mirror of https://github.com/CGAL/cgal
some bugfixes for lcc export and merging of coplanar adjacent polygons
updated license file updated KSR api update examples
This commit is contained in:
Sven Oesau
parent
0603f1d785
commit
9d1decfa6e
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@ -25,6 +25,7 @@ Inscribed_areas Inscribed Areas
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Interpolation 2D and Surface Function Interpolation
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Interval_skip_list Interval Skip List
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Jet_fitting_3 Estimation of Local Differential Properties of Point-Sampled Surfaces
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Kinetic_surface_reconstruction Kinetic Surface Reconstruction
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Matrix_search Monotone and Sorted Matrix Search
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Mesh_2 2D Conforming Triangulations and Meshes
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Mesh_3 3D Mesh Generation
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Binary file not shown.
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After Width: | Height: | Size: 105 KiB |
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@ -39,15 +39,15 @@ int main(const int argc, const char** argv) {
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ksr.initialize_partition(param);
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ksr.partition(parameters.k_intersections);
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ksr.partition(1);
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std::vector<Point_3> vtx;
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std::vector<std::vector<std::size_t> > polylist;
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ksr.reconstruct_with_ground(parameters.graphcut_beta, std::back_inserter(vtx), std::back_inserter(polylist));
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ksr.reconstruct_with_ground(0.5, std::back_inserter(vtx), std::back_inserter(polylist));
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if (polylist.size() > 0)
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_beta), vtx, polylist);
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;// CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_beta), vtx, polylist);
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else
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return EXIT_FAILURE;
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@ -5,9 +5,6 @@
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#include <CGAL/IO/PLY.h>
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#include <CGAL/IO/polygon_soup_io.h>
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#include "include/Parameters.h"
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#include "include/Terminal_parser.h"
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using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel;
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using FT = typename Kernel::FT;
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using Point_3 = typename Kernel::Point_3;
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@ -29,12 +26,9 @@ int main(const int argc, const char** argv) {
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input_file >> point_set;
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input_file.close();
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auto param = CGAL::parameters::maximum_distance(parameters.distance_threshold)
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.maximum_angle(parameters.angle_threshold)
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.k_neighbors(parameters.k_neighbors)
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.minimum_region_size(parameters.min_region_size)
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.max_octree_depth(parameters.max_octree_depth)
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.max_octree_node_size(parameters.max_octree_node_size)
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auto param = CGAL::parameters::maximum_distance(0.1)
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.maximum_angle(10)
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.minimum_region_size(100)
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.reorient_bbox(true)
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.regularize_parallelism(true)
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.regularize_coplanarity(true)
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@ -48,7 +42,7 @@ int main(const int argc, const char** argv) {
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ksr.initialize_partition(param);
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ksr.partition(parameters.k_intersections);
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ksr.partition(2);
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std::vector<Point_3> vtx;
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std::vector<std::vector<std::size_t> > polylist;
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@ -147,6 +147,8 @@ int main(const int argc, const char** argv) {
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std::cout << "k " << parameters.k_intersections << std::endl;
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std::cout << "graphcut_beta " << parameters.graphcut_beta << std::endl;
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std::cout << parameters.regorthogonal << " " << parameters.regsymmetric << std::endl;
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auto param = CGAL::parameters::maximum_distance(parameters.distance_threshold)
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.maximum_angle(parameters.angle_threshold)
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.k_neighbors(parameters.k_neighbors)
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@ -156,12 +158,14 @@ int main(const int argc, const char** argv) {
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.max_octree_depth(parameters.max_octree_depth)
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.max_octree_node_size(parameters.max_octree_node_size)
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.reorient_bbox(false)
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.regularize_parallelism(parameters.regparallel)
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.regularize_coplanarity(parameters.regcoplanar)
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.regularize_parallelism(true)
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.regularize_coplanarity(true)
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//.regularize_parallelism(parameters.regparallel)
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//.regularize_coplanarity(parameters.regcoplanar)
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.regularize_orthogonality(parameters.regorthogonal)
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.regularize_axis_symmetry(parameters.regsymmetric)
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.angle_tolerance(5)
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.maximum_offset(0.02);
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.angle_tolerance(3)
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.maximum_offset(0.05);
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// Algorithm.
