ToolsMenu::ToolsMenu(ImageViewer* iv, QWidget* parent) :
QWidget(parent),
ui(new Ui::ToolsMenu)
{
ui->setupUi(this);
setLayout(ui->verticalLayoutWidget->layout());
m_viewer = (ImageViewer*) iv;
m_tools = new Tools(m_viewer, this);
// locking tools menu when performing transformation
connect(m_viewer, SIGNAL(lockTools()), this, SLOT(disableAllTools()));
connect(m_viewer, SIGNAL(unlockTools()), this, SLOT(enableAllTools()));
/* -------------------------------------------------------
* ROTATION
* ------------------------------------------------------- */
connect(ui->rotate90Button, SIGNAL(clicked()), m_tools, SLOT(rotate90()));
connect(ui->rotate180Button, SIGNAL(clicked()), m_tools, SLOT(rotate180()));
connect(ui->rotate270Button, SIGNAL(clicked()), m_tools, SLOT(rotate270()));
/* -------------------------------------------------------
* HISTOGRAM
* ------------------------------------------------------- */
QMenu* hMenu = new QMenu(ui->histogramButton);
hMenu->addAction(
QIcon(":/icons/icons/chart_curve_error.png"),
QString("Equalize histograms"),
m_tools,
SLOT(histogramEqualize())
);
hMenu->addAction(
QIcon(":/icons/icons/chart_curve_go.png"),
QString("Stretch histograms"),
m_tools,
SLOT(histogramStretch())
);
ui->histogramButton->setMenu(hMenu);
/* -------------------------------------------------------
* FILTERS (convolution, blur)
* ------------------------------------------------------- */
QMenu* bMenu = new QMenu(ui->blurButton);
bMenu->addAction(
QIcon(":/icons/icons/draw_convolve.png"),
QString("Gaussian blur"),
m_tools,
SLOT(blurGauss())
);
bMenu->addAction(
QIcon(":/icons/icons/draw_convolve.png"),
QString("Uniform blur"),
m_tools,
SLOT(blurUniform())
);
bMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Custom linear filter"),
m_tools,
SLOT(blurLinear())
);
ui->blurButton->setMenu(bMenu);
/* -------------------------------------------------------
* BINARIZATION
* ------------------------------------------------------- */
QMenu* binMenu = new QMenu(ui->binarizationButton);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Manual"),
m_tools,
SLOT(binManual())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Gradient"),
m_tools,
SLOT(binGradient())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Iterative bimodal"),
m_tools,
SLOT(binIterBimodal())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Niblack"),
m_tools,
SLOT(binNiblack())
);
binMenu->addAction(
QIcon(":/icons/icons/universal_binary.png"),
QString("Otsu"),
m_tools,
SLOT(binOtsu())
);
ui->binarizationButton->setMenu(binMenu);
/* -------------------------------------------------------
* NOISE REDUCTION
* ------------------------------------------------------- */
QMenu* nMenu = new QMenu(ui->noiseButton);
nMenu->addAction(
QIcon(":/icons/icons/checkerboard.png"),
QString("Median"),
m_tools,
SLOT(noiseMedian())
);
nMenu->addAction(
QIcon(":/icons/icons/checkerboard.png"),
QString("Bilateral"),
m_tools,
SLOT(noiseBilateral())
);
ui->noiseButton->setMenu(nMenu);
/* -------------------------------------------------------
* MORPHOLOGICAL
* ------------------------------------------------------- */
QMenu* morphMenu = new QMenu(ui->morphButton);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_out.png"),
QString("Dilate"),
m_tools,
SLOT(morphDilate())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_in.png"),
QString("Erode"),
m_tools,
SLOT(morphErode())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_divide.png"),
QString("Open"),
m_tools,
SLOT(morphOpen())
);
morphMenu->addAction(
QIcon(":/icons/icons/arrow_join.png"),
QString("Close"),
m_tools,
SLOT(morphClose())
);
ui->morphButton->setMenu(morphMenu);
/* -------------------------------------------------------
* EDGE DETECTION
* ------------------------------------------------------- */
QMenu* eMenu = new QMenu(ui->edgeButton);
eMenu->addAction(
QIcon(":/icons/icons/key_s.png"),
QString("Sobel"),
m_tools,
SLOT(edgeSobel())
);
eMenu->addAction(
QIcon(":/icons/icons/key_p.png"),
QString("Prewitt"),
m_tools,
SLOT(edgePrewitt())
);
eMenu->addAction(
QIcon(":/icons/icons/key_r.png"),
