Updated centroid calculation method

Author: Daniel

CMakeLists.txt

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+##############################################################################
+# CMAKE CONFIGURATION
+##############################################################################
+cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+
+# set project name
+project(dbscan VERSION 1.0.2)
+
+# set build type = Debug mode
+set(CMAKE_BUILD_TYPE Debug)
+
+message("\n" "=========================================")
+message("Project: ${PROJECT_NAME} ")
+message("=========================================")
+
+# set the include directive in the same project folder
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+# set corresponding package directories
+set(PCL_DIR /opt/pcl-1.9.0/build)
+
+# Include dependencies from pcl 1.8.0 in project directory
+set(CMAKE_MODULE_PATH ${PCL_DIR}/../cmake/Modules)
+
+# set cmake for use std c++11 and output executable folder to bin
+#set(CMAKE_CXX_STANDARD 11)
+set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
+
+# set turn off the output rule messages of cmake
+##set_property(GLOBAL PROPERTY RULE_MESSAGES OFF)
+
+##############################################################################
+# PACKAGES
+##############################################################################
+message("***********************")
+message("PCL PACKAGE")
+message("***********************")
+
+##find_package(PCL 1.8 PATHS ${PCL_DIR} QUIET COMPONENTS common io visualization CONFIG) ##REQUIRED COMPONENTS common io visualization)
+find_package(PCL 1.9 PATHS ${PCL_DIR} QUIET)
+if(PCL_FOUND)
+    message(STATUS "PCL status:")
+    message(STATUS "    version: ${PCL_VERSION}")
+    message(STATUS "    directory: ${PCL_DIR}")
+else()
+    message(WARNING "   PCL 1.9 not found, attempting 1.8...")
+    find_package(PCL 1.8 REQUIRED)
+    if(PCL_FOUND)
+        message(STATUS "PCL status:")
+        message(STATUS "    version: ${PCL_VERSION}")
+        message(STATUS "    directory: ${PCL_DIR}")
+    else()
+    	message(WARNING "   PCL 1.8 not found, attempting 1.7...")     
+        find_package(PCL 1.7 REQUIRED)
+    	if(PCL_FOUND)
+        	message(STATUS "PCL status:")
+        	message(STATUS "    version: ${PCL_VERSION}")
+        	message(STATUS "    directory: ${PCL_DIR}")
+    	else()
+        	message(FATAL_ERROR "    ERROR: PCL minimum required version 1.7. Not found")
+    	endif()
+    endif()
+endif()
+
+##############################################################################
+# HEADERS
+##############################################################################
+include_directories(${PCL_INCLUDE_DIRS})
+include_directories(${CMAKE_CURRENT_LIST_DIR}/include)
+include(CheckFunctionExists)
+
+# Use the compile definitions defined in PCL
+add_definitions(${PCL_DEFINITIONS})
+
+##############################################################################
+# LIBRARIES PATH
+##############################################################################
+link_directories(${PCL_LIBRARY_DIRS})
+
+##############################################################################
+# SOURCE CODE
+##############################################################################
+list(APPEND SOURCE_FILES "main.cpp"	
+						 "src/dbScan.cpp"
+						 "src/OctreeGenerator.cpp"
+						 "src/cluster.cpp"
+)
+
+##############################################################################
+# EXECUTABLES
+##############################################################################
+add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+
+##############################################################################
+# TARGET LIBRARIES
+##############################################################################
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
+
+message("=========================================")
+message("Project: ${PROJECT_NAME} COMPILED WITH CMAKE " ${CMAKE_VERSION})
+message("=========================================")