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KSR ksr(point_set, param);
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@ -191,12 +195,12 @@ int main(const int argc, const char** argv) {
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FT after_reconstruction = timer.time();
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if (polylist.size() > 0)
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_beta), vtx, polylist);
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(parameters.graphcut_beta) + ".off", vtx, polylist);
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timer.stop();
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const FT time = static_cast<FT>(timer.time());
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std::vector<FT> betas{0.3, 0.5, 0.7, 0.8, 0.9, 0.95, 0.99};
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std::vector<FT> betas{0.3, 0.5, 0.7, 0.73, 0.75, 0.77, 0.8, 0.9, 0.95, 0.99};
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for (FT b : betas) {
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if (b == parameters.graphcut_beta)
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@ -208,7 +212,7 @@ int main(const int argc, const char** argv) {
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ksr.reconstruct(b, external_nodes, std::back_inserter(vtx), std::back_inserter(polylist));
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if (polylist.size() > 0)
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(b), vtx, polylist);
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CGAL::IO::write_polygon_soup("polylist_" + std::to_string(b) + ".off", vtx, polylist);
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}
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std::cout << "Shape detection: " << after_shape_detection << " seconds!" << std::endl;
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@ -13,7 +13,7 @@
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#ifndef CGAL_KINETIC_SURFACE_RECONSTRUCTION_3_H
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#define CGAL_KINETIC_SURFACE_RECONSTRUCTION_3_H
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#include <CGAL/license/Kinetic_shape_partition.h>
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#include <CGAL/license/Kinetic_surface_reconstruction.h>
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#include <CGAL/Kinetic_shape_partition_3.h>
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#include <CGAL/KSP_3/Graphcut.h>
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@ -93,7 +93,7 @@ public:
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\cgalNamedParamsEnd
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*/
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template<typename NamedParameters = parameters::Default_named_parameters>
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Kinetic_shape_reconstruction_3(PointSet& points,
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Kinetic_surface_reconstruction_3(PointSet& points,
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const NamedParameters& np = CGAL::parameters::default_values()) : m_points(points), m_ground_polygon_index(-1), m_kinetic_partition(np) {}
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/*!
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@ -304,8 +304,44 @@ public:
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KSR_3::Graphcut<Kernel> gc(beta);
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// add ground consideration here
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// m_cost_matrix and m_face_neighbors_lcc should contain the original values without consideration of ground/preset cell labels
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// Create copy here if necessary and fill both vectors according to parameters of reconstruction
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gc.solve(m_face_neighbors_lcc, m_face_area_lcc, m_cost_matrix, m_labels);
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set_outside_volumes(true, m_cost_matrix);
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std::vector<std::pair<std::size_t, std::size_t> > edges(m_face_neighbors_lcc.size());
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std::size_t redirected = 0;
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for (std::size_t i = 0; i < m_face_neighbors_lcc.size(); i++) {
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std::size_t lower, upper;
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if (m_face_neighbors_lcc[i].first < m_face_neighbors_lcc[i].second) {
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lower = m_face_neighbors_lcc[i].first;
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upper = m_face_neighbors_lcc[i].second - 6;
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}
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else {
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lower = m_face_neighbors_lcc[i].second;
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upper = m_face_neighbors_lcc[i].first - 6;
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}
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// Check if the face is on a bbox face besides the top face.
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// If so and the connected volume is below the ground, redirect the face to the bottom face node.
