int Utils::savePointCloud(const CloudPtr &cloud, const std::string &path)
{
if (path.empty())
return -6;
std::string ext(path.substr(path.rfind('.') == std::string::npos ? path.length() : path.rfind('.') + 1));
if (ext == "pcd" || ext == "PCD")
{
if (pcl::io::savePCDFileBinaryCompressed(path, *cloud) != 0)
return -1;
}
if (ext == "ply" || ext == "PLY")
{
if (pcl::io::savePLYFileASCII(path, *cloud) != 0)
return -1;
}
if (ext == "txt" || ext == "TXT")
{
if (saveTXTFile(path, *cloud) != 0)
return -1;
}
return 0;
}
//Create a CGLWin widget
CGLWin::CGLWin(void):
QMainWindow( 0, "View3D", WDestructiveClose),
m_pListViews(NULL)
{
int i;
// Data members;
CGLDrawParms tDraw;
_drawParms = tDraw;
m_nTimeDelay = 0;
for (i=0; i<VIEW3D_MAX_OBJ_COUNT; i++) _pCia3dObjs[i] = NULL;
// setup printer
m_pPrinter = new QPrinter;
// GUI members, create a toolbar;
m_pToolBar = _createToolBar();
// populate a menu with all actions
m_pMenuBar = menuBar();
assert(m_pMenuBar!=NULL);
//====================File options ==========================
{
QPopupMenu * file = new QPopupMenu( this );
menuBar()->insertItem( "&File ", file );
_fileNewAction->addTo( file );
_fileOpenAction->addTo( file );
_fileSaveAction->addTo( file );
file->insertSeparator();
file->insertItem( "Open Background", this, SLOT(openBackgroundImage()), NULL);
file->insertItem( "Load Camera", this, SLOT(loadCamera()), NULL);
file->insertItem( "Save Camera", this, SLOT(saveCamera()), NULL);
file->insertSeparator(); //===========================
file->insertItem( "Export Povray", this, SLOT(exportPovray()), NULL);
file->insertItem( "Export STL", this, SLOT(saveSTLFile()), NULL);
file->insertItem( "Export TXT", this, SLOT(saveTXTFile()), NULL);
file->insertItem( "Export EPS", this, SLOT(exportEps()), NULL);
file->insertSeparator(); //===========================
_filePrintAction->addTo( file );
file->insertSeparator(); //===========================
file->insertItem( "E&xit", qApp, SLOT(closeAllWindows()), NULL);
}
//================ Tools Options ================================
{
QPopupMenu * pMenuTools = new QPopupMenu( this );
menuBar()->insertItem( "&Tools", pMenuTools );
pMenuTools->insertItem( "Show Entire Scene", this, SLOT(show_entirescene()));
pMenuTools->insertItem( "Dupe Current Object", this, SLOT(dupe_currentobj()));
pMenuTools->insertItem( "Dupe Current Object N", this, SLOT(dupe_currentobjN()));
{// Animation options
pMenuTools->insertSeparator(); //=======================
QPopupMenu * pAnimOption = new QPopupMenu( this );
pMenuTools->insertItem( "&Prepare Animation", pAnimOption);
pAnimOption->insertItem( "Setup", this, SLOT(create_animation()));
QAction* startAction = new QAction(QPixmap(play_xpm), "&Start Animation", Qt::Key_F10, this);
connect(startAction, SIGNAL(activated()), this, SLOT(startAnimation()));
startAction->addTo( pAnimOption );
pAnimOption->insertItem( "Stop Animation", this, SLOT(stopAnimation()), Qt::Key_F11);
pAnimOption->insertItem( "Change Delay Time", this, SLOT(editDelayTime()));
{//toggle fast draw mode
m_pActRepeatPlay = new QAction("Repeat", CTRL+Key_T, this);
connect(m_pActRepeatPlay, SIGNAL(activated()), this, SLOT(toggleRepeatPlay()));
