[FIX #371] Heavy committing related to validation of the approach of Lari/Habib 2014

 * Modules purged
 *   - Points group selector
 *
 * Altered modules
 *   - Points - Transform: Can now save and load point data using files
 *
 * Modules created:
 *   - Point Groups - Validator
 *       - Is done in order to validate groups against reference groups
 *   - Point Groups - Transform
 *       - Can save and load grouped point data using files
 *       - Also can merge grouped point data sets and subtract point sets
 *       - Still has all features to replace "Point group selector" completely

LiDARToolbox/src/WToolkit.cpp

@@ -33,9 +33,10 @@
 #include "buildingsDetection/WMBuildingsDetection.h"
 #include "treeDetectionByPCA/WMTreeDetectionByPCA.h"
 #include "elevationImageExport/WMElevationImageExport.h"
+#include "pointGroupsTransform/WMPointGroupsTransform.h"
 #include "pointsTransform/WMPointsTransform.h"
 #include "pointsCutOutliers/WMPointsCutOutliers.h"
-#include "pointsGroupSelector/WMPointsGroupSelector.h"
+#include "pointGroupsValidator/WMPointGroupsValidator.h"
 #include "readLAS/WMReadLAS.h"
 #include "surfaceDetectionByLari/WMSurfaceDetectionByLari.h"
 #include "surfaceDetectionByPCL/WMSurfaceDetectionByPCL.h"
@@ -62,8 +63,9 @@ extern "C" void WLoadModule( WModuleList& m ) // NOLINT
     m.push_back( boost::shared_ptr< WModule >( new WMBuildingsDetection ) );
     m.push_back( boost::shared_ptr< WModule >( new WMTreeDetectionByPCA ) );
     m.push_back( boost::shared_ptr< WModule >( new WMElevationImageExport ) );
+    m.push_back( boost::shared_ptr< WModule >( new WMPointGroupsTransform ) );
     m.push_back( boost::shared_ptr< WModule >( new WMPointsCutOutliers ) );
-    m.push_back( boost::shared_ptr< WModule >( new WMPointsGroupSelector ) );
+    m.push_back( boost::shared_ptr< WModule >( new WMPointGroupsValidator ) );
     m.push_back( boost::shared_ptr< WModule >( new WMPointsTransform ) );
     m.push_back( boost::shared_ptr< WModule >( new WMReadLAS ) );
     m.push_back( boost::shared_ptr< WModule >( new WMSurfaceDetectionByLari ) );

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.cpp

@@ -196,6 +196,14 @@ void WMBuildingsDetection::moduleMain()
                     outputGroups->push_back( buildingVoxel->getGroupNr() );
                 }
             }
+            if( outputVerts->size() == 0)
+            {
+                for( size_t dimension = 0; dimension < 3; dimension++ )
+                    outputVerts->push_back( 0.0 );
+                for( size_t colorChannel = 0; colorChannel < 3; colorChannel++ )
+                    outputColors->push_back( 0.0 );
+                outputGroups->push_back( 0 );
+            }
             boost::shared_ptr< WDataSetPointsGrouped > output(
                     new WDataSetPointsGrouped( outputVerts, outputColors, outputGroups ) );
             m_outputPointsGrouped->updateData( output );

LiDARToolbox/src/elevationImageExport/bitmapImage/WBmpImage.h → LiDARToolbox/src/common/algorithms/bitmapImage/WBmpImage.h

@@ -28,10 +28,10 @@
 
 #include <vector>
 
-#include "../../common/datastructures/quadtree/WQuadNode.h"
-#include "../../common/datastructures/quadtree/WQuadTree.h"
-#include "../../common/datastructures/octree/WOctree.h"
-#include "../../common/datastructures/WDataSetPointsGrouped.h"
+#include "../../datastructures/quadtree/WQuadNode.h"
+#include "../../datastructures/quadtree/WQuadTree.h"
+#include "../../datastructures/octree/WOctree.h"
+#include "../../datastructures/WDataSetPointsGrouped.h"
 
 /**
  * Image object. Currently it's used for saving bmp files.

