Exemplo n.º 1
0
	private List<DBSCANCluster> AngularSegmentation(DBSCAN dbscan, Scan360 scan, float eps, int minPoints)
	{
		scan.EstimateLocalAngle();

		List<DBSCANCluster> clusters=dbscan.Cluster(scan.readings, eps, minPoints, new AngleComparer(), new AngleCircularMetric());

		foreach (DBSCANCluster c in clusters)
			foreach (ScanPoint dp in c)
				dp.ParallelCluster = c.Id;

		return clusters;
	}
Exemplo n.º 2
0
	public void PutScanThreadSafe(Vector3[] readings, bool[] invalid_data)
	{
		//to consider - circular buffer of scans and swap buffers instead of copy
		//copy is ok for now

		Scan360 scan = new Scan360(readings, invalid_data);

		lock(waitingScansLock)
		{
			waitingScans.Enqueue(scan);
		}

		scanWaitEvent.Set();
	}
Exemplo n.º 3
0
	public void FromScan360(Scan360 scan, LaserFeaturesSegmentationLevel level, Color[] featureColors, long elapsedMs)
	{
		for (int i = 0; i < scan.readings.Count; ++i)
		{
			points[i] = scan.readings[i].Point;
			if (level == LaserFeaturesSegmentationLevel.Angle)
				colors[i] = GetColor(scan.readings[i].ParallelCluster, featureColors);
			else
				colors[i] =  GetColor(scan.readings[i].DistanceCluster, featureColors);
		}
		for (int i = scan.readings.Count; i < 360; ++i)
		{
			points[i] = scan.readings[0].Point;
			colors[i] = Color.clear;
		}
		this.elapsedMs = elapsedMs;
	}
Exemplo n.º 4
0
	private bool ProcessScan(DBSCAN dbscan, Scan360 scan, LaserFeaturesThreadData result)
	{
		if (scan.readings.Count < 3)
			return false;

		System.Diagnostics.Stopwatch stopwatch = System.Diagnostics.Stopwatch.StartNew();

		for (int i = 0; i < scan.readings.Count; ++i)
			scan.readings[i].ParallelCluster = scan.readings[i].DistanceCluster = 0;

		List<DBSCANCluster> parallelClusters = AngularSegmentation(dbscan, scan, segmentation.angularEpsDeg * Constants.DEG2RAD, segmentation.angularPoints);
		List<DBSCANCluster> distanceClusters = new List<DBSCANCluster>();

		int lastClusterId = 0;

		foreach (DBSCANCluster c in parallelClusters)
			distanceClusters.AddRange(DistanceSegmentation(dbscan, c, ref lastClusterId, segmentation.distanceEpsCm/100.0f, segmentation.distancePoints));

		stopwatch.Stop();

		result.FromScan360(scan, plot.level, plot.colors, stopwatch.ElapsedMilliseconds);

		return true;
	}