QString("Roberts"),
m_tools,
SLOT(edgeRoberts())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Laplacian"),
m_tools,
SLOT(edgeLaplacian())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Zero-crossing (LoG)"),
m_tools,
SLOT(edgeZero())
);
eMenu->addAction(
QIcon(":/icons/icons/edge_detection.png"),
QString("Canny"),
m_tools,
SLOT(edgeCanny())
);
ui->edgeButton->setMenu(eMenu);
/* -------------------------------------------------------
* TEXTURES
* ------------------------------------------------------- */
QMenu* texMenu = new QMenu(ui->textureButton);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Height map"),
m_tools,
SLOT(mapHeight())
);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Normal map"),
m_tools,
SLOT(mapNormal())
);
texMenu->addAction(
QIcon(":/icons/icons/flag_airfield_vehicle_safety.png"),
QString("Horizon map"),
m_tools,
SLOT(mapHorizon())
);
ui->textureButton->setMenu(texMenu);
/* -------------------------------------------------------
* TRANSFORMATIONS
* ------------------------------------------------------- */
QMenu* transMenu = new QMenu(ui->transformationsButton);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough"),
m_tools,
SLOT(houghTransform())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough - lines"),
m_tools,
SLOT(houghLines())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Hough - rectangles"),
m_tools,
SLOT(houghRectangles())
);
transMenu->addAction(
QIcon(":/icons/icons/videodisplay.png"),
QString("Segmentation"),
m_tools,
SLOT(segmentation())
);
ui->transformationsButton->setMenu(transMenu);
/* -------------------------------------------------------
* CORNER DETECTION
* ------------------------------------------------------- */
QMenu* cornerMenu = new QMenu(ui->cornerButton);
cornerMenu->addAction(
QIcon(":/icons/icons/things_digital.png"),
QString("Harris"),
m_tools,
SLOT(cornerHarris())
);
ui->cornerButton->setMenu(cornerMenu);
}
std::vector<PointId> PMFFilter::processGround(PointViewPtr view)
{
point_count_t np(view->size());
// Compute the series of window sizes and height thresholds
std::vector<float> height_thresholds;
std::vector<float> window_sizes;
int iteration = 0;
float window_size = 0.0f;
float height_threshold = 0.0f;
while (window_size < m_maxWindowSize)
{
// Determine the initial window size.
if (1) // exponential
window_size = m_cellSize * (2.0f * std::pow(2, iteration) + 1.0f);
else
window_size = m_cellSize * (2.0f * (iteration+1) * 2 + 1.0f);
// Calculate the height threshold to be used in the next iteration.
if (iteration == 0)
height_threshold = m_initialDistance;
else
height_threshold = m_slope * (window_size - window_sizes[iteration-1]) * m_cellSize + m_initialDistance;
// Enforce max distance on height threshold
if (height_threshold > m_maxDistance)
height_threshold = m_maxDistance;
window_sizes.push_back(window_size);
height_thresholds.push_back(height_threshold);
iteration++;
}
std::vector<PointId> groundIdx;
for (PointId i = 0; i < np; ++i)
groundIdx.push_back(i);
// Progressively filter ground returns using morphological open
for (size_t j = 0; j < window_sizes.size(); ++j)
{
// Limit filtering to those points currently considered ground returns
PointViewPtr ground = view->makeNew();
for (PointId i = 0; i < groundIdx.size(); ++i)
ground->appendPoint(*view, groundIdx[i]);
printf(" Iteration %ld (height threshold = %f, window size = %f)...",
j, height_thresholds[j], window_sizes[j]);
// Create new cloud to hold the filtered results. Apply the morphological
// opening operation at the current window size.
auto maxZ = morphOpen(ground, window_sizes[j]*0.5);
// Find indices of the points whose difference between the source and
// filtered point clouds is less than the current height threshold.
std::vector<PointId> pt_indices;
for (PointId i = 0; i < ground->size(); ++i)
{
double z0 = ground->getFieldAs<double>(Dimension::Id::Z, i);
double z1 = maxZ[i];
float diff = z0 - z1;
if (diff < height_thresholds[j])
pt_indices.push_back(groundIdx[i]);
}
groundIdx.swap(pt_indices);
}
return groundIdx;
}
