[ADD #309] Added Simplistic Building detection feature.

Some simplistic algorithms are done in order to group buildings. Evaluation:
  + Important data structures as Octree and Quadtree are implemented with important functions
  + Grouping neighbor voxels runs even if still not 26-neighborship (few steps required)
     + Algorithm can easily be transferred to the quadtree set.
  + First new plugin for cutting of outlier points using the algorithm that calculates
    figuring out cube connectivity. Other points are cut off that don't belong to the
    largest voxel group
  - Possibly vaporized effort
      - The algorithm that takes relative elevation minimums has problems detecting low buildings.
          - Probably the algorithm won't be taken
          + The great deal of the code amount used for it can be very useful for the final code.
      + It's easy to differ trees from buildings
          - Not thought to the end to differ trees that are very close to buildings

LiDARToolbox/VERSION

@@ -15,4 +15,4 @@
 #VERSION=1.2.0
 #VERSION=1.2.0+hgX  -> replaces the X with the current revision number
 #VERSUIB=1.2.0+hg1234 -> here, revision number was set by the build scripts for example.
-VERSION=0.0.1+hgX
+VERSION=0.0.2+hgX

LiDARToolbox/src/WToolkit.cpp

@@ -31,6 +31,7 @@
 #include <core/kernel/WModule.h>
 
 #include "buildingsDetection/WMBuildingsDetection.h"
+#include "pointsCutOutliers/WMPointsCutOutliers.h"
 #include "readLAS/WMReadLAS.h"
 
 // #include "WToolkit.h"
@@ -48,6 +49,7 @@
 extern "C" void WLoadModule( WModuleList& m ) // NOLINT
 {
     m.push_back( boost::shared_ptr< WModule >( new WMBuildingsDetection ) );
+    m.push_back( boost::shared_ptr< WModule >( new WMPointsCutOutliers ) );
     m.push_back( boost::shared_ptr< WModule >( new WMReadLAS ) );
 }
 

