int NormalEstimation::compute()
{
//pointer to selected cloud
ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
if (!cloud)
return -1;
//if we have normals delete them!
if (cloud->hasNormals())
cloud->unallocateNorms();
if (cloud->hasNormals())
cloud->unallocateNorms();
//get xyz in sensor_msgs format
cc2smReader converter;
converter.setInputCloud(cloud);
sensor_msgs::PointCloud2 sm_cloud = converter.getXYZ();
//get as pcl point cloud
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(sm_cloud, *pcl_cloud);
//create storage for normals
pcl::PointCloud<pcl::PointNormal>::Ptr normals (new pcl::PointCloud<pcl::PointNormal>);
//now compute
int result = compute_normals<pcl::PointXYZ, pcl::PointNormal>(pcl_cloud, m_useKnn ? m_knn_radius: m_radius, m_useKnn, normals);
sensor_msgs::PointCloud2::Ptr sm_normals (new sensor_msgs::PointCloud2);
pcl::toROSMsg(*normals, *sm_normals);
sm2ccConverter converter2(sm_normals);
converter2.addNormals(cloud);
converter2.addScalarField(cloud, "curvature", m_overwrite_curvature);
emit entityHasChanged(cloud);
return 1;
}
int FlipModel::compute()
{
std::vector<ccHObject*> to_flip = vombat::theInstance()->getAllObjectsSelectedBySPCDti(&spc::StratigraphicModelSingleAttitude::Type);
for (ccHObject* o : to_flip) {
ccSPCElementShell* shell = dynamic_cast<ccSPCElementShell*>(o);
spc::StratigraphicModelSingleAttitude::Ptr model = shell->getSPCElement<spc::StratigraphicModelSingleAttitude>();
model->setNormal(-model->getNormal());
ccSingleAttitudeModel* ccmodel = dynamic_cast<ccSingleAttitudeModel*>(o);
ccmodel->updateInternals();
entityHasChanged(ccmodel);
}
return 1;
}
