1 /******************************************************************************
2 * Copyright (c) 2016, Bradley J. Chambers (brad.chambers@gmail.com)
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34
35 #include <pdal/Dimension.hpp>
36 #include <pdal/KDIndex.hpp>
37 #include <pdal/pdal_test_main.hpp>
38 #include <pdal/PointTable.hpp>
39 #include <pdal/PointView.hpp>
40
41 #include <filters/private/Segmentation.hpp>
42
43 #include <vector>
44
45 using namespace pdal;
46
TEST(SegmentationTest,BasicClustering)47 TEST(SegmentationTest, BasicClustering)
48 {
49 using namespace Segmentation;
50
51 std::deque<PointIdList> clusters;
52
53 PointTable table;
54 PointLayoutPtr layout(table.layout());
55
56 layout->registerDim(Dimension::Id::X);
57 layout->registerDim(Dimension::Id::Y);
58 layout->registerDim(Dimension::Id::Z);
59
60 PointViewPtr src(new PointView(table));
61
62 // Single point, single cluster
63 src->setField(Dimension::Id::X, 0, 0.0);
64 src->setField(Dimension::Id::Y, 0, 0.0);
65 src->setField(Dimension::Id::Z, 0, 0.0);
66 clusters = extractClusters<KD3Index>(*src, 1, 10, 1.0);
67 EXPECT_EQ(1u, clusters.size());
68 EXPECT_EQ(1u, clusters[0].size());
69
70 // Two separate clusters, both with single point
71 src->setField(Dimension::Id::X, 1, 10.0);
72 src->setField(Dimension::Id::Y, 1, 10.0);
73 src->setField(Dimension::Id::Z, 1, 10.0);
74 clusters = extractClusters<KD3Index>(*src, 1, 10, 1.0);
75 EXPECT_EQ(2u, clusters.size());
76 EXPECT_EQ(1u, clusters[0].size());
77 EXPECT_EQ(1u, clusters[1].size());
78
79 // Still two clusters, one with two points
80 src->setField(Dimension::Id::X, 2, 0.5);
81 src->setField(Dimension::Id::Y, 2, 0.5);
82 src->setField(Dimension::Id::Z, 2, 0.5);
83 clusters = extractClusters<KD3Index>(*src, 1, 10, 1.0);
84 EXPECT_EQ(2u, clusters.size());
85 EXPECT_EQ(2u, clusters[0].size());
86 EXPECT_EQ(1u, clusters[1].size());
87
88 // Reject the cluster with only one point
89 clusters = extractClusters<KD3Index>(*src, 2, 10, 1.0);
90 EXPECT_EQ(1u, clusters.size());
91 EXPECT_EQ(2u, clusters[0].size());
92
93 // Reject the cluster with two points
94 clusters = extractClusters<KD3Index>(*src, 1, 1, 1.0);
95 EXPECT_EQ(1u, clusters.size());
96 EXPECT_EQ(1u, clusters[0].size());
97 }
98
TEST(SegmentationTest,Clustering2D)99 TEST(SegmentationTest, Clustering2D)
100 {
101 using namespace Segmentation;
102
103 std::deque<PointIdList> clusters;
104
105 PointTable table;
106 PointLayoutPtr layout(table.layout());
107
108 layout->registerDim(Dimension::Id::X);
109 layout->registerDim(Dimension::Id::Y);
110 layout->registerDim(Dimension::Id::Z);
111
112 PointViewPtr src(new PointView(table));
113
114 // Single point, single cluster
115 src->setField(Dimension::Id::X, 0, 0.0);
116 src->setField(Dimension::Id::Y, 0, 0.0);
117 src->setField(Dimension::Id::Z, 0, 0.0);
118 clusters = extractClusters<KD2Index>(*src, 1, 10, 1.0);
119 EXPECT_EQ(1u, clusters.size());
120 EXPECT_EQ(1u, clusters[0].size());
121
122 // Two separate clusters, both with single point
123 src->setField(Dimension::Id::X, 1, 10.0);
124 src->setField(Dimension::Id::Y, 1, 10.0);
125 src->setField(Dimension::Id::Z, 1, 10.0);
126 clusters = extractClusters<KD2Index>(*src, 1, 10, 1.0);
127 EXPECT_EQ(2u, clusters.size());
128 EXPECT_EQ(1u, clusters[0].size());
129 EXPECT_EQ(1u, clusters[1].size());
130
131 // Still two clusters, one with two points
132 src->setField(Dimension::Id::X, 2, 0.0);
133 src->setField(Dimension::Id::Y, 2, 0.0);
134 src->setField(Dimension::Id::Z, 2, 10.0);
135 clusters = extractClusters<KD2Index>(*src, 1, 10, 1.0);
136 EXPECT_EQ(2u, clusters.size());
137 EXPECT_EQ(2u, clusters[0].size());