README.md

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+# DBScan-PCL-Optimized
+
+This project is taken from: **Navarro-Hinojosa, Octavio, y Moisés Alencastre-Miranda. "DBSCAN modificado con Octrees para agrupar nubes de puntos en tiempo real." Research in Computing Science, Vol. 114: Advances in Image Processing and Computer Vision, pp. 173–186, 2016.** Github: https://github.com/Hagen23/DBScan_Octrees
+
+It was modified with:
+
+* It was added a CMakeList.txt for cmake compilation with PCL 1.8.1 (support 1.9.1)
+* It was added an argument param options
+* It was added a pcl visualizer
+* It was deleted the Glut visualizer
+* It was added a cluster saving method
+* It was added a cluster coloring method
+* It was replaced the input file from CSV to PCD 
+* It was added a cluster coloring method for original color of the point cloud
+
+## Input file structure support
+
+* .pcd 
+* .ply
+* .txt
+* .xyz
+
+## Output file structure (default = .pcd)
+* cloud_cluster_#.txt: 
+
+        x y z r g b
+
+## Example
+<img src="./example/scan1.png" align="center" height="400" width="720"><br>
+<img src="./example/example2.png" align="center" height="400" width="720"><br>
+
+-------------------
+## Compilation
+* Set "YOUR OWN" PCL Build DIR in CMakeList.txt e.g: **/opt/pcl-1.8.1/build** and save it.
+* Create a "build" folder
+
+in the main folder:
+
+    - cd build/  
+    - cmake ../
+    - make
+       
+        	 
+### Test
+
+    cd build/bin
+    ./dbscan <input file>       <-- This will run a fast testing with default parameters
+    ./dbscan <input file> <octree resolution> <eps> <min Aux Pts> <min Pts> <output dir> <output extension (optional)>
+    
+    input file = path to input point_cloud (.pcd .txt .ply .xyz)
+    octree resolution = 124
+    eps = 40
+    min Pts = 4
+    max Pts = 5
+    output dir = path to output clusters
+    output extension (optional) = pcd, ply, txt or xyz
+    
+    Example:
+    ./dbscan /home/xXx/Downloads/point_cloud.pcd 124 40 5 5 /home/xXx/Downloads/clusters ply     
+    
+    ¡You can modify the parameters to obtain better results!
+    I recommend modifying only the eps value, with 40 - 60 you can get better clusters.
+    
+## Note
+
+If you do not want to see the output clusters on PCL Viewer, set: 
+
+    bool showClusters = False; //Main function
+    
+## Troubleshoot PCL-1.9.1
+if compiling the project with PCL-1.9.1 this occurs:
+
+        -- Build files have been written to: /home/t00215031/Downloads/DBScan-PCL-Optimized-master/build
+        [ 20%] Building CXX object CMakeFiles/dbscan.dir/main.cpp.o
+        In file included from /opt/pcl-1.9.1/common/include/pcl/pcl_macros.h:75:0,
+                         from /opt/pcl-1.9.1/octree/include/pcl/octree/octree_nodes.h:47,
+                         .
+                         .
+                         .
+
+        /opt/pcl-1.9.1/build/include/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
+           #error PCL requires C++14 or above
+            ^
+        CMakeFiles/dbscan.dir/build.make:62: recipe for target 'CMakeFiles/dbscan.dir/main.cpp.o' failed
+        make[2]: *** [CMakeFiles/dbscan.dir/main.cpp.o] Error 1
+        CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dbscan.dir/all' failed
+        make[1]: *** [CMakeFiles/dbscan.dir/all] Error 2
+        Makefile:83: recipe for target 'all' failed
+        make: *** [all] Error 2
+        
+        ## Solution
+        1. Update gcc and g++ to version 6:
+           $    sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
+           $    sudo apt-get update -y
+           $    sudo apt-get install -y gcc-6 g++-6 clang-3.8
+           $    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 70 --slave /usr/bin/g++ g++ /usr/bin/g++-6
+           
+           --> check gcc and g++ version:
+           $    gcc --version
+           $    g++ --version
+           
+                g++ (Ubuntu 6.5.0-2ubuntu1~16.04) 6.5.0 20181026
+                Copyright (C) 2017 Free Software Foundation, Inc.
+                This is free software; see the source for copying conditions.  There is NO
+                warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+                
+         2. Compile again 
+            $    cmake../ && make
+         
+if: 
+
+        ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZRGBNormal>::getName[abi:cxx11]() const'
+        ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZRGB>::getName[abi:cxx11]() const'
+        ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
+        collect2: error: ld returned 1 exit status
+        
+        Solution:
+
+                #include <pcl/search/impl/search.hpp>
+
+                #ifndef PCL_NO_PRECOMPILE
+                #include <pcl/impl/instantiate.hpp>
+                #include <pcl/point_types.h>
+                PCL_INSTANTIATE(Search, PCL_POINT_TYPES)
+                #endif // PCL_NO_PRECOMPILE
+
+           
+
+                
+        
+        
+      
+     
+
+    
+
+
+

example/example2.png

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+/**
+*@file HTRBasicDataStructures.h
+*Data structures that do not depend on external classes.
+*
+*/
+#include <pcl/pcl_macros.h>
+#include <pcl/point_types.h>
+#define PCL_NO_PRECOMPILE
+#pragma once
+#ifndef HTR_BASIC_DATA_STRUCTURES_H
+#define HTR_BASIC_DATA_STRUCTURES_H
+
+/// Modified pcl point to include an id.
+namespace pcl {
+
+class mod_pointXYZ : public PointXYZRGB {
+
+public:
+  mod_pointXYZ() {
+    x = y = z = 0;
+    id = 0;
+  }
+
+  mod_pointXYZ(float x, float y, float z) : PointXYZRGB(x, y, z) { id = 0; }
+  /*
+  mod_pointXYZ(unsigned int r, unsigned int g, unsigned int b) : PointXYZRGB(r,g,b){
+      id = 0;
+  }
+   */
+  int id;
+};
+}
+
+namespace htr {
+struct Index2D {
+  int x;
+  int y;
+  // Index2D():x(0),y(0){}
+};
+
+struct Point3D {
+  float x;
+  float y;
+  float z;
+
+  unsigned int r;
+  unsigned int g;
+  unsigned int b;
+
+  void initRandom() {
+    x = (rand() % 40);
+    y = (rand() % 40);
+    z = (rand() % 40);
+  }
+};
+
+struct FlaggedPoint3D {
+  Point3D point;
+  int flag;
+};
+
+struct DepthPixel {
+  int x;
+  int y;
+  float z;
+};
+
+struct LabeledPoint {
+  Point3D point;
+  int label;
+};
+
+struct CubeBoundary {
+  Point3D start;
+  Point3D end;
+};
+
+struct LinearBoundary {
+  float start;
+  float end;
+};
+}
+
+#endif