LiDARToolbox/src/buildingsDetection/WBuildingDetector.cpp

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2013 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+#include <iostream>
+
+#include "WBuildingDetector.h"
+
+WBuildingDetector::WBuildingDetector()
+{
+    m_detailDepth = 0.5;
+    m_minSearchDetailDepth = 8.0;
+    m_minSearchCutUntilAbove = 4.0;
+
+    m_detailDepthBigHeights = 32.0;
+    m_minSearchCutUntilAboveBigHeights = 20.0;
+}
+
+WBuildingDetector::~WBuildingDetector()
+{
+}
+
+void WBuildingDetector::detectBuildings( boost::shared_ptr< WDataSetPoints > points )
+{
+    WDataSetPoints::VertexArray verts = points->getVertices();
+    size_t count = verts->size()/3;
+    WOctree* zones3d = new WOctree( m_detailDepth );
+    WQuadTree* zones2d = new WQuadTree( m_detailDepth );
+    WQuadTree* minimalMaxima = new WQuadTree( m_minSearchDetailDepth );
+    WQuadTree* targetShowables = new WQuadTree( m_detailDepth );
+    m_targetGrouped3d = new WOctree( m_detailDepth );
+    for( size_t vertex = 0; vertex < count; vertex++ )
+    {
+        float x = verts->at( vertex*3 );
+        float y = verts->at( vertex*3+1 );
+        float z = verts->at( vertex*3+2 );
+        zones3d->registerPoint( x, y, z );
+        zones2d->registerPoint( x, y, z );
+    }
+    initMinimalMaxima( zones2d->getRootNode(), minimalMaxima );
+    projectDrawableAreas( zones2d->getRootNode(), minimalMaxima, targetShowables );
+
+    fetchBuildingVoxels( zones3d->getRootNode(), targetShowables, m_targetGrouped3d );
+    m_targetGrouped3d->groupNeighbourLeafs();
+
+    //targetShowables->setExportElevationImageSettings( -16.0, 8.0 );
+    //targetShowables->exportElevationImage( "/home/renegade/Dokumente/Projekte/OpenWalnut@Eclipse/elevation images/targetShowables.bmp", 1 );
+}
+void WBuildingDetector::setDetectionParams( int detailDepth, int minSearchDetailDepth,
+        double minSearchCutUntilAbove )
+{
+    m_detailDepth = pow( 2.0, detailDepth );
+    m_minSearchDetailDepth = pow( 2.0, minSearchDetailDepth );
+    m_minSearchCutUntilAbove = minSearchCutUntilAbove;
+}
+WOctree* WBuildingDetector::getBuildingGroups()
+{
+    return m_targetGrouped3d;
+}
+void WBuildingDetector::initMinimalMaxima( WQuadNode* sourceNode, WQuadTree* targetTree )
+{
+    if  ( sourceNode->getRadius() <= m_detailDepth )
+    {
+        double coordX = sourceNode->getCenter( 0 );
+        double coordY = sourceNode->getCenter( 1 );
+        double d = m_minSearchDetailDepth / 2.0;
+        double height = sourceNode->getElevationMax();
+        targetTree->registerPoint( coordX - d, coordY - d, height );
+        targetTree->registerPoint( coordX - d, coordY + d, height );
+        targetTree->registerPoint( coordX + d, coordY - d, height );
+        targetTree->registerPoint( coordX + d, coordY + d, height );
+    }
+    else
+    {
+        for( int child = 0; child < 4; child++ )
+            if( sourceNode->getChild( child ) != 0 )
+                initMinimalMaxima( sourceNode->getChild( child ), targetTree );
+    }
+}
+void WBuildingDetector::projectDrawableAreas( WQuadNode* sourceNode,
+        WQuadTree* minimalMaxima, WQuadTree* targetTree )
+{
+    if( sourceNode->getRadius() <= m_detailDepth )
+    {
+        double coordX = sourceNode->getCenter( 0 );
+        double coordY = sourceNode->getCenter( 1 );
+        WQuadNode* minimalNode = minimalMaxima->getLeafNode( coordX, coordY );
+        WQuadNode* minimalNodeBigHeight = minimalMaxima->getLeafNode( coordX, coordY,
+                m_minSearchCutUntilAboveBigHeights );
+        if( minimalNode == 0 || minimalNodeBigHeight == 0 ) return;
+        double minimalHeight = m_minSearchCutUntilAbove + minimalNode->getElevationMin();
+        double minimalHeightBigHeights = m_minSearchCutUntilAbove + minimalNodeBigHeight->getElevationMin();
+        if( sourceNode->getElevationMax() < minimalHeight
+            && sourceNode->getElevationMax() < minimalHeightBigHeights ) return;
+        targetTree->registerPoint( coordX, coordY, sourceNode->getElevationMax() );
+    }
+    else
+    {
+        for( int child = 0; child < 4; child++ )
+            if( sourceNode->getChild( child ) != 0 )
+                    projectDrawableAreas( sourceNode->getChild( child ), minimalMaxima, targetTree );
+    }
+}
+
+void WBuildingDetector::fetchBuildingVoxels( WOctNode* sourceNode, WQuadTree* buildingPixels,
+        WOctree* targetTree )
+{
+    if( sourceNode->getRadius() <= m_detailDepth )
+    {
+        double coordX = sourceNode->getCenter( 0 );
+        double coordY = sourceNode->getCenter( 1 );
+        double coordZ = sourceNode->getCenter( 2 );
+        WQuadNode* buildingArea = buildingPixels->getLeafNode( coordX, coordY );
+        if( buildingArea != 0 )
+            targetTree->registerPoint( coordX, coordY, coordZ );
+    }
+    else
+    {
+        for( int child = 0; child < 8; child++ )
+            if( sourceNode->getChild( child ) != 0 )
+                    fetchBuildingVoxels( sourceNode->getChild( child ), buildingPixels, targetTree );
+    }
+}

