/**
* compute the normals using a mask
*/
void ZAdaptiveNormals::compute(const v4r::DataMatrix2D<Eigen::Vector3f> &cloud, const std::vector<int> &indices, std::vector<Eigen::Vector3f> &normals)
{
width = cloud.cols;
height = cloud.rows;
normals.resize(indices.size());
estimateNormals(cloud, indices, normals);
}
/**
* compute the normals
*/
void ZAdaptiveNormals::compute(const v4r::DataMatrix2D<Eigen::Vector3f> &cloud, v4r::DataMatrix2D<Eigen::Vector3f> &normals)
{
width = cloud.cols;
height = cloud.rows;
normals.resize(height, width);
estimateNormals(cloud, normals);
}
/**
* @brief It computes de boundary of a cloud. The mask must have at least one element.
*
* @param cloud Cloud in which the boundary are computed.
*/
void PlaneSegmentation::computeBoundary(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud) {
// Compute normals.
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>());
estimateNormals(cloud, normals, 0.015);
// Ignore points with a different normal.
pcl::PointIndices::Ptr filtIndices(new pcl::PointIndices());
filterByNormal(normals, maskIndices, coefficients, 15.0, filtIndices);
// Project point cloud to a plane.
pcl::ModelCoefficients::ConstPtr coefPtr = boost::make_shared<pcl::ModelCoefficients>(coefficients);
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr projectedCloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(new pcl::PointCloud<pcl::PointXYZRGBA>());
projectToPlane(cloud, coefPtr, projectedCloud);
// Clustering.
std::vector<pcl::PointIndices> clusterIndices;
clustering(projectedCloud, filtIndices, 0.02, 5000, clusterIndices);
assert(clusterIndices.size() > 0);
// Find the biggest cluster.
int max_size = clusterIndices[0].indices.size();
int max_pos = 0;
for(int i = 0; i < clusterIndices.size(); i++) {
if (clusterIndices[i].indices.size() > max_size) {
max_size = clusterIndices[i].indices.size();
max_pos = i;
}
}
pcl::PointIndices::ConstPtr clusterIndicesPtr = boost::make_shared<pcl::PointIndices>(clusterIndices[max_pos]);
// Compute the convex hull of the cluster.
pcl::PointIndices hullIndices = pcl::PointIndices();
findConvexHull(projectedCloud, clusterIndicesPtr, hullIndices);
pcl::PointIndices::ConstPtr hullIndicesPtr = boost::make_shared<pcl::PointIndices>(hullIndices);
// Simplify convex polygon.
pcl::PointIndices boundaryIndices;
polygonSimplification(projectedCloud, hullIndicesPtr, coefficients.values, 4, boundaryIndices);
// Copy boundary points.
boundary = std::vector<pcl::PointXYZRGBA>(boundaryIndices.indices.size());
for(int j = 0; j < boundary.size(); j++) {
boundary[j] = cloud->points[boundaryIndices.indices[j]];
}
}
void kpoAnalyzerThread::operator ()()
{
std::cout << "cloud has " << scene_cloud_->size() << " points" << std::endl;
Cloud cleanCloud;
removeNoise(scene_cloud_, cleanCloud);
pcl::copyPointCloud(cleanCloud, *scene_cloud_);
std::cout << "filtered cloud has " << scene_cloud_->size() << " points" << std::endl;
/*
if (scene_cloud_->size() < 25) {
std::cout << "cloud too small" << std::endl;
return;
}
/*
if (scene_cloud_->size() > 40000) {
std::cout << "cloud too large" << std::endl;
return;
}
*/
NormalCloud::Ptr scene_normals_(new NormalCloud());
estimateNormals(scene_cloud_, scene_normals_);
Cloud::Ptr scene_keypoints_(new Cloud());
downSample(scene_cloud_, scene_keypoints_);
DescriptorCloud::Ptr scene_descriptors_(new DescriptorCloud());
computeShotDescriptors(scene_cloud_, scene_keypoints_, scene_normals_, scene_descriptors_);
RFCloud::Ptr scene_refs_(new RFCloud());
estimateReferenceFrames(scene_cloud_, scene_normals_, scene_keypoints_, scene_refs_);
kpoCloudDescription od;
od.cloud = *scene_cloud_;
od.keypoints = *scene_keypoints_;
od.normals = *scene_normals_;
od.descriptors = *scene_descriptors_;
od.reference_frames = *scene_refs_;
od.filename = filename;
od.object_id = object_id;
callback_(od);
}
void LVRMainWindow::connectSignalsAndSlots()
{
QObject::connect(m_actionOpen, SIGNAL(activated()), this, SLOT(loadModel()));
QObject::connect(m_actionExport, SIGNAL(activated()), this, SLOT(exportSelectedModel()));
QObject::connect(treeWidget, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(showTreeContextMenu(const QPoint&)));
QObject::connect(treeWidget, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(restoreSliders(QTreeWidgetItem*, int)));