LiDARToolbox/src/common/algorithms/groupEdit/WGroupEdit.cpp

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2009 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 "WGroupEdit.h"
+
+WGroupEdit::WGroupEdit()
+{
+    m_mergeGroups = false;
+}
+
+WGroupEdit::~WGroupEdit()
+{
+}
+void WGroupEdit::initProocessBegin()
+{
+    m_groupSizes.resize( 0 );
+    m_groupSizes.reserve( 0 );
+    m_lastGroupID = 0;
+
+    WDataSetPointsGrouped::VertexArray newVertices(
+            new WDataSetPointsGrouped::VertexArray::element_type() );
+    m_vertices = newVertices;
+    WDataSetPointsGrouped::ColorArray newColors(
+            new WDataSetPointsGrouped::ColorArray::element_type() );
+    m_colors = newColors;
+    WDataSetPointsGrouped::GroupArray newGroups(
+            new WDataSetPointsGrouped::GroupArray::element_type() );
+    m_groups = newGroups;
+}
+void WGroupEdit::setMergeGroups( bool mergeGroups )
+{
+    m_mergeGroups = mergeGroups;
+}
+void WGroupEdit::setGroupSizeThreshold( size_t groupSizeThreshold )
+{
+    m_groupSizeThreshold = groupSizeThreshold;
+}
+void WGroupEdit::mergeGroupSet( boost::shared_ptr< WDataSetPointsGrouped > points )
+{
+    size_t groupIDOffset = m_lastGroupID == 0 ?0 :m_lastGroupID + 1;
+    if( !points )
+        return;
+    WDataSetPointsGrouped::VertexArray vertices = points->getVertices();
+    WDataSetPointsGrouped::ColorArray colors = points->getColors();
+    WDataSetPointsGrouped::GroupArray groups = points->getGroups();
+
+    for( size_t index = 0; index < vertices->size(); index++ )
+        m_vertices->push_back( vertices->at( index ) );
+    for( size_t index = 0; index < colors->size(); index++ )
+        m_colors->push_back( colors->at( index ) );
+    for( size_t index = 0; index < groups->size(); index++ )
+    {
+        size_t groupID = groups->at( index );
+        if( !m_mergeGroups )
+            groupID += groupIDOffset;
+        m_groups->push_back( groupID );
+        if( groupID > m_lastGroupID )
+            m_lastGroupID = groupID;
+
+        if( isValidGroupID( groupID ) )
+        {
+            double currentSize = m_groupSizes.size();
+            if( groupID >= currentSize )
+            {
+                m_groupSizes.reserve( groupID + 1 );
+                m_groupSizes.resize( groupID + 1 );
+                for( size_t newGroup = currentSize; newGroup <= groupID; newGroup++ )
+                    m_groupSizes[newGroup] = 0;
+            }
+            m_groupSizes[groupID] = m_groupSizes[groupID] + 1;
+        }
+    }
+}
+double WGroupEdit::getVertex( size_t pointIndex, size_t dimension )
+{
+    return m_vertices->at( pointIndex * 3 + dimension );
+}
+double WGroupEdit::getColor( size_t pointIndex, size_t colorChannel )
+{
+    return m_colors->at( pointIndex * 3 + colorChannel );
+}
+size_t WGroupEdit::getOldGroupID( size_t pointIndex )
+{
+    return m_groups->at( pointIndex );
+}
+size_t WGroupEdit::getNewGroupID( size_t pointIndex )
+{
+    size_t originalGroupID = getOldGroupID( pointIndex );
+    if( !isValidGroupID( originalGroupID ) || !isPointCollected( pointIndex ) )
+        return originalGroupID;
+    return m_groupIDMap[originalGroupID];
+}
+bool WGroupEdit::isPointCollected( size_t pointIndex )
+{
+    size_t originalGroupID = getOldGroupID( pointIndex );
+    if( !isValidGroupID( originalGroupID ) )
+        return false;
+    return m_groupSizes[originalGroupID] >= m_groupSizeThreshold;
+}
+size_t WGroupEdit::getInputPointCount()
+{
+    return m_vertices->size() / 3;
+}
+
+
+
+size_t WGroupEdit::getLastGroupID()
+{
+    return m_lastGroupID;
+}
+size_t WGroupEdit::getGroupSize( size_t origGroupID )
+{
+    return m_groupSizes[origGroupID];
+}
+
+void WGroupEdit::modifyGroupIDs()
+{
+    m_groupIDMap.reserve( m_groupSizes.size() );
+    m_groupIDMap.resize( m_groupSizes.size() );
+
+    size_t currentID = 0;
+    for( size_t index = 0; index < m_groupSizes.size(); index++ )
+        if( m_groupSizes[index] >= m_groupSizeThreshold )
+            m_groupIDMap[index] = currentID++;
+    m_lastGroupID = currentID - 1;
+}
+bool WGroupEdit::isValidGroupID( size_t groupID )
+{
+    return groupID < 1000 * 1000 * 100;
+}