LiDARToolbox/src/buildingsDetection/WBuildingDetector.h

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2013 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+#ifndef WBUILDINGDETECTOR_H
+#define WBUILDINGDETECTOR_H
+
+#include <vector>
+#include "core/graphicsEngine/WTriangleMesh.h"
+#include "core/dataHandler/WDataSetPoints.h"
+#include "structure/WOctNode.h"
+#include "structure/WQuadNode.h"
+#include "structure/WQuadTree.h"
+#include "structure/WOctree.h"
+
+/**
+ * Class that detects buildings using the WDataSetPoints
+ */
+class WBuildingDetector
+{
+public:
+    /**
+     * Constructor of the building detector instance.
+     */
+    explicit WBuildingDetector();
+    /**
+     * Destructor of the building detector instance.
+     */
+    virtual ~WBuildingDetector();
+    /**
+     * Starts the routine detecting buildings using the point data.
+     * Don't forget to execute initMinimalMaxima() before using that method.
+     * After executing you can extract the building number from each node 
+     * using the method getBuildingGroups().
+     * \param points Point data to extract buildings from
+     */
+    void detectBuildings( boost::shared_ptr< WDataSetPoints > points );
+    /**
+     * Sets setting params for building recognition
+     * \param m_detailDepth data grid resolution of cube group data. The number must
+     *                      be an element of 2^n. n can be smaller than 0.
+     * \param minSearchDetailDepth The area width to search a corresponding minimum.
+     *                             This number must be an element of 2^n. n can be 
+     *                             smaller than 0. Finally this parameter determines the 
+     *                             search area of the relative minimum.
+     * \param minSearchCutUntilAbove The minimal height above the relative minimal 
+     *                               height in order to recognize as a building.
+     */
+    void setDetectionParams( int m_detailDepth, int minSearchDetailDepth,
+            double minSearchCutUntilAbove );
+    /**
+     * Returns the 3D node tree. Each node has a group ID number. Many nodes can pe 
+     * pointed by an equal parameter to a single building area.
+     * \return The octree of existing buildings. Buildings are grouped by an equal
+     *         group number parameter of WOctNode.
+     */
+    WOctree* getBuildingGroups();
+
+private:
+    /**
+     * Inits the image of minimals which is used to determine a relative minimum of 
+     * a X/Y coordinate.
+     * \param sourceNode Input image with fine-grain maximal geights to calculate a 
+     *                   better image of relative minimums. It removes outliers below 
+     *                   the ground.
+     * \param targetTree The grifty image to calculate relative minimums.
+     */
+    void initMinimalMaxima( WQuadNode* sourceNode, WQuadTree* targetTree );
+    /**
+     * Calculates 2D-areas which cover buildings.
+     * \param sourceImage Input image, maximal points.
+     * \param minimalMaxima Image of relative minimums calculated by initMinimalMaxima();
+     * \param targetTree Output image containing elevation data. Areas covering no 
+     *                   buildings should contain no data.
+     */
+    void projectDrawableAreas( WQuadNode* sourceImage, WQuadTree* minimalMaxima,
+            WQuadTree* targetTree );
+    /**
+     * This is one of the last steps. It sorts out voxels that belong to buildings.
+     * \param sourceNode Source octree contatining data that represent to contain any 
+     *                   point data altogether.
+     * \param buildingPixels Image that depicts areas covered by buildings in order to map 
+     *                       the source 3D cubes on them.
+     * \param targetTree Not grouped voxels that represent building point areas.
+     */
+    void fetchBuildingVoxels( WOctNode* sourceNode, WQuadTree* buildingPixels,
+        WOctree* targetTree );
+
+    /**
+     * Resolution of input/output data in meters. Use only numbers depictable by 2^n 
+     * where n can also be 0 or below.
+     */
+    double m_detailDepth;
+    /**
+     * Resolution of the relative minimum search image. Use only numbers depictable by 2^n 
+     * where n can also be 0 or below. The bigger the pixels the greater are the areas 
+     * searched from an examined X/Y area.
+     */
+    double m_minSearchDetailDepth;
+    /**
+     * Height that must exceed above an relative minimum to recognize it as a building pixel.
+     */
+    double m_minSearchCutUntilAbove;
+    /**
+     * The same as m_minSearchDetailDepth. But it's used to still be able tu use smaller
+     * areas not having big proglems with larger buildings.
+     */
+    double m_detailDepthBigHeights;
+    /**
+     * The corresponding height setting for m_detailDepthBigHeights.
+     */
+    double m_minSearchCutUntilAboveBigHeights;
+
+    /**
+     * The Octree that depicts the set of all buildings. Each node represents a cube 
+     * within X/Y/Z. Every cube has a group id which corresponds to a building number. 
+     * This field is calculated by detectBuildings().
+     */
+    WOctree* m_targetGrouped3d;
+};
+
+#endif  // WBUILDINGDETECTOR_H

