void
pcl::modeler::SceneTree::slotImportPointCloud()
{
MainWindow* main_window = &MainWindow::getInstance();
if (selectedRenderWindowItems().empty())
{
QMessageBox::warning(main_window,
tr("Failed to Import Point Cloud"),
tr("Please specify in which render window(s) you want to import the point cloud(s)"));
return;
}
QStringList filenames = QFileDialog::getOpenFileNames(main_window,
tr("Import Point Cloud"),
main_window->getRecentFolder(),
tr("Point Cloud(*.pcd)\n")
);
if (filenames.isEmpty())
return;
for (QStringList::const_iterator filenames_it = filenames.begin();
filenames_it != filenames.end();
++ filenames_it)
{
if (!openPointCloud(*filenames_it))
QMessageBox::warning(main_window,
tr("Failed to Import Point Cloud"),
tr("Can not import point cloud file %1, please check if it's in valid .pcd format!").arg(*filenames_it));
}
return;
}
void
pcl::modeler::SceneTree::slotOpenPointCloud()
{
MainWindow* main_window = &MainWindow::getInstance();
QList<RenderWindowItem*> selected_render_window_items = selectedRenderWindowItems();
if (selected_render_window_items.empty())
{
QMessageBox::warning(main_window,
tr("Failed to Open Point Cloud"),
tr("Please specify in which render window(s) you want to open the point cloud(s)"));
return;
}
QStringList filenames = QFileDialog::getOpenFileNames(main_window,
tr("Open Point Cloud"),
main_window->getRecentFolder(),
tr("Point Cloud(*.pcd)\n")
);
if (filenames.isEmpty())
return;
for (QList<RenderWindowItem*>::iterator selected_render_window_items_it = selected_render_window_items.begin();
selected_render_window_items_it != selected_render_window_items.end();
++ selected_render_window_items_it)
{
RenderWindowItem* render_window_item = *selected_render_window_items_it;
QList<CloudMeshItem*> cloud_mesh_items;
for (int i = 0, i_end = render_window_item->childCount(); i < i_end; ++ i)
cloud_mesh_items.push_back(dynamic_cast<CloudMeshItem*>(render_window_item->child(i)));
closePointCloud(cloud_mesh_items);
}
for (QStringList::const_iterator filenames_it = filenames.begin();
filenames_it != filenames.end();
++ filenames_it)
{
if (!openPointCloud(*filenames_it))
QMessageBox::warning(main_window,
tr("Failed to Open Point Cloud"),
tr("Can not open point cloud file %1, please check if it's in valid .pcd format!").arg(*filenames_it));
}
return;
}
bool
pcl::modeler::SceneTree::openPointCloud(const QString& filename)
{
QList<RenderWindowItem*> selected_render_window_items = selectedRenderWindowItems();
for (auto &selected_render_window_item : selected_render_window_items)
{
if(!selected_render_window_item->openPointCloud(filename))
return (false);
expandItem(selected_render_window_item);
}
emit fileOpened(filename);
return (true);
}
bool
pcl::modeler::SceneTree::openPointCloud(const QString& filename)
{
QList<RenderWindowItem*> selected_render_window_items = selectedRenderWindowItems();
for (QList<RenderWindowItem*>::iterator selected_render_window_items_it = selected_render_window_items.begin();
selected_render_window_items_it != selected_render_window_items.end();
++ selected_render_window_items_it)
{
if(!(*selected_render_window_items_it)->openPointCloud(filename))
return (false);
expandItem(*selected_render_window_items_it);
}
emit fileOpened(filename);
return (true);
}
void
pcl::modeler::SceneTree::slotICPRegistration()
{
QList<CloudMeshItem*> selected_cloud_mesh_items = selectedTypeItems<CloudMeshItem>();
CloudMesh::PointCloudPtr result(new CloudMesh::PointCloud());
AbstractWorker* worker = new ICPRegistrationWorker(result, selected_cloud_mesh_items,&MainWindow::getInstance());
ThreadController* thread_controller = new ThreadController();
QList<RenderWindowItem*> selected_render_window_items = selectedRenderWindowItems();
for (auto &selected_render_window_item : selected_render_window_items)
{
CloudMeshItem* cloud_mesh_item = selected_render_window_item->addPointCloud(result);
expandItem(selected_render_window_item);
connect(worker, SIGNAL(finished()), new CloudMeshItemUpdater(cloud_mesh_item), SLOT(updateCloudMeshItem()));
}
thread_controller->runWorker(worker);
return;
}