m_pActRepeatPlay->setToggleAction(true);
m_pActRepeatPlay->setOn(false);
m_pActRepeatPlay->addTo( pAnimOption );
}
}
pMenuTools->insertSeparator(); //=======================
{// Stereo options
QPopupMenu * pStereoOption = new QPopupMenu( this );
pMenuTools->insertItem( "&Stereo", pStereoOption);
QAction* m_pActToggleStereo = new QAction("Stereo Mode", Qt::Key_F12, this);
connect(m_pActToggleStereo, SIGNAL(activated()), this, SLOT(toggleStereo()));
m_pActToggleStereo->setToggleAction(true);
m_pActToggleStereo->setOn(false);
m_pActToggleStereo->addTo( pStereoOption );
pStereoOption->insertItem( "Increase Eye Distance", this, SLOT(incEyeDistance()), Qt::Key_Plus);
pStereoOption->insertItem( "Decrease Eye Distance", this, SLOT(decEyeDistance()), Qt::Key_Minus);
}
//pMenuTools->insertItem( "Rotation Axis", this, SLOT(InputRotationAxis()), NULL);
//pMenuTools->insertItem( "Mirror Plane", this, SLOT(InputMirrorPlane()), NULL);
//pMenuTools->insertSeparator();
//pMenuTools->insertItem( "Vector Hidden Line Removal", this, SLOT(hidden_line()), CTRL+Key_H);
//pMenuTools->insertSeparator(); //=======================
pMenuTools->insertSeparator(); //=======================
pMenuTools->insertItem( "Set Mirror Plane", this, SLOT(InputMirrorPlane()));
pMenuTools->insertItem( "Set Rotation Axis", this, SLOT(InputRotationAxis()));
}
//================ Rendering options ================================
{
QPopupMenu * pMenuOption = new QPopupMenu( this );
menuBar()->insertItem( "&Options", pMenuOption );
pMenuOption->insertItem( "Global Setting", this, SLOT(OptionGlobalSetting()));
pMenuOption->insertItem( "Surface Rendering", this, SLOT(OptionRendering()));
pMenuOption->insertItem( "Volume Rendering", this, SLOT(OptionVolumeRendering()));
pMenuOption->insertSeparator(); //=======================
{
QPopupMenu * pPickOption = new QPopupMenu( this );
pMenuOption->insertItem( "&Picking Types", pPickOption);
pPickOption->insertItem( "Pick an Object", this, SLOT(set_obj_picking()));
pPickOption->insertItem( "Pick a Polygon", this, SLOT(set_face_picking()));
pPickOption->insertItem( "Pick a Line", this, SLOT(set_line_picking()));
}
QAction* act_mirroring = new QAction("Mirroring", 0, this);
connect( act_mirroring, SIGNAL(activated()), this, SLOT(OptionMirroring()));
act_mirroring->setToggleAction(true);
act_mirroring->setOn(false);
act_mirroring->addTo( pMenuOption );
m_pMirroringAction = act_mirroring;
QPopupMenu * pRotOption = new QPopupMenu( this );
pMenuOption->insertItem( "&Rotation Types", pRotOption);
QAction* act_rot0obj = new QAction("Rotate 90 Degree", 0, this);
connect( act_rot0obj, SIGNAL(activated()), this, SLOT(OptionRotate90()));
act_rot0obj->addTo( pRotOption );
QAction* act_rot1obj = new QAction("Rotate 180 Degree", 0, this);
connect( act_rot1obj, SIGNAL(activated()), this, SLOT(OptionRotate180()));
act_rot1obj->addTo( pRotOption );
QAction* act_rot2obj = new QAction("Rotate 270 Degree", 0, this);
connect( act_rot2obj, SIGNAL(activated()), this, SLOT(OptionRotate270()));
act_rot2obj->addTo( pRotOption );
m_pRot90Action = act_rot0obj;
m_pRot180Action = act_rot1obj;
m_pRot270Action = act_rot2obj;
m_pRot90Action->setToggleAction(true);