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.cpp

@@ -41,10 +41,11 @@
 #include "core/kernel/WModuleInputData.h"
 #include "WMBuildingsDetection.xpm"
 #include "WMBuildingsDetection.h"
+#include "WBuildingDetector.h"
 #include "structure/WOctree.h"
 
 // This line is needed by the module loader to actually find your module.
-W_LOADABLE_MODULE( WMBuildingsDetection )
+//W_LOADABLE_MODULE( WMBuildingsDetection )
 //TODO(aschwarzkopf): Reenable above after solving the toolbox problem
 
 WMBuildingsDetection::WMBuildingsDetection():
@@ -102,37 +103,57 @@ void WMBuildingsDetection::properties()
 
 
     // ---> Put the code for your properties here. See "src/modules/template/" for an extensively documented example.
+
+    m_reloadData = m_properties->addProperty( "Reload data:",  "Execute", WPVBaseTypes::PV_TRIGGER_READY, m_propCondition );
     m_stubSize = m_properties->addProperty( "Stub size: ",
-                            "Size of tetraeders that are used to depict points.", 0.6, m_propCondition );
+                            "Size of tetraeders that are used to depict points.", 0.6 );
     m_stubSize->setMin( 0.0 );
     m_stubSize->setMax( 3.0 );
     m_contrast = m_properties->addProperty( "Contrast: ",
-                            "Color intensity multiplier.", 2.0, m_propCondition );
+                            "Color intensity multiplier.", 2.0 );
     m_detailDepth = m_properties->addProperty( "Detail Depth 2^n m: ", "Resulting 2^n meters detail "
-                            "depth for the octree search tree.", 0, m_propCondition );
+                            "depth for the octree search tree.", 0 );
     m_detailDepth->setMin( -3 );
     m_detailDepth->setMax( 4 );
     m_detailDepthLabel = m_properties->addProperty( "Detail Depth meters: ", "Resulting detail depth "
-                            "in meters for the octree search tree.", 1.0, m_propCondition  );
+                            "in meters for the octree search tree.", 1.0  );
     m_detailDepthLabel->setPurpose( PV_PURPOSE_INFORMATION );
     m_showTrianglesInsteadOfOctreeCubes = m_properties->addProperty( "Triangles instead of cubes: ",
                             "Depicting the input data set points showing the point outline "
                             "instead of regions depicted as cubes that cover existing points. "
                             "Enabling this option you must have 32GB RAM depicting a 400MB"
-                            "las file.", false, m_propCondition );
+                            "las file.", false );
+
+    m_minSearchDetailDepth = m_properties->addProperty( "Detail Depth min. search: ", "//TODO", 3 );
+    m_minSearchDetailDepth->setMin( 2 );
+    m_minSearchDetailDepth->setMax( 6 );
+    m_minSearchCutUntilAbove = m_properties->addProperty( "Cut until above min: ", "//TODO", 4.0 );
+    m_minSearchCutUntilAbove->setMin( 2.0 );
+    m_minSearchCutUntilAbove->setMax( 20.0 );
+    m_selectedShowableBuilding = m_properties->addProperty( "Showable building idx: ",
+            "Index of the showable building. 0 is the entire dataset. 1 means all "
+            "buildings without the ground. Other numbers are all each other buildings in "
+            "one single piece", 1 );
+    m_selectedShowableBuilding->setMin( 0 );
+    m_selectedShowableBuilding->setMax( 1 );
+
 