LiDARToolbox/src/common/algorithms/groupEdit/WGroupEdit.h

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2009 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 WGROUPEDIT_H
+#define WGROUPEDIT_H
+
+#include <vector>
+
+#include "../../datastructures/WDataSetPointsGrouped.h"
+
+using std::cout;
+using std::endl;
+using std::vector;
+
+/**
+ * Class to edit groups of WDataSetPointsGrouped.
+ * Its main purposes are:
+ *   - Merging point sets with group IDs
+ *   - Helps to remove groups below a group count threshold
+ *   - When merging WDataSetPointsGrouped group IDs can eigher be kept by 
+ *     setMergeGroups( true ) or continuously counted adding each dataset.using 
+ *     setMergeGroups( false )
+ * 
+ * Workflow:
+ *   - initProcessBegin()
+ *   - setMergeGroups()
+ *   - setGroupSizeThreshold()
+ *   - Execute mergeGroupSet() for at least one grouped point dataset.
+ *   - modifyGroupIDs()
+ *   - traverse all getInputPointCount() points. Add new vertices, colors and groups 
+ *     using your own class if isPointCollected() is true for the corresponding index.
+ *   - New data is getVertex(), getColor() and getNewGroupID()
+ */
+class WGroupEdit
+{
+public:
+    /**
+     * Creates the group edit instance
+     */
+    explicit WGroupEdit();
+    /**
+     * Destroys the group edit instance
+     */
+    virtual ~WGroupEdit();
+
+    /**
+     * Initializes the group edit process.
+     */
+    void initProocessBegin();
+    /**
+     * Sets whether group IDs should be kept or continuously counted up when a new 
+     * grouped point set is added.
+     * \param mergeGroups Choose false in order to disconnect groups from those groups 
+     *                    of previous datasets. Choosing true group IDs will remain the 
+     *                    same if the group size threshold is 0.
+     */
+    void setMergeGroups( bool mergeGroups );
+    /**
+     * Sets the minimal group size. Groups below that point count are signaled not to be 
+     * added. Further group IDs are changed changed that way so that no group until the 
+     * last one remains without points.
+     * \param groupSizeThreshold Minimal group size that is proposed to be added to the 
+     *                           final dataset.
+     */
+    void setGroupSizeThreshold( size_t groupSizeThreshold );
+    /**
+     * Merges points to previously added points. This method is also used tu add grouped 
+     * points for the first time.
+     * \param points Points with group ID to be added.
+     */
+    void mergeGroupSet( boost::shared_ptr< WDataSetPointsGrouped > points );
+
+
+
+
+    /**
+     * returns the last group ID that is generated for the new merged dataset.
+     * \return Last group ID of the new merged point dataset.
+     */
+    size_t getLastGroupID();
+    /**
+     * Returns the point count of a group.
+     * \param origGroupID Point group ID of the original dataset to get the point count 
+     *                    of. Warning - The original group ID changes after using 
+     *                    setMergeGroups( false ).
+     * \return Point count of a group.
+     */
+    size_t getGroupSize( size_t origGroupID );
+    /**
+     * Returns a vertex of a corresponding point within the merged dataset.
+     * Points with a group sizw below a threshold still remain using that function. Use 
+     * isPointCollected() to determine whether to add a point in your code.
+     * \param pointIndex Point index of the merged dataset.
+     * \param dimension Dimension (X/Y/Z or 0/1/2) or the corresponding coordinate.
+     * \return Value that belongs to a coordinate value X, Y or Z of a point.
+     */
+    double getVertex( size_t pointIndex, size_t dimension );
+    /**
+     * Returns a color of a corresponding point within the merged dataset.
+     * Points with a group sizw below a threshold still remain using that function. Use 
+     * isPointCollected() to determine whether to add a point in your code.
+     * \param pointIndex Point index of the merged dataset.
