feat: Added dbscan shared library

- This commit has removed the include/src folder with the dbscan headers
- This commit has created a dbscan shared library
- This commit has introduced the run.sh script in docker
- This commit has introduced the .gitignore file for C++ projects
- This commit has introduced the cmake folder with CMake modules
- This commit has updated the include statement for the new dbscan lib

.gitignore

@@ -0,0 +1,35 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Folders
+build/

cmake/color.cmake

@@ -0,0 +1,19 @@
+if(NOT WIN32)
+  string(ASCII 27 Esc)
+  set(ColourReset "${Esc}[m")
+  set(ColourBold  "${Esc}[1m")
+  set(Red         "${Esc}[31m")
+  set(Green       "${Esc}[32m")
+  set(Yellow      "${Esc}[33m")
+  set(Blue        "${Esc}[34m")
+  set(Magenta     "${Esc}[35m")
+  set(Cyan        "${Esc}[36m")
+  set(White       "${Esc}[37m")
+  set(BoldRed     "${Esc}[1;31m")
+  set(BoldGreen   "${Esc}[1;32m")
+  set(BoldYellow  "${Esc}[1;33m")
+  set(BoldBlue    "${Esc}[1;34m")
+  set(BoldMagenta "${Esc}[1;35m")
+  set(BoldCyan    "${Esc}[1;36m")
+  set(BoldWhite   "${Esc}[1;37m")
+endif()

dbscanlib/CMakeLists.txt

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+# #############################################################################
+# LIBRARY NAME
+# #############################################################################
+set(LIBRARY_NAME dbscan)
+
+# #############################################################################
+# COMPILE LIBRARY
+# #############################################################################
+add_library(${LIBRARY_NAME} SHARED
+    src/cluster.cpp
+    src/dbScan.cpp
+    src/keypointcluster.cpp
+    src/OctreeGenerator.cpp
+)
+
+# #############################################################################
+# LIBRARY PROPERTIES
+# #############################################################################
+set_target_properties(${LIBRARY_NAME} PROPERTIES
+    VERSION ${PROJECT_VERSION}
+    SOVERSION 1
+    PUBLIC_HEADER ${CMAKE_CURRENT_LIST_DIR}/include/dbscan/dbScan.h
+)
+
+# #############################################################################
+# LIBRARY HEADERS
+# #############################################################################
+target_include_directories(${LIBRARY_NAME} PUBLIC
+    ${CMAKE_CURRENT_LIST_DIR}/include
+)
+
+# #############################################################################
+# LIBRARY DEPENDENCIES
+# #############################################################################
+target_link_libraries(${LIBRARY_NAME} ${PCL_LIBRARIES})
+
+# #############################################################################
+# COMPILATION FLAGS
+# #############################################################################
+target_compile_features(${LIBRARY_NAME} PUBLIC cxx_std_17)
+target_compile_options(${LIBRARY_NAME} PRIVATE -Wno-cpp -Wall -Wextra)
+
+# #############################################################################
+# INSTALL DIRECTORY
+# #############################################################################
+install(TARGETS ${LIBRARY_NAME}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)

dbscanlib/include/dbscan/HTRBasicDataStructures.h

@@ -0,0 +1,83 @@
+/**
+ *@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 pcl
+
+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;
+};
+}  // namespace htr
+
+#endif

