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#include "lidar_segmentation.h"
#include "clustering.h"
#include "groundtruth.h"

//read from the ground truth file
int readDataFile( vector<C_DataFromFilePtr>&  data_gts , int values_per_scan)
{

        string path = ros::package::getPath("roslib");
        ifstream source("src/gt_datas/GT_NEW_DIV.txt");  // build a read-Stream 
        
        if (!source.is_open()) 
    {
                cout << "Couldn't open the GT_NEW file" << endl;
                return 1;
    }
        
        string line;
                
        while(source.good())    //read stream line by line
        {               
                getline(source, line);      //Get iteration
                
                if(line[0]!='i')
                        continue;
                
                int it;                 
        
                //New iteration
                sscanf(line.c_str(),"%*c %d",&it);

                C_DataFromFilePtr data_gt(new C_DataFromFile);
        
                data_gt->iteration = it;   
                
                getline(source ,line); //get x values
                        
                int c = 0;      
                double x , y;
                int label;
                        
                const char*ptr = line.c_str();
                
                while(c < values_per_scan)
                {
                        sscanf(ptr,"%lf", &x); //scans values

                        data_gt->x_valuesf.push_back(x);
                        
                        c++;
                                
                        ptr = strstr(ptr, " "); //seeks for " "
                                
                        if(ptr==NULL)
                                break;
                                
                        ptr++;
                }
                
//----------------------------------------------------------------------------
//              for(uint j=0;j< data_gt->x_valuesf.size();j++)
//              {
//                      cout<<"x_valuesf: "<< data_gt->x_valuesf[j]<<endl;
//              }
//----------------------------------------------------------------------------

                getline(source , line); //get y values
                const char*ptr2 = line.c_str();
                c = 0;

                while(c < values_per_scan)
                {
                        sscanf(ptr2, "%lf" , &y);
                                
                        data_gt->y_valuesf.push_back(y);
                        c++;
                                
                        ptr2 = strstr(ptr2, " "); //seeks for " "
                                
                        if(ptr2==NULL)
                                break;
                                
                        ptr2++;
                }
        
//----------------------------------------------------------------------------          
//              for(uint j=0;j< data_gt->x_valuesf.size();j++)
//              {
//                      cout<<"y_valuesf: "<< data_gt->y_valuesf[j]<<endl;
//      }
//----------------------------------------------------------------------------

                getline(source , line); //labels
                const char*ptr3 = line.c_str(); 
                c = 0;
                        
                while(c < values_per_scan)
                {
                        sscanf(ptr3, "%d" , &label);
                                
                        data_gt->labels.push_back(label);
                        c++;
                                
                        ptr3 = strstr(ptr3, " "); //seeks for " "
                                
                        if(ptr3==NULL)
                                break;
                                
                        ptr3++;
                }
        
//----------------------------------------------------------------------------
//              for(uint j=0; j< data_gt->x_valuesf.size(); j++)
//              {
//                      cout<<"labels : "<< data_gt->labels[j] <<endl;
//              }
//----------------------------------------------------------------------------

                data_gts.push_back(data_gt);
                
        } //end while
                
                cout<<"close file"<<endl;       
                source.close(); 
        
        return 0;
        
} //end function


bool comparePoints(PointPtr p1,PointPtr p2)
{       
        return p1->cluster_id < p2->cluster_id;  //ascending order
}

int convertPointsToCluster(vector<PointPtr>& points, vector<ClusterPtr>& clusters_GT)
{
        
        ClusterPtr cluster_gt(new Cluster); 
        
        //add the first value
        if( points[0]->label != 0 )
        {
                PointPtr p(new Point);
                p->x = points[0]->x;
                p->y = points[0]->y;
                p->label = points[0]->label;
                p->cluster_id = points[0]->cluster_id;
                                
                cluster_gt->support_points.push_back(p);
                cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
                cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);         
                cluster_gt->id = p->cluster_id;         
        }
        
        
        //For every line in the file
        for(uint idx = 1; idx < points.size(); idx++  )
        {       
                        if(points[idx]->cluster_id== 0)
                                continue;
                
                        if( (points[idx]->cluster_id != points[idx-1]->cluster_id))
                        {
                                        
                                if(cluster_gt->support_points.size()>0)
                                        clusters_GT.push_back(cluster_gt);
                        
                                //make cluster point to a new Cluster.
                                cluster_gt.reset(new Cluster);  
                                
                                PointPtr p(new Point);
                                p->x = points[idx]->x;
                                p->y = points[idx]->y;
                                p->label = points[idx]->label;
                                p->cluster_id = points[idx]->cluster_id;
                                
                                cluster_gt->support_points.push_back(p);
                                cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
                                cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);         
                                cluster_gt->id = p->cluster_id;
                                                        
                        }else
                        {
                                PointPtr p(new Point);
                                p->x = points[idx]->x;
                                p->y = points[idx]->y;
                                p->label = points[idx]->label;
                                p->cluster_id = points[idx]->cluster_id;
                                
                                cluster_gt->support_points.push_back(p);
                                
                                cluster_gt->centroid = calculateClusterCentroid( cluster_gt->support_points );
                                cluster_gt->central_point = calculateClusterMedian(cluster_gt->support_points);         
                                cluster_gt->id = p->cluster_id; 
                        }

        } //end for
        
        if(cluster_gt->support_points.size()>0)
                clusters_GT.push_back(cluster_gt);

        cout<< "Clusters GT " << clusters_GT.size() << endl;
        
        return clusters_GT.size();
}

---

lidar_segmentation
Author(s): Daniel
autogenerated on Wed Jul 23 04:34:28 2014