void Ui::openDiffDialog()
{
diffDialog = new QDialog(this); // set as child of Ui, to be sure that it will be deleted in the end.
QVBoxLayout *diffDialogLayout = new QVBoxLayout; // create vertical layout
QVTKWidget *dialogVisualizer = new QVTKWidget; // create qvtk widget
dialogViewer = new pcl::visualization::PCLVisualizer("Dialog Viewer", false);
dialogVisualizer->SetRenderWindow(dialogViewer->getRenderWindow()); // set as render window the render window of the dialog visualizer
dialogViewer->setupInteractor(dialogVisualizer->GetInteractor(), dialogVisualizer->GetRenderWindow()); // tells the visualizer what interactor is using now and for what window
dialogViewer->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT); // ripristina input system of original visualizer (shift+click for points)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr regCloud = motor->getRegisteredCloud();
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(regCloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr diffCloud = motor->getSourceDiffCloud();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> green(diffCloud, 0, 255, 0);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> red(diffCloud, 255, 0, 0);
int v1(0); int v2(0);
dialogViewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
dialogViewer->setBackgroundColor(0.5, 0.5, 0.5, v1);
dialogViewer->addText("TARGET CLOUD", 30, 20,"TARGET CLOUD",v1);
dialogViewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
dialogViewer->setBackgroundColor(0.5, 0.5, 0.5, v2);
dialogViewer->addText("SOURCE CLOUD", 30, 20,"SOURCE CLOUD",v2);
dialogViewer->addPointCloud<pcl::PointXYZRGB>(motor->getTargetCloud(), rgb, "targetCloud", v1);
dialogViewer->addPointCloud<pcl::PointXYZRGB>(diffCloud, red, "targetDiffCloud", v1);
dialogViewer->addPointCloud<pcl::PointXYZRGB>(regCloud, rgb, "sourceCloud", v2);
dialogViewer->addPointCloud<pcl::PointXYZRGB>(diffCloud, green, "sourceDiffCloud", v2);
dialogViewer->initCameraParameters();
dialogViewer->resetCamera();
componentCallbackConnection = dialogViewer->registerPointPickingCallback(&pointPickCallback, this); // callback standard non segmenta nulla
QHBoxLayout *dialogControlsLayout = new QHBoxLayout;
QVBoxLayout *numbersBox = new QVBoxLayout;
QLineEdit *segDiffBox = new QLineEdit("0.5");
segDiffBox->setReadOnly(true);
segDiffBox->setObjectName("segdiffbox");
segDiffBox->setMaxLength(5);
segDiffBox->setMaximumWidth(50);
numbersBox->addWidget(segDiffBox);
QVBoxLayout *slidersBox = new QVBoxLayout;
QSlider *setSegDiffThresholdBar = new QSlider(Qt::Horizontal);
setSegDiffThresholdBar->setRange(0, 5000);
setSegDiffThresholdBar->setValue(500);
motor->setSegDiffThreshold(500);
setSegDiffThresholdBar->setObjectName("sliderSegDiff");
connect(setSegDiffThresholdBar, SIGNAL(sliderReleased()), this, SLOT(setSegDiffThreshold()));
slidersBox->addWidget(setSegDiffThresholdBar);
dialogControlsLayout->addLayout(numbersBox);
dialogControlsLayout->addLayout(slidersBox);
QPushButton *segmentDiffButton = new QPushButton("Segment differences");
segmentDiffButton->setDefault(true); // default button, pressed if enter is pressed
connect(segmentDiffButton, SIGNAL(clicked()), this, SLOT(segmentDiff()));
diffDialogLayout->addWidget(dialogVisualizer);
diffDialogLayout->addLayout(dialogControlsLayout);
diffDialogLayout->addWidget(segmentDiffButton);
diffDialog->setLayout(diffDialogLayout);
diffDialogLayout->deleteLater(); // delete dialog layout when the control returns to the event loop from which deleteLater() was called (after exec i guess)
diffDialog->resize(800,600);
diffDialog->exec();
componentCallbackConnection.disconnect(); // disconnect the callback function from the viewer
delete dialogViewer; // finita l'esecuzione, deallocare il viewer (deallocare altra eventuale memoria non indirizzata nel QObject tree).