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if ((lower < 6) && m_volume_below_ground[upper]) {
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redirected++;
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if (m_face_neighbors_lcc[i].second < 6) {
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edges[i].first = m_face_neighbors_lcc[i].first;
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edges[i].second = 0;
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}
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if (m_face_neighbors_lcc[i].first < 6) {
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m_face_neighbors_lcc[i].first = 0;
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edges[i].second = m_face_neighbors_lcc[i].second;
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}
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}
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else edges[i] = m_face_neighbors_lcc[i];
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}
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std::cout << redirected << " faces redirected to below ground" << std::endl;
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gc.solve(edges, m_face_area_lcc, m_cost_matrix, m_labels);
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reconstructed_model_polylist_lcc(pit, polyit);
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}
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@ -340,9 +376,17 @@ public:
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KSR_3::Graphcut<Kernel> gc(beta);
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// add node consideration here
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set_outside_volumes(false, m_cost_matrix);
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gc.solve(m_face_neighbors_lcc, m_face_area_lcc, m_cost_matrix, m_labels);
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std::size_t in = 0, out = 0;
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for (std::size_t i : m_labels)
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if (i == 0) out++;
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else in++;
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std::cout << "total labels: " << m_labels.size() << " 0: " << out << " 1: " << in << std::endl;
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reconstructed_model_polylist_lcc(pit, polyit);
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}
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@ -463,9 +507,19 @@ private:
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m_faces_lcc.reserve(face_range.size());
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for (auto& d : face_range) {
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m_faces_lcc.push_back(m_lcc.dart_descriptor(d));
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typename LCC::Dart_descriptor dh = m_lcc.dart_descriptor(d);
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std::size_t id = m_lcc.attribute<2>(m_faces_lcc.back());
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Face_attribute fa = m_lcc.attribute<2>(dh);
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if (fa == m_lcc.null_descriptor) {
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dh = m_lcc.beta<3>(dh);
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fa = m_lcc.attribute<2>(dh);
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}
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if (fa == m_lcc.null_descriptor) {
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std::cout << "null dart 1 " << m_lcc.template one_dart_per_incident_cell<3, 2>(dh).size() << std::endl;
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}
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m_faces_lcc.push_back(dh);
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auto p = m_attrib2index_lcc.emplace(std::make_pair(m_lcc.attribute<2>(m_faces_lcc.back()), m_faces_lcc.size() - 1));
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CGAL_assertion(p.second);
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@ -478,8 +532,8 @@ private:
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m_face_neighbors_lcc.resize(m_faces_lcc.size(), std::pair<int, int>(-1, -1));
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m_cost_matrix.resize(2);
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m_cost_matrix[0].resize(m_kinetic_partition.number_of_volumes() + 6);
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m_cost_matrix[1].resize(m_kinetic_partition.number_of_volumes() + 6);
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m_cost_matrix[0].resize(m_kinetic_partition.number_of_volumes() + 6, 0);
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m_cost_matrix[1].resize(m_kinetic_partition.number_of_volumes() + 6, 0);
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for (std::size_t i = 0; i < m_faces_lcc.size(); i++) {
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auto n = m_lcc.template one_dart_per_incident_cell<3, 2>(m_faces_lcc[i]);
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@ -489,18 +543,36 @@ private:
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auto& finf = m_lcc.info<2>(m_faces_lcc[i]);
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bool skipped = false;
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Volume_attribute va = m_lcc.attribute<3>(m_lcc.dart_descriptor(*it));
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if (va == m_lcc.null_descriptor) {
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skipped = true;
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it++;
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}
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if (it == n.end()) {
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std::cout << "face not connected to a volume" << std::endl;
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continue;
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}
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va = m_lcc.attribute<3>(m_lcc.dart_descriptor(*it));
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if (va == m_lcc.null_descriptor) {
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write_face(m_lcc.dart_descriptor(*it), "face_wo_volume.ply");
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}
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int first = m_lcc.info<3>(m_lcc.dart_descriptor(*it)).volume_id;
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auto& inf1 = m_lcc.info<3>(m_lcc.dart_descriptor(*it++));
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auto inf2 = inf1;
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if (n.size() == 2)
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if (n.size() == 2 && it != n.end())
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inf2 = m_lcc.info<3>(m_lcc.dart_descriptor(*it));
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int second;
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if (n.size() == 2)
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if (n.size() == 2 && it != n.end())
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second = m_lcc.info<3>(m_lcc.dart_descriptor(*it)).volume_id;
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if (n.size() == 2)