     boost::shared_ptr< WItemSelection > imageModes( boost::shared_ptr< WItemSelection >( new WItemSelection() ) );
     imageModes->addItem( "Minimals", "Minimal elevation values." );
     imageModes->addItem( "Maximals", "Maximal elevation values." );
     imageModes->addItem( "Point count", "Store point count to each pixel." );
-    m_elevImageMode = m_properties->addProperty( "Color mode", "Choose one of the available colorings.", imageModes->getSelectorFirst(),
-                                             m_propCondition );
+    m_elevImageMode = m_properties->addProperty( "Color mode", "Choose one of the available colorings.", imageModes->getSelectorFirst() );
     WPropertyHelper::PC_SELECTONLYONE::addTo( m_elevImageMode );
+    m_minElevImageZ = m_properties->addProperty( "Min. Z value: ",
+                    "Minimal Z value where image intensities begin to rise. Always watch in the "
+                    "info the minimal Z value and enter a similar value.", 0.0 );
+    m_intensityIncreasesPerMeter = m_properties->addProperty( "Increases per meter: ",
+                    "The bitmap has a range of possible color intensities. This field determines "
+                    "how many increases per meter are done.", 10.0 );
     m_elevationImageExportablePath = m_properties->addProperty( "Elev. image:",
                             "Target file path of the exportable elevation image *.bmp file",
                             WPathHelper::getAppPath() );
-    m_exportTriggerProp = m_properties->addProperty( "Do read",  "Press!", WPVBaseTypes::PV_TRIGGER_READY, m_propCondition );
-
+    m_exportTriggerProp = m_properties->addProperty( "Write: ",  "Export elevation image", WPVBaseTypes::PV_TRIGGER_READY, m_propCondition );
 
 
     WModule::properties();
@@ -165,51 +186,71 @@ void WMBuildingsDetection::moduleMain()
 
         boost::shared_ptr< WDataSetPoints > points = m_input->getData();
         std::cout << "Execute cycle\r\n";
-        WItemSelector elevImageModeSelector = m_elevImageMode->get( true );
+        WItemSelector elevImageModeSelector = m_elevImageMode->get();
         if  ( points )
         {
-            m_tree = new WOctree( m_detailDepthLabel->get( true ) );
-            m_elevationImage = new WQuadTree( m_detailDepthLabel->get( true ) );
             WDataSetPoints::VertexArray verts = points->getVertices();
             WDataSetPoints::ColorArray colors = points->getColors();
             size_t count = verts->size()/3;
+            setProgressSettings( count );
+
+            WBuildingDetector detector = WBuildingDetector();
+            detector.setDetectionParams( m_detailDepth->get(), m_minSearchDetailDepth->get(),
+                    m_minSearchCutUntilAbove->get() );
+            detector.detectBuildings( points );
+            WOctree* buildingGroups = detector.getBuildingGroups();
+            size_t groupCount = buildingGroups->getGroupCount();
+            m_selectedShowableBuilding->setMax( groupCount + 1 );
+            size_t selectedGroup = m_selectedShowableBuilding->get();
+
+            m_detailDepthLabel->set( pow( 2.0, m_detailDepth->get() ) );
+            m_tree = new WOctree( m_detailDepthLabel->get() );
+            m_elevationImage = new WQuadTree( m_detailDepthLabel->get() );
+            m_elevationImage->setExportElevationImageSettings(
+                    m_minElevImageZ->get( true ), m_intensityIncreasesPerMeter->get() );
 