+     * \param colorChannel Color channel (red/green/blue or 0/1/2) or the corresponding 
+     *                  coordinate.
+     * \return Value that belongs to color channel of a point.
+     */
+    double getColor( size_t pointIndex, size_t colorChannel );
+    /**
+     * Returns an original group ID of a point. Group IDs are changed after the first 
+     * merged dataset if setMergeGroups( false ) was applied.
+     * Points with a group sizw below a threshold still remain using that function. Use 
+     * isPointCollected() to determine whether to add a point in your code.
+     * \param pointIndex Point index of the merged dataset.
+     * \return Group ID of the original dataset.
+     */
+    size_t getOldGroupID( size_t pointIndex );
+    /**
+     * Returns a new group ID. It is further changed if the group size threshold is 
+     * above 0. Further no ID remains without points.
+     * Points with a group sizw below a threshold still remain using that function. Use 
+     * isPointCollected() to determine whether to add a point in your code.
+     * \param pointIndex Point index of the merged dataset.
+     * \return New group ID.
+     */
+    size_t getNewGroupID( size_t pointIndex );
+    /**
+     * Tells whether a point is collected by means if the point group size threshold.
+     * \param pointIndex Point index of the merged dataset.
+     * \return Point should be added to the final dataset by means of the group size 
+     *         threshold or not.
+     */
+    bool isPointCollected( size_t pointIndex );
+
+    /**
+     * Gets point count of all points that were entered to be merged. Group size 
+     * threshold does not play a role here.
+     * \return Point count without means of group point count threshold.
+     */
+    size_t getInputPointCount();
+    /**
+     * Creates an array which shows a map from old to new group IDs. Array index is the 
+     * old group ID. The map has finally no groups without point using a group size 
+     * threshold above 0.
+     */
+    void modifyGroupIDs();
+
+private:
+    /**
+     * This is a method that decides whether a group ID is valid or not. Points with a 
+     * group ID above an index are not regarded. Very big IDs lead to very big arrays of 
+     * group sizes and group maps.
+     * //TODO(aschwarzkopf): Use a hashset for groups later or something else to solve that problem.
+     * \param groupID Group ID to be validated.
+     * \return Group ID is valid or not.
+     */
+    bool isValidGroupID( size_t groupID );
+
+    /**
+     * Array that depicts group sizes. The group ID is the array index. Values are point 
+     * counts of each group.
+     * //TODO(aschwarzkopf): Solve that problem that big IDs lead to big arrays with 
+     *                       too many unused IDs.
+     */
+    vector<size_t> m_groupSizes;
+    /**
+     * Map that links an old group ID with a new one. Old group ID is the array index. 
+     * The new group ID is its value.
+     * //TODO(aschwarzkopf): Solve that problem that big IDs lead to big arrays with 
+     *                       too many unused IDs.
+     */
+    vector<size_t> m_groupIDMap;
+    /**
+     * Last new group ID.
+     */
+    size_t m_lastGroupID;
+
+    /**
+     * Input point coordinates.
+     */
+    WDataSetPointsGrouped::VertexArray m_vertices;
+    /**
+     * Colors of the input point data set that are also passed through.
+     */
+    WDataSetPointsGrouped::ColorArray m_colors;
+    /**
+     * Input point groups.
+     */
+    WDataSetPointsGrouped::GroupArray m_groups;
+
+    /**
+     * Determines whether group IDs should be bigger than those of previous datasets or 
+     * remain. before applying the group size threshold.
+     */
+    bool m_mergeGroups;
+    /**
+     * Group point count threshold that is applied. Groups with a point count below that 
+     * value are proposed to be removed. Having a threshold above 0 group IDs are 
+     * modified that way so that no ID remains with a zero point count.
+     */
+    size_t m_groupSizeThreshold;
+};
+
+#endif  // WGROUPEDIT_H

