Merge branch 'semantic_segmentation' of github.com:diffCheckOrg/diffCheck into semantic_segmentation

Author: DamienGilliard

src/diffCheck/segmentation/DFSegmentation.cc

@@ -60,7 +60,6 @@ namespace diffCheck::segmentation
         else
         {
             cilantro::RadiusNeighborhoodSpecification<float> neighborhood(radiusNeighborhoodSize);
-
             cilantro::NormalsProximityEvaluator<float, 3> similarityEvaluator(
             cilantroPointCloud->normals,
             normalThresholdDegree*M_PI/180.0f);

src/diffCheckApp.cc

@@ -3,13 +3,30 @@
 
 #include <iostream>
 #include <fstream>
+
+// checking computation time 
 #include <chrono>
 
 int main()
 {
+  auto initTime = std::chrono::high_resolution_clock::now();
+
   std::shared_ptr<diffCheck::geometry::DFPointCloud> pcdSrc = std::make_shared<diffCheck::geometry::DFPointCloud>();
+  std::vector<std::shared_ptr<diffCheck::geometry::DFMesh>> meshSrc = std::vector<std::shared_ptr<diffCheck::geometry::DFMesh>>();
   std::vector<std::shared_ptr<diffCheck::geometry::DFPointCloud>> segments;
-  std::string pathPcdSrc = R"(C:\Users\andre\Downloads\moved_04.ply)";
+  std::vector<std::string> meshPaths;
+
+  std::string meshesFolderPath = R"(C:\Users\localuser\Desktop\again_other_meshes_for_diffCheck\)";
+
+  for (int i = 1; i <= 4; i++)
+  {
+    std::string meshPath = meshesFolderPath + std::to_string(i) + ".ply";
+    std::shared_ptr<diffCheck::geometry::DFMesh> mesh = std::make_shared<diffCheck::geometry::DFMesh>();
+    mesh->LoadFromPLY(meshPath);
+    meshSrc.push_back(mesh);
+  }
+
+  std::string pathPcdSrc = R"(C:\Users\localuser\Desktop\cleaned_AC_pc_90deg.ply)";
 
   pcdSrc->LoadFromPLY(pathPcdSrc);
 
@@ -28,10 +45,39 @@ int main()
     diffCheck::segmentation::DFSegmentation::AssociateSegments(meshSrc, segments, 0.15);
 
   diffCheck::visualizer::Visualizer vis;
-  vis.AddMesh(meshSrc);
-  for (auto segment : segments)
-    vis->AddPointCloud(segment);
-  
+  for (auto segment : std::get<1>(unifiedSegments))
+  {
+    // colorize the segments with random colors
+    double r = static_cast<double>(rand()) / RAND_MAX;
+    double g = static_cast<double>(rand()) / RAND_MAX;
+    double b = static_cast<double>(rand()) / RAND_MAX;
+
+    for (int i = 0; i < segment->Points.size(); i++)
+    {
+      segment->Colors.push_back(Eigen::Vector3d(r, g, b));
+    }
+    vis.AddPointCloud(segment);
+
+    // // colorize the segments with random colors
+    // double r = static_cast<double>(rand()) / RAND_MAX;
+    // double g = static_cast<double>(rand()) / RAND_MAX;
+    // double b = static_cast<double>(rand()) / RAND_MAX;    
+    // for (int i = 0; i < std::get<0>(unifiedSegments)->Points.size(); i++)
+    // {
+    //   std::get<0>(unifiedSegments)->Colors.push_back(Eigen::Vector3d(r, g, b));
+    // }
+    // vis.AddPointCloud(std::get<0>(unifiedSegments));
+
+    // for (auto segemt : std::get<1>(unifiedSegments))
+    // {
+    //   for (int i = 0; i < segemt->Points.size(); i++)
+    //   {
+    //     segemt->Colors.push_back(Eigen::Vector3d(0, 0, 1));
+    //   }
+    //   vis.AddPointCloud(segemt);
+    // }
+
+  }
   for(auto mesh : meshSrc)
   {
     vis.AddMesh(mesh);