hfln-device-service/device-service-common/src/main/java/com/hfln/device/common/util/PointCloudUtil.java

package com.hfln.device.common.util;

import java.util.ArrayList;
import java.util.List;

/**
 * 点云数据处理工具类
 * 对应Python版本中的get_tracker_targets和get_tracker_targets_mult函数
 */
public class PointCloudUtil {
    
    private PointCloudUtil() {
        // 私有构造函数，防止实例化
    }
    
    /**
     * 获取目标点 (对应Python版本的get_tracker_targets函数)
     * 
     * Python版本实现：
     * def get_tracker_targets(point_cloud:list):
     *     target_point = numpy.mean(point_cloud, axis=0).tolist()
     *     tracker_targets = []
     *     tracker_targets.append(target_point)
     *     return tracker_targets
     * 
     * @param pointCloud 点云数据列表，格式：List<List<Float>>，每个点包含[x, y, z]坐标
     * @return 跟踪目标列表，格式：List<List<Float>>，每个目标包含[x, y, z]
     */
    public static List<List<Float>> getTrackerTargets(List<List<Float>> pointCloud) {
        if (pointCloud == null || pointCloud.isEmpty()) {
            return new ArrayList<>();
        }
        
        // 对应Python: target_point = numpy.mean(point_cloud, axis=0).tolist()
        List<Float> targetPoint = calculateMeanPoint(pointCloud);
        
        // 对应Python: tracker_targets = []
        List<List<Float>> trackerTargets = new ArrayList<>();
        
        // 对应Python: tracker_targets.append(target_point)
        trackerTargets.add(targetPoint);
        
        // 对应Python: return tracker_targets
        return trackerTargets;
    }
    
    /**
     * 获取多个目标点 (对应Python版本的get_tracker_targets_mult函数)
     * 
     * Python版本实现：
     * def get_tracker_targets_mult(point_cloud:list):
     *     target_point = numpy.mean(point_cloud, axis=0).tolist()
     *     tracker_targets = []
     *     tracker_targets.append(target_point)
     *     return tracker_targets
     * 
     * 注意：在Python版本中，get_tracker_targets_mult与get_tracker_targets实现完全相同
     * 
     * @param pointCloud 点云数据列表，格式：List<List<Float>>，每个点包含[x, y, z]坐标
     * @return 跟踪目标列表，格式：List<List<Float>>，每个目标包含[x, y, z]
     */
    public static List<List<Float>> getTrackerTargetsMult(List<List<Float>> pointCloud) {
        // 在Python版本中，get_tracker_targets_mult和get_tracker_targets实现相同
        return getTrackerTargets(pointCloud);
    }
    
    /**
     * 计算点云的平均点 (对应Python的numpy.mean(point_cloud, axis=0))
     * 
     * @param pointCloud 点云数据列表
     * @return 平均点坐标 [x, y, z]
     */
    private static List<Float> calculateMeanPoint(List<List<Float>> pointCloud) {
        if (pointCloud.isEmpty()) {
            return new ArrayList<>();
        }
        
        int dimensions = pointCloud.get(0).size();
        List<Float> mean = new ArrayList<>(dimensions);
        
        // 初始化平均值列表
        for (int i = 0; i < dimensions; i++) {
            mean.add(0.0f);
        }
        
        // 累加所有点的坐标 (对应numpy.mean的求和步骤)
        for (List<Float> point : pointCloud) {
            for (int i = 0; i < dimensions; i++) {
                mean.set(i, mean.get(i) + point.get(i));
            }
        }
        
        // 计算平均值 (对应numpy.mean的除法步骤)
        for (int i = 0; i < dimensions; i++) {
            mean.set(i, mean.get(i) / pointCloud.size());
        }
        
        return mean;
    }
}