}
void Ui::openComponentDialog()
{
addComponentDialog = new QDialog(this); // set as child of Ui, to be sure that it will be deleted in the end.
QVBoxLayout *dialogLayout = new QVBoxLayout; // create vertical layout
QVTKWidget *dialogVisualizer = new QVTKWidget; // create qvtk widget
dialogViewer = new pcl::visualization::PCLVisualizer("Dialog Viewer", false);
dialogVisualizer->SetRenderWindow(dialogViewer->getRenderWindow()); // set as render window the render window of the dialog visualizer
dialogViewer->setupInteractor(dialogVisualizer->GetInteractor(), dialogVisualizer->GetRenderWindow()); // tells the visualizer what interactor is using now and for what window
dialogViewer->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT); // ripristina input system of original visualizer (shift+click for points)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr temp = motor->getTargetCloud();
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(temp);
dialogViewer->addPointCloud<pcl::PointXYZRGB>(temp, rgb, "cloud");
dialogViewer->setBackgroundColor(0.5, 0.5, 0.5);
dialogViewer->initCameraParameters();
dialogViewer->resetCamera();
componentCallbackConnection = dialogViewer->registerPointPickingCallback(&pointPickCallback, this); // callback standard non segmenta nulla
QLineEdit *addComponentDialogName = new QLineEdit("Insert Component Name");
addComponentDialogName->setObjectName("componentname");
QHBoxLayout *dialogControlsLayout = new QHBoxLayout;
QVBoxLayout *buttonsBox = new QVBoxLayout;
QPushButton *selectPointButton = new QPushButton("Select Component");
connect(selectPointButton, SIGNAL(clicked()), this, SLOT(setComponentDialogCallback()));
QPushButton *resetButton = new QPushButton("Reset Selection");
connect(resetButton, SIGNAL(clicked()), this, SLOT(resetComponentDialogCallback()));
buttonsBox->addWidget(selectPointButton);
buttonsBox->addWidget(resetButton);
QVBoxLayout *numbersBox = new QVBoxLayout;
QColor *selectedColor = new QColor(0, 0, 0, 255); // initialize color at black
QPushButton *colorBox = new QPushButton("+-100");
colorBox->setObjectName("colorbox");
colorBox->setStyleSheet(colorToStyleSheet(selectedColor));
colorBox->setMaximumWidth(50);
QLineEdit *clusterBox = new QLineEdit("1");
clusterBox->setReadOnly(true);
clusterBox->setObjectName("clusterbox");
clusterBox->setMaxLength(5);
clusterBox->setMaximumWidth(50);
numbersBox->addWidget(clusterBox);
numbersBox->addWidget(colorBox);
QVBoxLayout *slidersBox = new QVBoxLayout;
QSlider *setCluThresholdBar = new QSlider(Qt::Horizontal);
setCluThresholdBar->setRange(0,5000);
setCluThresholdBar->setValue(1000);
motor->setClusterSegThreshold(1000);
setCluThresholdBar->setObjectName("sliderCluster");
connect(setCluThresholdBar, SIGNAL(sliderReleased()), this, SLOT(setClusterThreshold()));
QSlider *setColThresholdBar = new QSlider(Qt::Horizontal);
setColThresholdBar->setRange(0,255);
setColThresholdBar->setValue(100);
motor->setColorSegThreshold(100);
setColThresholdBar->setObjectName("sliderColor");
connect(setColThresholdBar, SIGNAL(sliderReleased()), this, SLOT(setColorThreshold()));
slidersBox->addWidget(setCluThresholdBar);
slidersBox->addWidget(setColThresholdBar);
QPushButton *showSegButton = new QPushButton("Segment!");
connect(showSegButton, SIGNAL(clicked()), this, SLOT(segmentComponent()));
dialogControlsLayout->addLayout(buttonsBox);
dialogControlsLayout->addLayout(numbersBox);
dialogControlsLayout->addLayout(slidersBox);
