;
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_density = density;
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_catId = catId;
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_finalObjId = -1;
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}
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};
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struct CatInfo {
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/* the number of objects assigned to this category */
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size_t _objCount;
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/* the total number of points assigned to an object of this category */
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size_t _sizeSum;
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CatInfo(size_t objCount, size_t sizeSum) {
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_objCount = objCount;
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_sizeSum = sizeSum;
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}
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};
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/* for every point, this vector stores the object id of the biggest
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* object which this point can be assigned to. A point is identified
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* by its 1-based index as used in the MMRCloud.\_points. If
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* setNewObjIdIfObjectBigger() finds that the point can be assigned to an
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* even bigger object, that object is used. */
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std::vector<int> _idOfBestObject;
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/* stores information on the objects. The 1-based object id is used as
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* the index, so \_objects[0] is unused. Note that this object id is
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* temporary, as objects can still be eliminated if most of their
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* points are assigned to even bigger objects. */
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std::vector<ObjInfo> _objects;
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/* the maximum ObjId used when the analysis was started. Usually, this
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* is 0 unless the source Pointcloud2 is itself the result
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* of an analysis performed previously */
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size_t _maxObjIdAtStart;
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/* true if at the end of the analysis, all ObjIDs (even those that are 0)
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* must be written to the Pointcloud2, overwriting existing entries. */
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const bool _overwriteOldObjIDs;
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/* the category (i.e. the type of geometric primitive) currently
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* treated during the analysis. */
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int _currentCategory;
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/* statistical information on each category, assembled in
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* appointFinalObjIds() */
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std::vector<CatInfo> _catInfos;
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public:
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/* the attribute index in which the ObjId is stored in the Pointcloud2's
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* tuples to make the result of the analysis persistent*/
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const int _attrIndexObjID;
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/* the attribute index in which the CatId is stored in the Pointcloud2's
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* tuples to make the result of the analysis persistent*/
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const int _attrIndexCatID;
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ObjectIdManager(const size_t pointCount, const int maxObjIdInCloud,
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const bool overwriteOldObjIDs, const int attrIndexObjID,
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const int attrIndexCatID);
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~ObjectIdManager() = default;
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/* adds an object with the given size and cohesion (which belongs to the
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* current category) and returns its object id */
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size_t addObject(const unsigned objectSize, const unsigned objectCohesion,
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const double bboxPerimeter);
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/* updates the (temporary) object id for the given point to the
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* newObjId unless the point was already assigned to an object
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* bigger than the new object. pointIndex is the 1-based index as used
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* in the MMRCloud.\_points. Returns true if the newObjId was used. */
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bool setNewObjIdIfObjectBigger(const int pointIndex, const int newObjId);
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/* Must be called when the analysis for a primitive type is completed. */
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void categoryFinished();
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/* Returns true if getFreeObjectId() was called at least one time during
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* the analysis */
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bool wereObjectIdsCreated() const {
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return (_objects.size() > 1); // _objects[0] is empty
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}
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/* true if at the end of the analysis, all ObjIDs (even those that are 0)
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* must be written to the Pointcloud2, overwriting existing entries. */
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bool mustOverwriteOldObjIDs() const {
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return _overwriteOldObjIDs;
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}
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/* calculates the ObjIds used to make the result of the analysis
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* persistent and returns the maximum ObjId. Objects which were found
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* during the analysis but later became too small (as their points were
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* assigned to even bigger objects later in the analysis) will be
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* eliminated, i.e. the remaining points assigned to those objects get
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* the final object id 0 */
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int appointFinalObjIDs(const size_t requiredObjectSize);
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/* returns the final, persistent object id for the given point.
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* pointIndex is the 1-based index as used in the MMRCloud.\_points. */
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int getFinalObjID(const size_t pointIndex) const;
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/* returns the final, persistent category id for the given point.
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* pointIndex is the 1-based index as used in the MMRCloud.\_points. */
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size_t getCategoryID(const size_t pointIndex) const;
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/* the number of objects assigned to the given category.
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* This can only be called after appointFinalObjIds() was called. */
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size_t getObjectCount(const size_t categoryId) const;
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/* returns the total number of points assigned to any object of the
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* given category. This can only be called after appointFinalObjIds()
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* was called. */
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size_t getAssignedPointCount(const size_t categoryId) const;
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private:
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size_t getMaxObjId() const {
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return _objects.size() - 1; // _objects is 1-based
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}
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};
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}
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