pcl::CorrespondencesPtr CloudMapper::LandmarksToCorresponencies(Cloud::Ptr &cloud1, CloudMapper::Landmarks &landmarks1, Cloud::Ptr &cloud2, CloudMapper::Landmarks &landmarks2)
{
pcl::CorrespondencesPtr result(new pcl::Correspondences);
int resultSize = std::min(landmarks1.size(), landmarks2.size());
for (int i = 0; i < resultSize; i++)
{
auto sourcePoint1 = landmarks1.at(i).point;
auto sourcePoint2 = landmarks2.at(i).point;
auto p1IsNotNan = IsNotNAN(sourcePoint1);
auto p2IsNotNan = IsNotNAN(sourcePoint2);
if (p1IsNotNan && p2IsNotNan)
{
CloudMapper::Landmarks::value_type pt1 = FindClosestPoint(cloud1, sourcePoint1);
CloudMapper::Landmarks::value_type pt2 = FindClosestPoint(cloud2, sourcePoint2);
float distance = CalculateDistance(pt1.point, pt2.point);
pcl::Correspondence correspondence(pt1.index, pt2.index, distance);
result->push_back(correspondence);
}
}
return result;
}
ReturnValues Users::addGroupChat(const QString &admiLogin, QVector<QString> participantslogins, const int &IDNumber)/*,Correspondence *groupCaht)*/
{
User *admin;
QVector<User*> participants;
QList<User>::iterator it = m_users.begin();
while (it != m_users.end())
{
if(admiLogin == (*it).getLogin())
{
admin =& (*it);
it++;
continue;
}
for(int j = 0; j < participantslogins.size(); j++)
{
if(participantslogins[j] == (*it).getLogin())
{
participants.push_back(&(*it));
break;
}
}
it++;
}
Correspondence correspondence(admin, participants,IDNumber);
m_Correspondence.push_back(correspondence);
QList<Correspondence>::iterator j = m_Correspondence.begin();
while(j != m_Correspondence.end())
{
if((*j).findIDNumber(IDNumber))
{
admin->addGroupCorrespondence(&(*j));
for(int h = 0; h < participants.size(); h++)
{
participants[h]->addGroupCorrespondence(&(*j));
}
break;
}
j++;
}
return createdChat;
}
ReturnValues Users::addFriend(const QString &userLogin,
const QString &friendLogin)
{
User *puser = NULL;
User *pfriend = NULL;
QList<User>::iterator it = m_users.begin();
while (it != m_users.end())
{
if (userLogin == (*it).getLogin())
{
puser =& (*it);
}
if (friendLogin == (*it).getLogin())
{
pfriend =& (*it);
}
if (puser && pfriend)
{
Correspondence correspondence(puser, pfriend); //create correspondence
m_Correspondence.push_back(correspondence);
QList<Correspondence>::iterator j = m_Correspondence.begin();
while(j != m_Correspondence.end())
{
if((*j).findParticipants(userLogin, friendLogin))
{
puser->addFriend(pfriend, &(*j));
pfriend->addFriend(puser, &(*j));
return ReturnValues::addedFriend;
}
j++;
}
}
it++;
}
return ReturnValues::returnNull;
}