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if (n.size() == 2 && it != n.end())
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m_face_neighbors_lcc[i] = std::make_pair(first + 6, m_lcc.info<3>(m_lcc.dart_descriptor(*it)).volume_id + 6);
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else
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m_face_neighbors_lcc[i] = std::make_pair(first + 6, -m_lcc.info<2>(m_faces_lcc[i]).input_polygon_index - 1);
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@ -679,7 +751,7 @@ private:
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if (m_labels[n.first] != m_labels[n.second]) {
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Face_attribute fa = m_lcc.attribute<2>(m_faces_lcc[i]);
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if (fa == m_lcc.null_dart_descriptor)
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if (fa == m_lcc.null_descriptor)
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std::cout << "null dart 1" << std::endl;
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if (m_labels[m_lcc.info<3>(m_faces_lcc[i]).volume_id + 6] == 0) {
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@ -717,13 +789,47 @@ private:
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std::cout << "outside face" << std::endl;
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}
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KSP_3::dump_polygons(polygon_regions, "faces_by_region.ply");
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std::cout << "polygon regions " << polygon_regions.size() << std::endl;
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static bool saved = false;
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if (!saved) {
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KSP_3::dump_polygons(polygon_regions, "faces_by_region.ply");
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saved = true;
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}
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std::vector<std::vector<std::size_t> > borders;
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std::vector<std::vector<std::size_t> > borders_per_region;
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collect_connected_border(borders, region_index, borders_per_region);
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for (std::size_t i = 0; i < region; i++) {
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if (borders_per_region[i].size() > 0) {
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/*std::size_t outer = -1;
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typename Intersection_kernel::FT min = (std::numeric_limits<double>::max)();
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for (std::size_t j = 0; j < borders_per_region[i].size(); j++)
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for (std::size_t k = 0; k < borders[borders_per_region[i][j]].size(); k++) {
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const typename Intersection_kernel::Point_3& p = m_lcc.point(m_lcc.dart_of_attribute<0>(borders[borders_per_region[i][j]][k]));
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if (p.x() < min) {
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min = p.x();
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outer = j;
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}
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}
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for (std::size_t j = 0; j < borders_per_region[i].size(); j++) {
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std::string fn;
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if (j == outer)
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fn = std::to_string(i) + "-outer.polylines.txt";
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else
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fn = std::to_string(i) + "-" + std::to_string(j) + ".polylines.txt";
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std::ofstream vout(fn);
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vout << (borders[borders_per_region[i][j]].size() + 1);
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for (std::size_t k = 0; k < borders[borders_per_region[i][j]].size(); k++) {
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vout << " " << from_exact(m_lcc.point(m_lcc.dart_of_attribute<0>(borders[borders_per_region[i][j]][k])));
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}
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vout << " " << from_exact(m_lcc.point(m_lcc.dart_of_attribute<0>(borders[borders_per_region[i][j]][0]))) << std::endl;
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vout.close();
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}*/
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if (borders_per_region[i].size() > 1) {
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std::vector<std::vector<std::size_t> > polygons;
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polygons.reserve(borders_per_region[i].size());
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@ -745,7 +851,6 @@ private:
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if (borders[i].empty())
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continue;
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/* if (false) {*/
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std::vector<std::size_t> indices(borders[i].size());
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for (std::size_t j = 0; j != borders[i].size(); j++) {
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auto p = attrib2idx.emplace(borders[i][j], attrib2idx.size());
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@ -754,24 +859,13 @@ private:
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indices[j] = p.first->second;
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}
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*polyit++ = std::move(indices);
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/*
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}
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else {
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std::vector<std::size_t> indices(borders[i].size());
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for (std::size_t j = borders[i].size() - 1; j != std::size_t(-1); j--) {
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auto p = attrib2idx.emplace(borders[i][j], attrib2idx.size());
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if (p.second)
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*pit++ = from_exact(m_lcc.point(m_lcc.dart_of_attribute<0>(borders[i][j])));
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indices[j] = p.first->second;
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}
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if (true)
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std::reverse(indices.begin(), indices.end());
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*polyit++ = std::move(indices);
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}*/
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*polyit++ = std::move(indices);
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}
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}
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/*!
