105 lines
2.5 KiB
C
105 lines
2.5 KiB
C
|
/*
|
|||
|
|
----
|
|||
|
|
This file is part of SECONDO.
|
|||
|
|
|
|||
|
|
Copyright (C) 2019,
|
|||
|
|
Faculty of Mathematics and Computer Science,
|
|||
|
|
Database Systems for New Applications.
|
|||
|
|
|
|||
|
|
SECONDO is free software; you can redistribute it and/or modify
|
|||
|
|
it under the terms of the GNU General Public License as published by
|
|||
|
|
the Free Software Foundation; either version 2 of the License, or
|
|||
|
|
(at your option) any later version.
|
|||
|
|
|
|||
|
|
SECONDO is distributed in the hope that it will be useful,
|
|||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|||
|
|
GNU General Public License for more details.
|
|||
|
|
|
|||
|
|
You should have received a copy of the GNU General Public License
|
|||
|
|
along with SECONDO; if not, write to the Free Software
|
|||
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|||
|
|
----
|
|||
|
|
|
|||
|
|
|
|||
|
|
//[<] [\ensuremath{<}]
|
|||
|
|
//[>] [\ensuremath{>}]
|
|||
|
|
|
|||
|
|
\setcounter{tocdepth}{3}
|
|||
|
|
\tableofcontents
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
1 DbScanPoint
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
#pragma once
|
|||
|
|
#include <memory>
|
|||
|
|
#include "PointBase.h"
|
|||
|
|
#include "Rectangle2.h"
|
|||
|
|
|
|||
|
|
namespace pointcloud2 {
|
|||
|
|
|
|||
|
|
constexpr int SCAN_UNCLASSIFIED = -1;
|
|||
|
|
constexpr int SCAN_NOISE = 0;
|
|||
|
|
|
|||
|
|
typedef unsigned PointIndex;
|
|||
|
|
|
|||
|
|
template<unsigned dim>
|
|||
|
|
struct DbScanPoint { // TODO: von PointBase ableiten? Dann würden viele der
|
|||
|
|
// Funktionen unten entfallen!
|
|||
|
|
/*
|
|||
|
|
1.1 Fields
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
/* the coordinates in each of the (dim) dimensions */
|
|||
|
|
double _coords[dim];
|
|||
|
|
|
|||
|
|
/* the cluster to which this point belongs (i.e. the result of the DBSCAN
|
|||
|
|
* algorithm). Special values are SCAN_UNCLASSIFIED (only during DBSCAN)
|
|||
|
|
* and SCAN_NOISE. Positive values are cluster ids. */
|
|||
|
|
int _clusterId;
|
|||
|
|
|
|||
|
|
/* _isLastInSeq.get() is true for the last point in a sequence of points.
|
|||
|
|
* If no sequences are available, this must be true for every point,
|
|||
|
|
* and every single point must be referenced by the MMRTree. */
|
|||
|
|
bool _isLastInSeq;
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
1.2 Destructor
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
~DbScanPoint() = default;
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
1.3 Manipulators
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
void initialize(bool isLastInSeq = true);
|
|||
|
|
|
|||
|
|
void clearCoords();
|
|||
|
|
|
|||
|
|
void setCoords(const double coords[dim]);
|
|||
|
|
|
|||
|
|
void copyCoordsFrom(const DbScanPoint<dim>& source);
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
1.4 Getters
|
|||
|
|
|
|||
|
|
*/
|
|||
|
|
Rectangle<dim> getBoundingBox(double expand) const;
|
|||
|
|
|
|||
|
|
Rectangle2<dim> getBoundingBox2(double expand) const;
|
|||
|
|
|
|||
|
|
static std::string getStringForBBox(const Rectangle<dim>& bbox);
|
|||
|
|
|
|||
|
|
double calculateDistanceSquare(const DbScanPoint<dim>& other) const;
|
|||
|
|
|
|||
|
|
PointBase<dim> toPointBase() const { return PointBase<dim>(_coords); }
|
|||
|
|
|
|||
|
|
std::string toString() const;
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
} // namespace
|