CAP: refactored backend for segmeentations and normal estimations

Author: 9and3

src/diffCheck/geometry/DFPointCloud.cc

@@ -146,6 +146,7 @@ namespace diffCheck::geometry
     {
         if (!useCilantroEvaluator)
         {
+            this->Normals.clear();
             auto O3DPointCloud = this->Cvt2O3DPointCloud();
 
             if (knn.value() != 30 && searchRadius.has_value() == false)
@@ -165,8 +166,6 @@ namespace diffCheck::geometry
                 O3DPointCloud->EstimateNormals();
                 DIFFCHECK_INFO("Default estimation of normals with knn = 30");
             }
-
-            this->Normals.clear();
             for (auto &normal : O3DPointCloud->normals_)
                 this->Normals.push_back(normal);
         }

src/diffCheck/geometry/DFPointCloud.hh

@@ -81,7 +81,7 @@ namespace diffCheck::geometry
          */
         void EstimateNormals(
             bool useCilantroEvaluator = false,
-            std::optional<int> knn = 10,
+            std::optional<int> knn = 50,
             std::optional<double> searchRadius = std::nullopt);
 
         /**

src/diffCheck/segmentation/DFSegmentation.cc

@@ -15,16 +15,19 @@ namespace diffCheck::segmentation
         int radiusNeighborhoodSize,
         bool colorClusters)
     {
+        if (!pointCloud->HasNormals())
+        {
+            DIFFCHECK_WARN("The point cloud does not have normals. Estimating normals with 50 neighbors.");
+            pointCloud->EstimateNormals(true, 50);
+        }
+
         std::shared_ptr<cilantro::PointCloud3f> cilantroPointCloud = pointCloud->Cvt2CilantroPointCloud();
 
         std::vector<std::shared_ptr<geometry::DFPointCloud>> segments;
         if (useKnnNeighborhood)
         {
             cilantro::KNNNeighborhoodSpecification<int> neighborhood(knnNeighborhoodSize);
 
-            // FIXME: not clear why this is needed all the time
-            cilantroPointCloud->estimateNormals(neighborhood);
-
             cilantro::NormalsProximityEvaluator<float, 3> similarityEvaluator(
             cilantroPointCloud->normals, 
             normalThresholdDegree*M_PI/180.0f);
@@ -58,8 +61,6 @@ namespace diffCheck::segmentation
         {
             cilantro::RadiusNeighborhoodSpecification<float> neighborhood(radiusNeighborhoodSize);
 
-            // cilantroPointCloud->estimateNormals(neighborhood);
-
             cilantro::NormalsProximityEvaluator<float, 3> similarityEvaluator(
             cilantroPointCloud->normals,
             normalThresholdDegree*M_PI/180.0f);
@@ -79,7 +80,14 @@ namespace diffCheck::segmentation
                     Eigen::Vector3d normal = cilantroPointCloud->normals.col(pointIndice).cast<double>();
                     segment->Points.push_back(point);
                     segment->Normals.push_back(normal);
+                    if (cilantroPointCloud->hasColors())
+                    {
+                        Eigen::Vector3d color = cilantroPointCloud->colors.col(pointIndice).cast<double>();
+                        segment->Colors.push_back(color);
+                    }
                 }
+                if (colorClusters)
+                    segment->ApplyColor(Eigen::Vector3d::Random());
                 segments.push_back(segment);
             }
         }

src/diffCheck/visualizer.cc

@@ -24,7 +24,10 @@ namespace diffCheck::visualizer
         {
             vis.AddGeometry(geometry);
         }
-        vis.GetRenderOption().point_color_option_ = open3d::visualization::RenderOption::PointColorOption::Color;
+        if (this->RenderPcdColorNormals)
+            vis.GetRenderOption().point_color_option_ = open3d::visualization::RenderOption::PointColorOption::Normal;
+        else
+            vis.GetRenderOption().point_color_option_ = open3d::visualization::RenderOption::PointColorOption::Color;
         if (this->ShowNormals)
             vis.GetRenderOption().TogglePointShowNormal();
         vis.Run();

src/diffCheck/visualizer.hh

@@ -22,10 +22,12 @@ namespace diffCheck::visualizer
             int posX = 50,
             int posY = 50,
             bool showNormals = true,
-            bool showWireframe = true
+            bool showWireframe = true,
+            bool renderPcdColorNormals = false
             ) : Title(title), Width(width), Height(height),
                 PosX(posX), PosY(posY),
-                ShowNormals(showNormals), ShowWireframe(showWireframe)
+                ShowNormals(showNormals), ShowWireframe(showWireframe),
+                RenderPcdColorNormals(renderPcdColorNormals)
         {}
         ~Visualizer() = default;
 
@@ -62,6 +64,8 @@ namespace diffCheck::visualizer
         bool ShowNormals;
         /// @brief weither to show the wireframe
         bool ShowWireframe;
+        /// @brief weither to render the point cloud color normals
+        bool RenderPcdColorNormals;
 
     private:
         /// @brief the geometries to visualize

src/diffCheckApp.cc

@@ -1,4 +1,5 @@
 #include "diffCheck.hh"
+#include "diffCheck/log.hh"
 
 #include <iostream>
 #include <fstream>
@@ -15,27 +16,23 @@ int main()
 
   pcdSrc->LoadFromPLY(pathPcdSrc);
 
-  // pcdSrc->EstimateNormals(false, 50);
-
-  // pcdSrc->ApplyColor(255, 0 , 0);
-
-
+  pcdSrc->EstimateNormals(100);
   segments = diffCheck::segmentation::DFSegmentation::NormalBasedSegmentation(
     pcdSrc,
     20.f,
     10,
     true,
     50,
-    30,
+    10,
     true);
   std::cout << "number of segments:" << segments.size()<< std::endl;
 
-  diffCheck::visualizer::Visualizer vis;
+  std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
+  vis->RenderPcdColorNormals = false;
 
   for (auto segment : segments)
-    vis.AddPointCloud(segment);
+    vis->AddPointCloud(segment);
 
-  // vis.AddPointCloud(pcdSrc);
-  vis.Run();
+  vis->Run();
   return 0;
 }