             boost::shared_ptr< WTriangleMesh > tmpMesh( new WTriangleMesh( 0, 0 ) );
             float a = m_stubSize->get();
             float contrast = m_contrast->get();
-            setProgressSettings( count );
             for  ( size_t vertex = 0; vertex < count; vertex++)
             {
                 float x = verts->at( vertex*3 );
                 float y = verts->at( vertex*3+1 );
                 float z = verts->at( vertex*3+2 );
-                if  ( m_showTrianglesInsteadOfOctreeCubes->get( true ) )
+
+                WOctNode* buildingVoxel = buildingGroups->getLeafNode( x, y, z );
+                if( selectedGroup == 0 || ( buildingVoxel != 0 && (
+                    selectedGroup == 1 || selectedGroup == buildingVoxel->getGroupNr() + 2 ) ) )
                 {
-                    float r = colors->at( vertex*3 );
-                    float g = colors->at( vertex*3+1 );
-                    float b = colors->at( vertex*3+2 );
-                    osg::Vec4f* color = new osg::Vec4f(
-                            r/400.0f*contrast, g/400.0f*contrast, b/400.0f*contrast, 1.0f );
-                    tmpMesh->addVertex( 0+x, 0+y, 0+z );
-                    tmpMesh->addVertex( a+x, 0+y, 0+z );
-                    tmpMesh->addVertex( 0+x, a+y, 0+z );
-                    tmpMesh->addVertex( 0+x, 0+y, a+z );
-                    size_t body = vertex*4;
-                    tmpMesh->addTriangle( 0+body, 2+body, 1+body );
-                    tmpMesh->addTriangle( 0+body, 1+body, 3+body );
-                    tmpMesh->addTriangle( 0+body, 3+body, 2+body );
-                    tmpMesh->addTriangle( 1+body, 2+body, 3+body );
-                    tmpMesh->setVertexColor( body, *color );
-                    tmpMesh->setVertexColor( body+1, *color );
-                    tmpMesh->setVertexColor( body+2, *color );
-                    tmpMesh->setVertexColor( body+3, *color );
+                    if( m_showTrianglesInsteadOfOctreeCubes->get() )
+                    {
+                        float r = colors->at( vertex*3 );
+                        float g = colors->at( vertex*3+1 );
+                        float b = colors->at( vertex*3+2 );
+                        osg::Vec4f* color = new osg::Vec4f(
+                                r/400.0f*contrast, g/400.0f*contrast, b/400.0f*contrast, 1.0f );
+                        tmpMesh->addVertex( 0+x, 0+y, 0+z );
+                        tmpMesh->addVertex( a+x, 0+y, 0+z );
+                        tmpMesh->addVertex( 0+x, a+y, 0+z );
+                        tmpMesh->addVertex( 0+x, 0+y, a+z );
+                        size_t body = vertex*4;
+                        tmpMesh->addTriangle( 0+body, 2+body, 1+body );
+                        tmpMesh->addTriangle( 0+body, 1+body, 3+body );
+                        tmpMesh->addTriangle( 0+body, 3+body, 2+body );
+                        tmpMesh->addTriangle( 1+body, 2+body, 3+body );
+                        tmpMesh->setVertexColor( body, *color );
+                        tmpMesh->setVertexColor( body+1, *color );
+                        tmpMesh->setVertexColor( body+2, *color );
+                        tmpMesh->setVertexColor( body+3, *color );
+                    }
+                    m_progressStatus->increment( 1 );
+                    m_tree->registerPoint( x, y, z );
+                    m_elevationImage->registerPoint( x, y, z );
                 }
-                m_progressStatus->increment( 1 );
-                m_tree->registerPoint( x, y, z );
-                m_elevationImage->registerPoint( x, y, z );
             }
+            m_tree->groupNeighbourLeafs();
             m_output->updateData( m_showTrianglesInsteadOfOctreeCubes->get( true )
-                    ?tmpMesh :m_tree->getOutline( ) );
+                    ?tmpMesh :m_tree->getOutline() );
             m_nbPoints->set( count );
             m_xMin->set( m_elevationImage->getRootNode()->getXMin() );
             m_xMax->set( m_elevationImage->getRootNode()->getXMax() );
@@ -223,9 +264,9 @@ void WMBuildingsDetection::moduleMain()
             m_exportTriggerProp->set( WPVBaseTypes::PV_TRIGGER_READY, true );
             m_progressStatus->finish();
         }
+        m_reloadData->set( WPVBaseTypes::PV_TRIGGER_READY, true );
+        m_reloadData->get( true );
 