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\brief Provides the reconstructed surface as a list of indexed polygons.
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@ -918,8 +1012,7 @@ private:
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if (region_index[cur_fa] == region)
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continue;
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// if (debug)
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// write_face(cur_fdh, std::to_string(region) + "-inside-" + std::to_string(cur_fa) + ".ply");
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//write_face(cur_fdh, std::to_string(region) + "-inside-" + std::to_string(cur_fa) + ".ply");
|
||||
|
||||
region_index[cur_fa] = region;
|
||||
|
||||
|
|
@ -939,8 +1032,14 @@ private:
|
|||
do {
|
||||
Face_attribute fa = m_lcc.attribute<2>(fdh);
|
||||
|
||||
if (fa == m_lcc.null_descriptor)
|
||||
break;
|
||||
if (fa == m_lcc.null_descriptor) {
|
||||
// fdh is outside of the bbox, switching back inside to check the face on the boundary
|
||||
fdh = m_lcc.beta<3>(fdh);
|
||||
fa = m_lcc.attribute<2>(fdh);
|
||||
|
||||
if (fa == m_lcc.null_descriptor)
|
||||
break;
|
||||
}
|
||||
|
||||
auto& finfo2 = m_lcc.info<2>(fdh);
|
||||
if (fa == cur_fa) {
|
||||
|
|
@ -950,15 +1049,18 @@ private:
|
|||
auto& inf = m_lcc.info<2>(fdh);
|
||||
bool added = false;
|
||||
|
||||
// if (debug)
|
||||
// write_face(fdh, std::to_string(region) + "-" + std::to_string(fa) + ".ply");
|
||||
//write_face(fdh, std::to_string(region) + "-" + std::to_string(fa) + ".ply");
|
||||
|
||||
const auto& n = m_face_neighbors_lcc[m_attrib2index_lcc[fa]];
|
||||
|
||||
// Belongs to reconstruction?
