groundtruth.cpp
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33 #include "lidar_segmentation.h"
34 #include "clustering.h"
35 #include "groundtruth.h"
36 
37 //read from the ground truth file
38 int readDataFile( vector<C_DataFromFilePtr>& data_gts , int values_per_scan)
39 {
40 
41  string path = ros::package::getPath("roslib");
42  ifstream source("src/gt_datas/GT_NEW_DIV.txt"); // build a read-Stream
43 
44  if (!source.is_open())
45  {
46  cout << "Couldn't open the GT_NEW file" << endl;
47  return 1;
48  }
49 
50  string line;
51 
52  while(source.good()) //read stream line by line
53  {
54  getline(source, line); //Get iteration
55 
56  if(line[0]!='i')
57  continue;
58 
59  int it;
60 
61  //New iteration
62  sscanf(line.c_str(),"%*c %d",&it);
63 
64  C_DataFromFilePtr data_gt(new C_DataFromFile);
65 
66  data_gt->iteration = it;
67 
68  getline(source ,line); //get x values
69 
70  int c = 0;
71  double x , y;
72  int label;
73 
74  const char*ptr = line.c_str();
75 
76  while(c < values_per_scan)
77  {
78  sscanf(ptr,"%lf", &x); //scans values
79 
80  data_gt->x_valuesf.push_back(x);
81 
82  c++;
83 
84  ptr = strstr(ptr, " "); //seeks for " "
85 
86  if(ptr==NULL)
87  break;
88 
89  ptr++;
90  }
91 
92 //----------------------------------------------------------------------------
93 // for(uint j=0;j< data_gt->x_valuesf.size();j++)
94 // {
95 // cout<<"x_valuesf: "<< data_gt->x_valuesf[j]<<endl;
96 // }
97 //----------------------------------------------------------------------------
98 
99  getline(source , line); //get y values
100  const char*ptr2 = line.c_str();
101  c = 0;
102 
103  while(c < values_per_scan)
104  {
105  sscanf(ptr2, "%lf" , &y);
106 
107  data_gt->y_valuesf.push_back(y);
108  c++;
109 
110  ptr2 = strstr(ptr2, " "); //seeks for " "
111 
112  if(ptr2==NULL)
113  break;
114 
115  ptr2++;
116  }
117 
118 //----------------------------------------------------------------------------
119 // for(uint j=0;j< data_gt->x_valuesf.size();j++)
120 // {
121 // cout<<"y_valuesf: "<< data_gt->y_valuesf[j]<<endl;
122 // }
123 //----------------------------------------------------------------------------
124 
125  getline(source , line); //labels
126  const char*ptr3 = line.c_str();
127  c = 0;
128 
129  while(c < values_per_scan)
130  {
131  sscanf(ptr3, "%d" , &label);
132 
133  data_gt->labels.push_back(label);
134  c++;
135 
136  ptr3 = strstr(ptr3, " "); //seeks for " "
137 
138  if(ptr3==NULL)
139  break;
140 
141  ptr3++;
142  }
143 
144 //----------------------------------------------------------------------------
145 // for(uint j=0; j< data_gt->x_valuesf.size(); j++)
146 // {
147 // cout<<"labels : "<< data_gt->labels[j] <<endl;
148 // }
149 //----------------------------------------------------------------------------
150 
151  data_gts.push_back(data_gt);
152 
153  } //end while
154 
155  cout<<"close file"<<endl;
156  source.close();
157 
158  return 0;
159 
160 } //end function
161 
162 
163 bool comparePoints(PointPtr p1,PointPtr p2)
164 {
165  return p1->cluster_id < p2->cluster_id; //ascending order
166 }
167 
168 int convertPointsToCluster(vector<PointPtr>& points, vector<ClusterPtr>& clusters_GT)
169 {
170 
171  ClusterPtr cluster_gt(new Cluster);
172 
173  //add the first value
174  if( points[0]->label != 0 )
175  {
176  PointPtr p(new Point);
177  p->x = points[0]->x;
178  p->y = points[0]->y;
179  p->label = points[0]->label;
180  p->cluster_id = points[0]->cluster_id;
181 
182  cluster_gt->support_points.push_back(p);
183  cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
184  cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);
185  cluster_gt->id = p->cluster_id;
186  }
187 
188 
189  //For every line in the file
190  for(uint idx = 1; idx < points.size(); idx++ )
191  {
192  if(points[idx]->cluster_id== 0)
193  continue;
194 
195  if( (points[idx]->cluster_id != points[idx-1]->cluster_id))
196  {
197 
198  if(cluster_gt->support_points.size()>0)
199  clusters_GT.push_back(cluster_gt);
200 
201  //make cluster point to a new Cluster.
202  cluster_gt.reset(new Cluster);
203 
204  PointPtr p(new Point);
205  p->x = points[idx]->x;
206  p->y = points[idx]->y;
207  p->label = points[idx]->label;
208  p->cluster_id = points[idx]->cluster_id;
209 
210  cluster_gt->support_points.push_back(p);
211  cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
212  cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);
213  cluster_gt->id = p->cluster_id;
214 
215  }else
216  {
217  PointPtr p(new Point);
218  p->x = points[idx]->x;
219  p->y = points[idx]->y;
220  p->label = points[idx]->label;
221  p->cluster_id = points[idx]->cluster_id;
222 
223  cluster_gt->support_points.push_back(p);
224 
225  cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
226  cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);
227  cluster_gt->id = p->cluster_id;
228  }
229 
230  } //end for
231 
232  if(cluster_gt->support_points.size()>0)
233  clusters_GT.push_back(cluster_gt);
234 
235  cout<< "Clusters GT " << clusters_GT.size() << endl;
236 
237  return clusters_GT.size();
238 }
calculateClusterCentroid
PointPtr calculateClusterCentroid(vector< PointPtr > support_points)
Calculates the cluster's centroid.
Definition: clustering.cpp:702
C_DataFromFile
Definition: groundtruth.h:47
convertPointsToCluster
int convertPointsToCluster(vector< PointPtr > &points, vector< ClusterPtr > &clusters_GT)
Performs Segmentation operation with the Adaptative Breakpoint Detector.
Definition: groundtruth.cpp:168
comparePoints
bool comparePoints(PointPtr p1, PointPtr p2)
Comparison function.
Definition: groundtruth.cpp:163
PointPtr
boost::shared_ptr< Point > PointPtr
Definition: clustering.h:42
clustering.h
Clustering related functions header.
calculateClusterMedian
PointPtr calculateClusterMedian(vector< PointPtr > support_points)
Calculates the cluster's central point.
Definition: clustering.cpp:747
ClusterPtr
boost::shared_ptr< Cluster > ClusterPtr
Definition: clustering.h:70
readDataFile
int readDataFile(vector< C_DataFromFilePtr > &data_gts, int values_per_scan)
Reads from a file the x, y and labels values from all the laser points from one iteration.
Definition: groundtruth.cpp:38
C_DataFromFilePtr
boost::shared_ptr< C_DataFromFile > C_DataFromFilePtr
Definition: groundtruth.h:62
lidar_segmentation.h
Global include file.
groundtruth.h
Groundtruth related functions header.

lidar_segmentation
Author(s): Daniel Coimbra
autogenerated on Mon Mar 2 2015 01:32:12