QObject::connect(treeWidget, SIGNAL(itemChanged(QTreeWidgetItem*, int)), this, SLOT(setModelVisibility(QTreeWidgetItem*, int)));
QObject::connect(m_actionQuit, SIGNAL(activated()), qApp, SLOT(quit()));
QObject::connect(m_actionShowColorDialog, SIGNAL(activated()), this, SLOT(showColorDialog()));
QObject::connect(m_actionRenameModelItem, SIGNAL(activated()), this, SLOT(renameModelItem()));
QObject::connect(m_actionDeleteModelItem, SIGNAL(activated()), this, SLOT(deleteModelItem()));
QObject::connect(m_actionExportModelTransformed, SIGNAL(activated()), this, SLOT(exportSelectedModel()));
QObject::connect(m_actionReset_Camera, SIGNAL(activated()), this, SLOT(updateView()));
QObject::connect(m_actionStore_Current_View, SIGNAL(activated()), this, SLOT(saveCamera()));
QObject::connect(m_actionRecall_Stored_View, SIGNAL(activated()), this, SLOT(loadCamera()));
QObject::connect(m_actionCameraPathTool, SIGNAL(activated()), this, SLOT(openCameraPathTool()));
QObject::connect(m_actionEstimate_Normals, SIGNAL(activated()), this, SLOT(estimateNormals()));
QObject::connect(m_actionMarching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingMarchingCubes()));
QObject::connect(m_actionPlanar_Marching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingPlanarMarchingCubes()));
QObject::connect(m_actionExtended_Marching_Cubes, SIGNAL(activated()), this, SLOT(reconstructUsingExtendedMarchingCubes()));
QObject::connect(m_actionPlanar_Optimization, SIGNAL(activated()), this, SLOT(optimizePlanes()));
QObject::connect(m_actionRemove_Artifacts, SIGNAL(activated()), this, SLOT(removeArtifacts()));
QObject::connect(m_actionRemove_Outliers, SIGNAL(activated()), this, SLOT(removeOutliers()));
QObject::connect(m_actionMLS_Projection, SIGNAL(activated()), this, SLOT(applyMLSProjection()));
QObject::connect(m_actionICP_Using_Manual_Correspondance, SIGNAL(activated()), this, SLOT(manualICP()));
QObject::connect(m_menuAbout, SIGNAL(triggered(QAction*)), this, SLOT(showAboutDialog(QAction*)));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(accepted()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(accepted()), this, SLOT(alignPointClouds()));
QObject::connect(m_correspondanceDialog->m_dialog, SIGNAL(rejected()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog, SIGNAL(addArrow(LVRVtkArrow*)), this, SLOT(addArrow(LVRVtkArrow*)));
QObject::connect(m_correspondanceDialog, SIGNAL(removeArrow(LVRVtkArrow*)), this, SLOT(removeArrow(LVRVtkArrow*)));
QObject::connect(m_correspondanceDialog, SIGNAL(disableCorrespondenceSearch()), m_pickingInteractor, SLOT(correspondenceSearchOff()));
QObject::connect(m_correspondanceDialog, SIGNAL(enableCorrespondenceSearch()), m_pickingInteractor, SLOT(correspondenceSearchOn()));
QObject::connect(m_actionShow_Points, SIGNAL(toggled(bool)), this, SLOT(togglePoints(bool)));
QObject::connect(m_actionShow_Normals, SIGNAL(toggled(bool)), this, SLOT(toggleNormals(bool)));
QObject::connect(m_actionShow_Mesh, SIGNAL(toggled(bool)), this, SLOT(toggleMeshes(bool)));
QObject::connect(m_actionShow_Wireframe, SIGNAL(toggled(bool)), this, SLOT(toggleWireframe(bool)));
QObject::connect(m_actionShowBackgroundSettings, SIGNAL(activated()), this, SLOT(showBackgroundDialog()));
QObject::connect(m_horizontalSliderPointSize, SIGNAL(valueChanged(int)), this, SLOT(changePointSize(int)));
QObject::connect(m_horizontalSliderTransparency, SIGNAL(valueChanged(int)), this, SLOT(changeTransparency(int)));
QObject::connect(m_comboBoxShading, SIGNAL(currentIndexChanged(int)), this, SLOT(changeShading(int)));
QObject::connect(m_buttonCameraPathTool, SIGNAL(pressed()), this, SLOT(openCameraPathTool()));
QObject::connect(m_buttonCreateMesh, SIGNAL(pressed()), this, SLOT(reconstructUsingMarchingCubes()));
QObject::connect(m_buttonExportData, SIGNAL(pressed()), this, SLOT(exportSelectedModel()));
QObject::connect(m_buttonTransformModel, SIGNAL(pressed()), this, SLOT(showTransformationDialog()));
QObject::connect(m_pickingInteractor, SIGNAL(firstPointPicked(double*)),m_correspondanceDialog, SLOT(firstPointPicked(double*)));
QObject::connect(m_pickingInteractor, SIGNAL(secondPointPicked(double*)),m_correspondanceDialog, SLOT(secondPointPicked(double*)));
QObject::connect(this, SIGNAL(correspondenceDialogOpened()), m_pickingInteractor, SLOT(correspondenceSearchOn()));
}