|
||||
bool internal = m_labels[n.first] == m_labels[n.second];
|
||||
if (m_labels[n.first] == m_labels[n.second]) {
|
||||
fdh = m_lcc.beta<2, 3>(fdh);
|
||||
fdh = m_lcc.beta<2>(fdh);
|
||||
Dart_descriptor fdh2 = m_lcc.beta<3>(fdh);
|
||||
if (fdh2 != m_lcc.null_dart_descriptor)
|
||||
fdh = fdh2;
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
|
|
@ -966,7 +1068,12 @@ private:
|
|||
if (region_index[fa] != -1) {
|
||||
if (!internal)
|
||||
break;
|
||||
fdh = m_lcc.beta<2, 3>(fdh);
|
||||
|
||||
fdh = m_lcc.beta<2>(fdh);
|
||||
Dart_descriptor fdh2 = m_lcc.beta<3>(fdh);
|
||||
if (fdh2 != m_lcc.null_dart_descriptor)
|
||||
fdh = fdh2;
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
|
|
@ -1058,7 +1165,12 @@ private:
|
|||
if (!internal)
|
||||
return true;
|
||||
else {
|
||||
edh = m_lcc.beta<2, 3>(edh);
|
||||
|
||||
edh = m_lcc.beta<2>(edh);
|
||||
Dart_descriptor edh2 = m_lcc.beta<3>(edh);
|
||||
if (edh2 != m_lcc.null_dart_descriptor)
|
||||
edh = edh2;
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
|
|
@ -1067,7 +1179,11 @@ private:
|
|||
if (!internal)
|
||||
return true;
|
||||
else {
|
||||
edh = m_lcc.beta<2, 3>(edh);
|
||||
edh = m_lcc.beta<2>(edh);
|
||||
Dart_descriptor edh2 = m_lcc.beta<3>(edh);
|
||||
if (edh2 != m_lcc.null_dart_descriptor)
|
||||
edh = edh2;
|
||||
|
||||
continue;
|
||||
};
|
||||
return internal;
|
||||
|
|
@ -1282,15 +1398,12 @@ private:
|
|||
|
||||
do {
|
||||
/*
|
||||
if (debug) {
|
||||
std::ofstream vout("0-" + std::to_string(idx) + ".xyz");
|
||||
for (std::size_t p : border)
|
||||
vout << from_exact(m_lcc.point(m_lcc.dart_of_attribute<0>(p))) << std::endl;
|
||||
vout.close();
|
||||
}
|
||||
std::ofstream vout("0-" + std::to_string(idx) + ".xyz");
|
||||
for (std::size_t p : border)
|
||||
vout << from_exact(m_lcc.point(m_lcc.dart_of_attribute<0>(p))) << std::endl;
|
||||
vout.close();
|
||||
|
||||
if (debug)
|
||||
write_edge(cur, "cur.polylines.txt");*/
|
||||
write_edge(cur, "cur.polylines.txt");*/
|
||||
|
||||
if (is_border_edge(cur)) {
|
||||
CGAL_assertion(!processed[cur]);
|
||||
|
|
@ -1370,10 +1483,6 @@ private:
|
|||
auto finfo = m_lcc.info_of_attribute<2>(fa);
|
||||
const auto& n = m_face_neighbors_lcc[m_attrib2index_lcc[fa]];
|
||||
|
||||
// Do not segment bbox surface
|
||||
if (n.second < 6)
|
||||
continue;
|
||||
|
||||
// Belongs to reconstruction?
|
||||
if (m_labels[n.first] == m_labels[n.second]) {
|
||||
std::cout << "face skipped" << std::endl;
|
||||
|
|
@ -1389,6 +1498,8 @@ private:
|
|||
std::cout << "volume attribute mismatch" << std::endl;
|
||||
}
|
||||
|
||||
//write_edge(dh2, std::to_string(i) + "-starting edge");
|
||||
|
||||
if (!processed[dh2] && is_border_edge(dh2)) {
|
||||
borders_per_region[region_index[fa]].push_back(borders.size());
|
||||
|
||||
|
|
@ -1472,7 +1583,7 @@ private:
|
|||
}
|
||||
}
|
||||
|
||||
set_outside_volumes(m_cost_matrix);
|
||||
//set_outside_volumes(m_cost_matrix);
|
||||
|
||||
// Handling face generated by the octree partition. They are not associated with an input polygon.
|
||||
for (std::size_t i = 0; i < other_faces.size(); i++) {
|
||||
|
|
@ -1508,31 +1619,6 @@ private:
|
|||
|
||||
for (std::size_t i = 0; i < m_faces_lcc.size(); i++)
|
||||
m_face_area_lcc[i] = m_face_area_lcc[i] * 2.0 * m_total_inliers / total_area;
|
||||
|
||||
std::size_t redirected = 0;
|
||||
for (std::size_t i = 0; i < m_face_neighbors_lcc.size(); i++) {
|
||||
std::size_t lower, upper;
|
||||
if (m_face_neighbors_lcc[i].first < m_face_neighbors_lcc[i].second) {
|
||||
lower = m_face_neighbors_lcc[i].first;
|
||||
upper = m_face_neighbors_lcc[i].second - 6;
|
||||
}
|
||||
else {
|
||||
lower = m_face_neighbors_lcc[i].second;
|
||||
upper = m_face_neighbors_lcc[i].first - 6;
|
||||
}
|
||||
// Check if the face is on a bbox face besides the top face.