LiDARToolbox/src/common/algorithms/pointSaver/WPointSaver.cpp

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2009 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 <stdio.h>
+#include <fstream>
+#include <sstream>
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include "WPointSaver.h"
+WPointSaver::WPointSaver()
+{
+    m_hasGroupInfo = false;
+    m_filePath = new stringstream();
+    m_containsData = false;
+}
+
+WPointSaver::~WPointSaver()
+{
+}
+WDataSetPointsGrouped::VertexArray WPointSaver::getVertices()
+{
+    return m_verts;
+}
+WDataSetPointsGrouped::VertexArray WPointSaver::getColors()
+{
+    return m_colors;
+}
+WDataSetPointsGrouped::GroupArray WPointSaver::getGroups()
+{
+    return m_groups;
+}
+bool WPointSaver::loadWDataSetPoints()
+{
+    m_hasGroupInfo = false;
+    return load();
+}
+bool WPointSaver::loadWDataSetPointsGrouped()
+{
+    m_hasGroupInfo = true;
+    return load();
+}
+void WPointSaver::saveWDataSetPoints( WDataSetPointsGrouped::VertexArray vertices, WDataSetPointsGrouped::ColorArray colors )
+{
+    m_verts = vertices;
+    m_colors = colors;
+    m_hasGroupInfo = false;
+    m_containsData = true;
+
+    save();
+}
+void WPointSaver::saveWDataSetPointsGrouped( WDataSetPointsGrouped::VertexArray vertices,
+        WDataSetPointsGrouped::ColorArray colors,  WDataSetPointsGrouped::GroupArray groups )
+{
+    m_verts = vertices;
+    m_colors = colors;
+    m_groups = groups;
+    m_hasGroupInfo = true;
+    m_containsData = true;
+
+    save();
+}
+void WPointSaver::setFilePath( const char* path )
+{
+    delete m_filePath;
+    m_filePath = new stringstream();
+    *m_filePath << path;
+}
+
+double WPointSaver::parseDouble( vector<char> charVector )
+{
+    stringstream numberStream;
+    for( size_t index = 0; index < charVector.size(); index++ )
+        numberStream << charVector[index];
+    const string numberString = numberStream.str();
+    istringstream stream( numberString );
+    double number;
+    stream >> number;
+    return number;
+}
+size_t WPointSaver::parseSizeT( vector<char> charVector )
+{
+    stringstream numberStream;
+    for( size_t index = 0; index < charVector.size(); index++ )
+        numberStream << charVector[index];
+    const string numberString = numberStream.str();
+    istringstream stream( numberString );
+    size_t number;
+    stream >> number;
+    return number;
+}
+bool WPointSaver::containsData()
+{
+    return m_containsData;
+}
+
+
+
+
+
+bool WPointSaver::correctFilePathByExtension()
+{
+    if( m_filePath->str().length() == 0 )
+        return false;
+
+    const char* extension = m_hasGroupInfo ?EXTENSION_WDATASETPOINTSGROUPED :EXTENSION_WDATASETPOINTS;
+    if( !pathEndsWith( extension, m_filePath ) )
+        *m_filePath << extension;
+
+    return true;
+}
+bool WPointSaver::pathEndsWith( const char* nameTail, stringstream* filePath )
+{
+    const string tmp = filePath->str();
+    const char* pathChars = tmp.c_str();
+
+    stringstream extensionStream;
+    extensionStream << nameTail;
+    size_t pathLength = filePath->str().length();
+    size_t tailLength = extensionStream.str().length();
+    if( pathLength < tailLength )
+        return false;
+    for(size_t index = 0; index < tailLength; index++)
+        if(pathChars[pathLength+index-tailLength] != nameTail[index])
+            return false;
+    return true;
+}
+bool WPointSaver::load()
+{
+    cout << "WPointSaver::load() - Start" << endl;
+    WDataSetPointsGrouped::VertexArray outVertices(