dialogControlsLayout->addWidget(showSegButton);
QPushButton *saveComponent = new QPushButton("Save to component list");
saveComponent->setDefault(true); // default button, pressed if enter is pressed
connect(saveComponent, SIGNAL(clicked()), this, SLOT(saveComponent()));
dialogLayout->addWidget(dialogVisualizer);
dialogLayout->addWidget(addComponentDialogName);
dialogLayout->addLayout(dialogControlsLayout);
dialogLayout->addWidget(saveComponent);
addComponentDialog->setLayout(dialogLayout);
// DIALOG EXECUTION
// addComponentDialog->deleteLater(); // delete dialog when the control returns to the event loop from which deleteLater() was called (after exec i guess)
// causa seg fault se viene attivata la callback
dialogLayout->deleteLater(); // delete dialog layout when the control returns to the event loop from which deleteLater() was called (after exec i guess)
addComponentDialog->resize(800,600);
addComponentDialog->exec();
componentCallbackConnection.disconnect(); // disconnect the callback function from the viewer
delete dialogViewer; // finita l'esecuzione, deallocare il viewer (deallocare altra eventuale memoria non indirizzata nel QObject tree).
}
void Ui::openCheckDialog()
{
addCheckDialog = new QDialog(this); // set as child of Ui, to be sure that it will be deleted in the end.
QVBoxLayout *dialogLayout = new QVBoxLayout;
QTabWidget *tabWidget = new QTabWidget();
QWidget *presence = new QWidget();
QVBoxLayout *presenceLayout = new QVBoxLayout();
QLineEdit *presenceName = new QLineEdit(QString("Insert check name"));
QComboBox *presenceComp = new QComboBox();
QLineEdit *presenceThreshold = new QLineEdit(QString("Insert error threshold (number of points difference)"));
QPushButton *presenceAdd = new QPushButton(QString("Add Check"));
//connect
presenceLayout->addWidget(presenceName);
presenceLayout->addWidget(presenceComp);
presenceLayout->addWidget(presenceThreshold);
presenceLayout->addWidget(presenceAdd);
presence->setLayout(presenceLayout);
QWidget *planarity = new QWidget();
QVBoxLayout *planarityLayout = new QVBoxLayout();
QLineEdit *planarityName = new QLineEdit(QString("Insert check name"));
QComboBox *planarityComp = new QComboBox();
QLineEdit *planarityThreshold = new QLineEdit(QString("Insert error threshold (angular inclination)"));
QPushButton *planarityAdd = new QPushButton(QString("Add Check"));
//connect
planarityLayout->addWidget(planarityName);
planarityLayout->addWidget(planarityComp);
planarityLayout->addWidget(planarityThreshold);
planarityLayout->addWidget(planarityAdd);
planarity->setLayout(planarityLayout);
QWidget *pose = new QWidget();
QVBoxLayout *poseLayout = new QVBoxLayout();
QLineEdit *poseName = new QLineEdit(QString("Insert check name"));
QComboBox *poseComp = new QComboBox();
QLineEdit *poseThreshold = new QLineEdit(QString("Insert error threshold (angular inclination)"));
QPushButton *poseAdd = new QPushButton(QString("Add Check"));
//connect
poseLayout->addWidget(poseName);
poseLayout->addWidget(poseComp);
poseLayout->addWidget(poseThreshold);
poseLayout->addWidget(poseAdd);
pose->setLayout(poseLayout);
QWidget *color = new QWidget();
QVBoxLayout *colorLayout = new QVBoxLayout();
QLineEdit *colorName = new QLineEdit(QString("Insert check name"));
QComboBox *colorComp = new QComboBox();
QLineEdit *colorThreshold = new QLineEdit(QString("Insert error threshold (color difference in r g b values)"));
QPushButton *colorAdd = new QPushButton(QString("Add Check"));
//connect