dbscanlib/include/dbscan/OctreeGenerator.h

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+/**
+ *@class OctreeGenerator
+ *Creates an octree from the point cloud data provided.
+ *
+ */
+
+#define _CRT_SECURE_NO_WARNINGS
+
+#ifndef OCTREE_GENERATOR_H
+#define OCTREE_GENERATOR_H
+
+//#include <pcl/point_cloud.h>
+#include <pcl/octree/octree.h>
+// #include <pcl/octree/octree_impl.h>
+
+#include <pcl/common/centroid.h>
+#include <pcl/common/concatenate.h>
+#include <pcl/common/copy_point.h>
+#include <pcl/common/io.h>
+#include <pcl/pcl_macros.h>
+#include <pcl/point_types.h>
+
+#include <cstdio>
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <locale>  // std::locale, std::isdigit
+#include <pcl/impl/point_types.hpp>
+#include <string>
+#include <vector>
+
+#include "HTRBasicDataStructures.h"
+
+namespace htr {
+
+class OctreeGenerator {
+ public:
+  typedef pcl::PointCloud<pcl::mod_pointXYZ> CloudXYZ;
+  typedef pcl::octree::OctreePointCloudSearch<pcl::mod_pointXYZ> OctreeXYZSearch;
+  typedef pcl::octree::OctreePointCloudSearch<pcl::mod_pointXYZ>::LeafNode LeafNode;
+  typedef pcl::octree::OctreePointCloudSearch<pcl::mod_pointXYZ>::LeafNodeIterator LeafNodeIterator;
+  typedef htr::Point3D Point3D;
+
+  struct Voxel {
+    Point3D position;
+    float size;
+  };
+
+  OctreeGenerator();
+  ~OctreeGenerator();
+
+/// This is needed to remove the warning about alignment: object allocated on the heap may not be
+/// aligned 16
+/// Solution specific to microsoft.
+#ifdef _MSC_VER
+  void *operator new(size_t size) {
+    void *p = _aligned_malloc(size, 16);
+    if (!p) throw std::bad_alloc();
+    return p;
+  }
+
+  void operator delete(void *p) {
+    OctreeGenerator *ptr = static_cast<OctreeGenerator *>(p);
+    _aligned_free(p);
+  }
+#endif
+  inline CloudXYZ::Ptr getCloud() { return cloud; }
+  inline pcl::mod_pointXYZ getCloudCentroid() { return cloudCentroid; }
+  inline std::vector<Voxel> &getVoxels() { return octreeVoxels; }
+  inline std::vector<Point3D> &getCentroids() { return octreeCentroids; }
+  inline OctreeXYZSearch::Ptr getOctree() { return octree_p; }
+
+  void initRandomCloud(const float width, const float height, const float depth, const int numOfPoints);
+
+  template <typename T>
+  void initCloudFromVector(const std::vector<T> &points,
+                           const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &input_cloud);
+
+  void initOctree(const int resolution);
+
+  void extractPointsAtLevel(const int depth);
+  void stepExtractionLevel(const int step);
+
+ private:
+  unsigned int currentExtractionLevel;
+  pcl::PointCloud<pcl::mod_pointXYZ>::Ptr cloud;
+  OctreeXYZSearch::Ptr octree_p;
+
+  pcl::mod_pointXYZ cloudCentroid;
+
+  std::vector<Voxel> octreeVoxels;
+  std::vector<Point3D> octreeCentroids;
+
+  void calculateCloudCentroid();
+};
+
+/// Initializes pcl's cloud data structure from a vector of any type containing x, y, and z member
+/// variables.
+///@param[in] points The input data vector.
+template <typename T>
+void OctreeGenerator::initCloudFromVector(const std::vector<T> &points,
+                                          const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &input_cloud) {
+  // Note: Width and Height are only used to store the cloud as an image.
+  // Source width and height can be used instead of a linear representation.
+  // pcl::copyPointCloud<pcl::PointXYZRGB, pcl::PointXYZRGB>(*input_cloud, *cloud);
+  // pcl::PointCloud<pcl::PointXYZRGB>::Ptr new_cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
+  // pcl::copyPointCloud<pcl::mod_pointXYZ>(*input_cloud, cloud);
+  /*
+    for (const pcl::mod_pointXYZ &point : input_cloud) {
+      point.
+      cloud->points.push_back(point);
+    }
+*/
+  // cloud_xyzrgb.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
+  // pcl::copyPointCloud(*input_cloud, *cloud_xyzrgb);
+
+  // cloud_xyzrgb->width = input_cloud->points.size();
+  // cloud_xyzrgb->height = 1;
+
+  cloud->width = input_cloud->points.size();
+  cloud->height = 1;
+
+  cloud->points.resize(cloud->width * cloud->height);
+
+  for (size_t i = 0; i < cloud->points.size(); ++i) {
+    cloud->points[i].x = input_cloud->points[i].x;
+    cloud->points[i].y = input_cloud->points[i].y;
+    cloud->points[i].z = input_cloud->points[i].z;
+
+    uint8_t r_, g_, b_;
+    r_ = uint8_t(input_cloud->points[i].r);
+    g_ = uint8_t(input_cloud->points[i].g);
+    b_ = uint8_t(input_cloud->points[i].b);
+
+    uint32_t rgb_ = ((uint32_t)r_ << 16 | (uint32_t)g_ << 8 | (uint32_t)b_);
+    cloud->points[i].rgb = *reinterpret_cast<float *>(&rgb_);
+  }
+  calculateCloudCentroid();
+}
+}  // namespace htr
+
+#endif

dbscanlib/include/dbscan/cluster.h

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+/**
+ *@file cluster.h
+ *Cluster for 3d points.
+ */
+
+#ifndef CLUSTER
+#define CLUSTER
+
+#include "HTRBasicDataStructures.h"
+#include "OctreeGenerator.h"
+
+namespace dbScanSpace {
+class cluster {
+ public:
+  std::vector<pcl::mod_pointXYZ> clusterPoints;
+  std::vector<htr::Point3D> clusterPoints3D;
+
+  pcl::mod_pointXYZ centroid;
+  htr::Point3D centroid3D;
+  bool visited;
+
+  cluster();
+  void calculateCentroid();
+  void toPoint3D();
+
+ private:
+};
+}  // namespace dbScanSpace
+
+#endif  // CLUSTER