-        m_detailDepthLabel->set( pow( 2.0, m_detailDepth->get() ) );
-        std::cout << "this is WOTree " << std::endl;
 
         // woke up since the module is requested to finish?
         if  ( m_shutdownFlag() )

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.h

@@ -228,12 +228,49 @@ private:
      * 2: Point count of each X/Y bin coordinate.
      */
     WPropSelection m_elevImageMode;
+
+    /**
+     * Elevation image export setting. 
+     * All areas below that elevation are depicted using the black color.
+     */
+    WPropDouble m_minElevImageZ;
+    /**
+     * Elevation image export setting. 
+     * Count of intensity increases per meter.
+     */
+    WPropDouble m_intensityIncreasesPerMeter;
+
     /**
      * Path of the exportable elevation image *.bmp file.
      */
     WPropFilename m_elevationImageExportablePath; //!< The mesh will be read from this file.
     WPropTrigger  m_exportTriggerProp; //!< This property triggers the actual reading,
 
+    /**
+     * This trigger button reloads the data to output.
+     */
+    WPropTrigger  m_reloadData; //!< This property triggers the actual reading,
+
+
+    /**
+     * Main building detection setting.
+     * Resolution of the relative minimum search image. Use only numbers depictable by 2^n 
+     * where n can also be 0 or below. The bigger the pixels the greater are the areas 
+     * searched from an examined X/Y area.
+     */
+    WPropInt m_minSearchDetailDepth;
+    /**
+     * Main building detection setting.
+     * Height that must exceed above an relative minimum to recognize it as a building pixel.
+     */
+    WPropDouble m_minSearchCutUntilAbove;
+
+    /**
+     * Property to choose an output building of a voxel group number. Currently 0 is 
+     * cutting nothing and 1 is is showing all buildings altogether.
+     */
+    WPropInt m_selectedShowableBuilding;
+
     /**
      * Instance for applying drawable geoms.
      */

LiDARToolbox/src/buildingsDetection/structure/WOctNode.cpp

@@ -33,6 +33,7 @@ const size_t WOctNode::vZ[] = {0, 0, 0, 0, 1, 1, 1, 1};
 
 WOctNode::WOctNode( double centerX, double centerY, double centerZ, double radius )
 {
+    m_groupNr = 0;
     m_center[0] = centerX;
     m_center[1] = centerY;
     m_center[2] = centerZ;
@@ -118,7 +119,14 @@ double WOctNode::getCenter( size_t dimension )
     return m_center[dimension];
 }
 
-
+size_t WOctNode::getGroupNr()
+{
+    return m_groupNr;
+}
+void WOctNode::setGroupNr( size_t groupNr )
+{
+    m_groupNr = groupNr;
+}
 
 
 void WOctNode::setChild( WOctNode* child, size_t drawer )

LiDARToolbox/src/buildingsDetection/structure/WOctNode.h

@@ -97,6 +97,16 @@ public:
      * \return the center coordinate to the corresponding dimension parameter
      */
     double getCenter( size_t dimension );
+    /**