def __configure_unlabelled_pre_processing_update(self):
min_points_value = int(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_uniform_k_points").text())
if min_points_value is not unlabelled_configure.getint(
"Parameters", "uniform_down_k_point"):
self.unlabelled_parameter_update = True
unlabelled_configure.set("Parameters", "uniform_down_k_point",
"%s" % min_points_value)
distance_threshold_value = float(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_distance_threshold").text())
if distance_threshold_value is not unlabelled_configure.getfloat(
"Parameters", "distance_threshold"):
self.unlabelled_parameter_update = True
unlabelled_configure.set("Parameters", "distance_threshold",
"%s" % distance_threshold_value)
ground_threshold_value = float(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_ground_diff").text())
if ground_threshold_value is not unlabelled_configure.getfloat(
"Parameters", "ground_threshold"):
self.unlabelled_parameter_update = True
unlabelled_configure.set("Parameters", "ground_threshold",
"%s" % ground_threshold_value)
def __init__(self):
self.uniform_down_k_point = unlabelled_configure.getint(
"Parameters", "uniform_down_k_point")
self.distance_threshold = unlabelled_configure.getfloat(
"Parameters", "distance_threshold")
self.ransac_n = unlabelled_configure.getint("Parameters", "ransac_n")
self.num_iterations = unlabelled_configure.getint(
"Parameters", "num_iterations")
self.ground_threshold = unlabelled_configure.getfloat(
"Parameters", "ground_threshold")
self.eps = unlabelled_configure.getfloat("Parameters", "eps")
self.min_points = unlabelled_configure.getint("Parameters",
"min_points")
self.rgbvi_threshold = unlabelled_configure.getfloat(
"Parameters", "rgbvi_threshold")
self.high_vegetation = None
self.labels = None
def __configure_unlabelled_rgbvi_update(self):
rgbvi_threshold_value = float(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_rgbvi").text())
if rgbvi_threshold_value is not unlabelled_configure.getfloat(
"Parameters", "rgbvi_threshold"):
unlabelled_configure.set("Parameters", "rgbvi_threshold",
"%s" % rgbvi_threshold_value)
def __process_test_unlabelled_data(self):
self.statusBar().showMessage("Processing")
self.timer.restart()
self.unlabelled_pipeline = SegmentationProcessor()
self.unlabelled_pipeline.uniform_down_k_point = unlabelled_configure.getint(
"Parameters", "uniform_down_k_point")
self.unlabelled_pipeline.distance_threshold = unlabelled_configure.getfloat(
"Parameters", "distance_threshold")
self.unlabelled_pipeline.ransac_n = unlabelled_configure.getint(
"Parameters", "ransac_n")
self.unlabelled_pipeline.num_iterations = unlabelled_configure.getint(
"Parameters", "num_iterations")
self.unlabelled_pipeline.ground_threshold = unlabelled_configure.getfloat(
"Parameters", "ground_threshold")
self.unlabelled_pipeline.eps = unlabelled_configure.getfloat(
"Parameters", "eps")
self.unlabelled_pipeline.min_points = unlabelled_configure.getint(
"Parameters", "min_points")
self.unlabelled_pipeline.rgbvi_threshold = unlabelled_configure.getfloat(
"Parameters", "rgbvi_threshold")
if self.unlabelled_parameter_update:
self.unlabelled_parameter_update = False
self.unlabelled_pipeline.pre_process_pc()
self.unlabelled_pipeline.process_pc()
self.plotter.plot_path = unlabelled_configure.get(
"Constants", "plot_html_file_path")
self.plotter.x = self.unlabelled_pipeline.high_vegetation[:, 0]
self.plotter.y = self.unlabelled_pipeline.high_vegetation[:, 1]
self.plotter.display_2d_pcd(1000, save_file=True, render="png")
self.webEngineView.reload()
self.webEngineView.setUrl(
QUrl("file://" + os.path.abspath(
unlabelled_configure.get("Constants", "plot_html_file_path"))))
self.__test_output_update(
cluster_time=0,
number_of_clusters=np.amax(self.unlabelled_pipeline.labels.max()),
total_time=self.timer.elapsed(),
)
self.statusBar().showMessage("Done")
def __configure_unlabelled_dbscan_update(self):
eps_value = float(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_eps_unlabel").text())
if eps_value is not unlabelled_configure.getfloat("Parameters", "eps"):
unlabelled_configure.set("Parameters", "eps", "%s" % eps_value)
min_points_value = int(
self.scrollAreaWidget_lidar_unlabelled.findChild(
QLineEdit, "lineEdit_min_sample_unlabel").text())
if min_points_value is not unlabelled_configure.getint(
"Parameters", "min_points"):
unlabelled_configure.set("Parameters", "min_points",
"%s" % min_points_value)