colorLayout->addWidget(colorName);
colorLayout->addWidget(colorComp);
colorLayout->addWidget(colorThreshold);
colorLayout->addWidget(colorAdd);
color->setLayout(colorLayout);
QWidget *distance = new QWidget();
QVBoxLayout *distanceLayout = new QVBoxLayout();
QLineEdit *distanceName = new QLineEdit(QString("Insert check name"));
QComboBox *distanceComp = new QComboBox();
QComboBox *distanceComp2 = new QComboBox();
QLineEdit *distanceThreshold = new QLineEdit(QString("Insert error threshold (distance difference)"));
QPushButton *distanceAdd = new QPushButton(QString("Add Check"));
//connect
distanceLayout->addWidget(distanceName);
distanceLayout->addWidget(distanceComp);
distanceLayout->addWidget(distanceComp2);
distanceLayout->addWidget(distanceThreshold);
distanceLayout->addWidget(distanceAdd);
distance->setLayout(distanceLayout);
QWidget *height = new QWidget();
QVBoxLayout *heightLayout = new QVBoxLayout();
QLineEdit *heightName = new QLineEdit(QString("Insert check name"));
QComboBox *heightComp = new QComboBox();
QLineEdit *heightThreshold = new QLineEdit(QString("Insert error threshold (height difference)"));
QPushButton *heightAdd = new QPushButton(QString("Add Check"));
//connect
heightLayout->addWidget(heightName);
heightLayout->addWidget(heightComp);
heightLayout->addWidget(heightThreshold);
heightLayout->addWidget(heightAdd);
height->setLayout(heightLayout);
QWidget *circleRadius = new QWidget();
QVBoxLayout *circleLayout = new QVBoxLayout();
QLineEdit *circleRadiusName = new QLineEdit(QString("Insert check name"));
QComboBox *circleRadiusComp = new QComboBox();
QLineEdit *circleRadiusThreshold = new QLineEdit(QString("Insert error threshold (circle radius difference)"));
QPushButton *circleRadiusAdd = new QPushButton(QString("Add Check"));
//connect
circleLayout->addWidget(circleRadiusName);
circleLayout->addWidget(circleRadiusComp);
circleLayout->addWidget(circleRadiusThreshold);
circleLayout->addWidget(circleRadiusAdd);
circleRadius->setLayout(circleLayout);
QWidget *cable = new QWidget();
QVBoxLayout *cableLayout = new QVBoxLayout();
QLineEdit *cableName = new QLineEdit(QString("Insert check name"));
QComboBox *cableComp = new QComboBox();
QLineEdit *cableLengthThreshold = new QLineEdit(QString("Insert error threshold (cable length difference)"));
//definire punti di routing e connessione, forse servirebbe un visualizzatore in questo caso
QPushButton *cableAdd = new QPushButton(QString("Add Check"));
//connect
cableLayout->addWidget(cableName);
cableLayout->addWidget(cableComp);
cableLayout->addWidget(cableLengthThreshold);
cableLayout->addWidget(cableAdd);
cable->setLayout(cableLayout);
tabWidget->addTab(presence, QString("Presence"));
tabWidget->addTab(planarity, QString("Planarity"));
tabWidget->addTab(pose, QString("Pose"));
tabWidget->addTab(color, QString("Color"));
tabWidget->addTab(distance, QString("Distance"));
tabWidget->addTab(height, QString("Height"));
tabWidget->addTab(circleRadius, QString("Circle Radius"));
tabWidget->addTab(cable, QString("Cable"));
dialogLayout->addWidget(tabWidget);
addCheckDialog->setLayout(dialogLayout);
addCheckDialog->deleteLater(); // delete dialog when the control returns to the event loop from which deleteLater() was called (after exec i guess)
dialogLayout->deleteLater(); // delete dialog layout when the control returns to the event loop from which deleteLater() was called (after exec i guess)
addCheckDialog->resize(640, 240);
addCheckDialog->exec();
}