138 EXPECT_EQ(1u, clusters[1].size());
139
140 // In 3D, should be three clusters
141 clusters = extractClusters<KD3Index>(*src, 1, 10, 1.0);
142 EXPECT_EQ(3u, clusters.size());
143 EXPECT_EQ(1u, clusters[0].size());
144 EXPECT_EQ(1u, clusters[1].size());
145 EXPECT_EQ(1u, clusters[2].size());
146
147 // Reject the cluster with only one point
148 clusters = extractClusters<KD2Index>(*src, 2, 10, 1.0);
149 EXPECT_EQ(1u, clusters.size());
150 EXPECT_EQ(2u, clusters[0].size());
151
152 // Reject the cluster with two points
153 clusters = extractClusters<KD2Index>(*src, 1, 1, 1.0);
154 EXPECT_EQ(1u, clusters.size());
155 EXPECT_EQ(1u, clusters[0].size());
156 }
157
TEST(SegmentationTest,SegmentReturns)158 TEST(SegmentationTest, SegmentReturns)
159 {
160 using namespace Segmentation;
161
162 PointTable table;
163 PointLayoutPtr layout(table.layout());
164
165 layout->registerDim(Dimension::Id::X);
166 layout->registerDim(Dimension::Id::Y);
167 layout->registerDim(Dimension::Id::Z);
168 layout->registerDim(Dimension::Id::NumberOfReturns);
169 layout->registerDim(Dimension::Id::ReturnNumber);
170
171 PointViewPtr src(new PointView(table));
172
173 src->setField(Dimension::Id::X, 0, 10.0);
174 src->setField(Dimension::Id::Y, 0, 10.0);
175 src->setField(Dimension::Id::Z, 0, 10.0);
176 src->setField(Dimension::Id::NumberOfReturns, 0, 1);
177 src->setField(Dimension::Id::ReturnNumber, 0, 1);
178
179 PointViewPtr first, second;
180
181 StringList returns;
182 first = src->makeNew();
183 second = src->makeNew();
184 segmentReturns(src, first, second, returns);
185 EXPECT_EQ(1u, src->size());
186 EXPECT_EQ(1u, first->size());
187 EXPECT_EQ(0u, second->size());
188
189 returns = {"last", "only"};
190 first = src->makeNew();
191 second = src->makeNew();
192 segmentReturns(src, first, second, returns);
193 EXPECT_EQ(1u, src->size());
194 EXPECT_EQ(1u, first->size());
195 EXPECT_EQ(0u, second->size());
196
197 src->setField(Dimension::Id::X, 1, 10.0);
198 src->setField(Dimension::Id::Y, 1, 10.0);
199 src->setField(Dimension::Id::Z, 1, 10.0);
200 src->setField(Dimension::Id::NumberOfReturns, 1, 2);
201 src->setField(Dimension::Id::ReturnNumber, 1, 1);
202
203 returns = {"last", "only"};
204 first = src->makeNew();
205 second = src->makeNew();
206 segmentReturns(src, first, second, returns);
207 EXPECT_EQ(2u, src->size());
208 EXPECT_EQ(1u, first->size());
209 EXPECT_EQ(1u, second->size());
210
211 src->setField(Dimension::Id::X, 2, 10.0);
212 src->setField(Dimension::Id::Y, 2, 10.0);
213 src->setField(Dimension::Id::Z, 2, 10.0);
214 src->setField(Dimension::Id::NumberOfReturns, 2, 0);
215 src->setField(Dimension::Id::ReturnNumber, 2, 0);
216
217 returns = {"last", "only"};
218 first = src->makeNew();
219 second = src->makeNew();
220 segmentReturns(src, first, second, returns);
221 EXPECT_EQ(3u, src->size());
222 EXPECT_EQ(1u, first->size());
223 EXPECT_EQ(2u, second->size());
224
225 src->setField(Dimension::Id::X, 3, 10.0);
226 src->setField(Dimension::Id::Y, 3, 10.0);
227 src->setField(Dimension::Id::Z, 3, 10.0);
228 src->setField(Dimension::Id::NumberOfReturns, 3, 3);
229 src->setField(Dimension::Id::ReturnNumber, 3, 2);
230
231 returns = {"intermediate", "last", "only"};
232 first = src->makeNew();
233 second = src->makeNew();
234 segmentReturns(src, first, second, returns);
235 EXPECT_EQ(4u, src->size());
236 EXPECT_EQ(2u, first->size());
237 EXPECT_EQ(2u, second->size());
238
239 returns = {"first", "intermediate", "last", "only"};
240 first = src->makeNew();
241 second = src->makeNew();
242 segmentReturns(src, first, second, returns);
243 EXPECT_EQ(4u, src->size());
244 EXPECT_EQ(3u, first->size());
245 EXPECT_EQ(1u, second->size());
246 }
247