m_pRot90Action->setOn(false);
m_pRot180Action->setToggleAction(true);
m_pRot180Action->setOn(false);
m_pRot270Action->setToggleAction(true);
m_pRot270Action->setOn(false);
//show background image buttion
QAction* act_showbgimg = new QAction("Background Image", 0, this);
connect( act_showbgimg, SIGNAL(activated()), this, SLOT(ShowBackgroundImage()));
act_showbgimg->setToggleAction(true);
act_showbgimg->setOn(false);
act_showbgimg->addTo( pMenuOption );
m_pBGImageAction = act_showbgimg;
//show floor plane buttion
QAction* act_showfloor = new QAction(QString::fromLocal8Bit("Floor Plane"), 0, this);
connect( act_showfloor, SIGNAL(activated()), this, SLOT(ShowFloor()));
act_showfloor->setToggleAction(true);
act_showfloor->setOn(false);
act_showfloor->addTo( pMenuOption );
m_pFloorAction = act_showfloor;
{//Toggle fast draw mode
m_pActFastDraw = new QAction("Fast Drawing", 0, this);
connect(m_pActFastDraw, SIGNAL(activated()), this, SLOT(toggleFastDraw()));
m_pActFastDraw->setToggleAction(true);
m_pActFastDraw->setOn(false);
m_pActFastDraw->addTo( pMenuOption );
}
}
//========change opengl window size ==========================
{
QPopupMenu * pMenuGLWinsize = new QPopupMenu( this );
menuBar()->insertItem( "&Window", pMenuGLWinsize );
pMenuGLWinsize->insertItem( "320x200", this, SLOT(setGLWinSize320x200()), CTRL+Qt::Key_3);
pMenuGLWinsize->insertItem( "400x400", this, SLOT(setGLWinSize400x400()), CTRL+Qt::Key_4);
pMenuGLWinsize->insertItem( "500x400", this, SLOT(setGLWinSize500x400()), CTRL+Qt::Key_5);
pMenuGLWinsize->insertItem( "500x500", this, SLOT(setGLWinSize500x500()), CTRL+Qt::Key_2 );
pMenuGLWinsize->insertItem( "640x480", this, SLOT(setGLWinSize640x480()), CTRL+Qt::Key_6);
pMenuGLWinsize->insertItem( "800x600", this, SLOT(setGLWinSize800x600()), CTRL+Qt::Key_8);
pMenuGLWinsize->insertItem( "1024x768", this, SLOT(setGLWinSize1024x768()), CTRL+Qt::Key_1);
pMenuGLWinsize->insertSeparator();
pMenuGLWinsize->insertItem( "Swap Width/Height", this, SLOT(swapWidthHeight()), CTRL+Key_W);
pMenuGLWinsize->insertItem( "Input Width/Height", this, SLOT(inputWidthHeight()), CTRL+Key_I);
}
/*
{
QPopupMenu * pPopMenu = new QPopupMenu( this );
menuBar()->insertItem( "&My Research", pPopMenu );
pPopMenu->insertItem( "Bar Recons", this, SLOT(detail_recon_bar()));
pPopMenu->insertItem( "Vase Recons", this, SLOT(detail_recon_vase()));
pPopMenu->insertSeparator();
pPopMenu->insertItem( "Letter Size Plate", this, SLOT(detail_recon_a4plate()));
pPopMenu->insertSeparator();
pPopMenu->insertItem( "Detail Recon Dialog", this, SLOT(detail_recon_anyobj()));
}
*/
//================ end Rendering options ================================
QGLFormat format;
format.setStereo( true );
m_pGLUIWin = new Viewer(format, this, "Viewer3D");
assert(m_pGLUIWin!=NULL);
statusBar()->setFixedHeight( fontMetrics().height() + 6 );
statusBar()->message( "Viewer ready", 3000 );
setCentralWidget(m_pGLUIWin);
m_pGLUIWin->setDrawingData(&_drawParms);
m_pGLUIWin->m_SceneGraph.hookObject(m_pGLUIWin);
m_pGLUIWin->m_SceneGraph.hookGLWindow(m_pGLUIWin);
//================ dock window==================
QString appDir;
m_pFemBar=_createDockWidgetBar(this, appDir);
}