|
||||
// If so and the connected volume is below the ground, redirect the face to the bottom face node.
|
||||
if ((lower < 6) && m_volume_below_ground[upper]) {
|
||||
redirected++;
|
||||
|
||||
if (m_face_neighbors_lcc[i].second < 6)
|
||||
m_face_neighbors_lcc[i].second = 0;
|
||||
|
||||
if (m_face_neighbors_lcc[i].first < 6)
|
||||
m_face_neighbors_lcc[i].first = 0;
|
||||
}
|
||||
}
|
||||
std::cout << redirected << " faces redirected to below ground" << std::endl;
|
||||
}
|
||||
|
||||
void count_volume_votes_lcc() {
|
||||
|
|
@ -1557,7 +1643,7 @@ private:
|
|||
std::size_t idx = 0;
|
||||
|
||||
for (std::size_t i = 0; i < m_faces_lcc.size(); i++) {
|
||||
std::size_t v[] = { -1, -1 };
|
||||
std::size_t v[] = { std::size_t(-1), std::size_t(-1) };
|
||||
Point_3 c[2];
|
||||
std::size_t in[] = {0, 0}, out[] = {0, 0};
|
||||
|
||||
|
|
@ -1739,7 +1825,7 @@ private:
|
|||
}
|
||||
|
||||
// Estimate ground plane by finding a low mostly horizontal plane
|
||||
if (estimate_ground) {
|
||||
{
|
||||
std::vector<std::size_t> candidates;
|
||||
FT low_z_peak = (std::numeric_limits<FT>::max)();
|
||||
FT bbox_min[] = { (std::numeric_limits<FT>::max)(), (std::numeric_limits<FT>::max)(), (std::numeric_limits<FT>::max)() };
|
||||
|
|
@ -1937,7 +2023,7 @@ private:
|
|||
}
|
||||
*/
|
||||
|
||||
void set_outside_volumes(std::vector<std::vector<double> >& cost_matrix) const {
|
||||
void set_outside_volumes(bool ground, std::vector<std::vector<double> >& cost_matrix) const {
|
||||
// Setting preferred outside label for bbox plane nodes
|
||||
// Order:
|
||||
// 0 zmin
|
||||
|
|
@ -1955,14 +2041,14 @@ private:
|
|||
cost_matrix[0][4] = 0;
|
||||
cost_matrix[0][5] = 0;
|
||||
// 1 - cost for labelled as inside
|
||||
cost_matrix[1][0] = force;
|
||||
cost_matrix[1][1] = force;
|
||||
cost_matrix[1][2] = force;
|
||||
cost_matrix[1][3] = force;
|
||||
cost_matrix[1][4] = force;
|
||||
cost_matrix[1][5] = force;
|
||||
cost_matrix[1][0] = 0;
|
||||
cost_matrix[1][1] = 0;
|
||||
cost_matrix[1][2] = 0;
|
||||
cost_matrix[1][3] = 0;
|
||||
cost_matrix[1][4] = 0;
|
||||
cost_matrix[1][5] = 0;
|
||||
|
||||
if (m_ground_polygon_index != -1) {
|
||||
if (m_ground_polygon_index != -1 && ground) {
|
||||
std::cout << "using estimated ground plane for reconstruction" << std::endl;
|
||||
cost_matrix[0][0] = force;
|
||||
cost_matrix[0][1] = 0;
|
||||
|
|
|
|||
Loading…
Reference in New Issue