void ccPointPairRegistrationDlg::unstackRef()
{
unsigned pointCount = m_refPoints.size();
if (pointCount == 0)
return;
assert(refPointsTableWidget->rowCount() > 0);
refPointsTableWidget->removeRow(refPointsTableWidget->rowCount()-1);
//remove label
assert(m_refPoints.getChildrenNumber() == pointCount);
pointCount--;
m_refPoints.removeChild(pointCount);
//remove point
m_refPoints.resize(pointCount);
if (pointCount == 0)
{
//reset global shift (if any)
m_refPoints.setGlobalShift(0,0,0);
m_refPoints.setGlobalScale(1.0);
}
if (m_associatedWin)
m_associatedWin->redraw();
onPointCountChanged();
}
void ccPointPairRegistrationDlg::unstackAligned()
{
unsigned pointCount = m_alignedPoints.size();
if (pointCount == 0) //nothing to do
return;
assert(alignedPointsTableWidget->rowCount() > 0);
alignedPointsTableWidget->removeRow(alignedPointsTableWidget->rowCount()-1);
//remove label
assert(m_alignedPoints.getChildrenNumber() == pointCount);
m_alignedPoints.removeChild(pointCount-1);
//remove point
m_alignedPoints.resize(pointCount-1);
if (m_associatedWin)
m_associatedWin->redraw();
onPointCountChanged();
}
void ccPointPairRegistrationDlg::removeRefPoint(int index, bool autoRemoveDualPoint/*=false*/)
{
if (index >= static_cast<int>(m_refPoints.size()))
{
ccLog::Error("[ccPointPairRegistrationDlg::removeRefPoint] Invalid index!");
assert(false);
return;
}
int pointCount = static_cast<int>(m_refPoints.size());
//remove all labels above this index
assert(m_refPoints.getChildrenNumber() == pointCount);
{
for (int i=pointCount-1; i>=index; --i) //downward for more efficiency
{
assert(m_refPoints.getChild(i) && m_refPoints.getChild(i)->isA(CC_TYPES::LABEL_2D));
m_refPoints.removeChild(i);
}
}
//remove array row
refPointsTableWidget->removeRow(index);
//shift points & rename labels
for (int i=index+1; i<pointCount; ++i)
{
*const_cast<CCVector3*>(m_refPoints.getPoint(i-1)) = *m_refPoints.getPoint(i);
//new name
QString pointName = QString("R%1").arg(i-1);
//create new label
cc2DLabel* label = CreateLabel(&m_refPoints,static_cast<unsigned>(i-1),pointName,m_associatedWin);
m_refPoints.addChild(label);
//update array
refPointsTableWidget->setVerticalHeaderItem(i-1,new QTableWidgetItem(pointName));
}
m_refPoints.invalidateBoundingBox();
pointCount--;
assert(pointCount >= 0);
m_refPoints.resize(static_cast<unsigned>(pointCount));
if (m_refPoints.size() == 0)
{
//reset global shift (if any)
m_refPoints.setGlobalShift(0,0,0);
m_refPoints.setGlobalScale(1.0);
}
if (m_associatedWin)
{
m_associatedWin->redraw();
}
onPointCountChanged();
//auto-remove the other point?
if ( autoRemoveDualPoint
&& index < static_cast<int>(m_alignedPoints.size())
&& QMessageBox::question(0,"Remove dual point","Remove the equivalent aligned point as well?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes )
{
removeAlignedPoint(index,false);
}
}
bool ccPointPairRegistrationDlg::addReferencePoint(CCVector3d& Pin, ccHObject* entity/*=0*/, bool shifted/*=true*/)
{
assert(entity == 0 || entity == m_reference.entity);
ccGenericPointCloud* cloud = entity ? ccHObjectCaster::ToGenericPointCloud(entity) : 0;
//first point?
if (m_refPoints.size() == 0)
{
if (entity) //picked point
{
//simply copy the cloud global shift/scale
if (cloud)
{
m_refPoints.setGlobalScale(cloud->getGlobalScale());
m_refPoints.setGlobalShift(cloud->getGlobalShift());
}
}
else //virtual point
{
m_refPoints.setGlobalScale(1.0);
m_refPoints.setGlobalShift(0,0,0);
if (!shifted)
{
//test that the input point has not too big coordinates
bool shiftEnabled = false;
CCVector3d Pshift(0,0,0);
double scale = 1.0;
//we use the aligned shift by default (if any)
ccGenericPointCloud* alignedCloud = m_aligned.entity ? ccHObjectCaster::ToGenericPointCloud(m_aligned.entity) : 0;
if (alignedCloud && alignedCloud->isShifted())
{
Pshift = alignedCloud->getGlobalShift();
scale = alignedCloud->getGlobalScale();
shiftEnabled = true;
}
if (ccGlobalShiftManager::Handle(Pin,0,ccGlobalShiftManager::DIALOG_IF_NECESSARY,shiftEnabled,Pshift,&scale))
{
m_refPoints.setGlobalShift(Pshift);
m_refPoints.setGlobalScale(scale);
}
}
}
}
PointCoordinateType sphereRadius = -PC_ONE;
if (!convertToSphereCenter(Pin,entity,sphereRadius))
return false;
//transform the input point in the 'global world' by default
if (shifted && cloud)
{
Pin = cloud->toGlobal3d<double>(Pin);
}
//check that we don't duplicate points
for (unsigned i=0; i<m_refPoints.size(); ++i)
{
//express the 'Pi' point in the current global coordinate system
CCVector3d Pi = m_refPoints.toGlobal3d<PointCoordinateType>(*m_refPoints.getPoint(i));
if ((Pi-Pin).norm() < ZERO_TOLERANCE)
{
ccLog::Error("Point already picked or too close to an already selected one!");
return false;
}
}
//add point to the 'reference' set
unsigned newPointIndex = m_refPoints.size();
if (newPointIndex == m_refPoints.capacity() && !m_refPoints.reserve(newPointIndex+1))
{
ccLog::Error("Not enough memory?!");
return false;
}
//shift point to the local coordinate system before pushing it
CCVector3 P = m_refPoints.toLocal3pc<double>(Pin);
m_refPoints.addPoint(P);
QString pointName = QString("R%1").arg(newPointIndex);
//add corresponding row in table
addPointToTable(refPointsTableWidget,newPointIndex,Pin,pointName);
//eventually add a label (or a sphere)
if (sphereRadius <= 0)
{
cc2DLabel* label = CreateLabel(&m_refPoints,newPointIndex,pointName,m_associatedWin);
m_refPoints.addChild(label);
}
else
{
ccGLMatrix trans;
trans.setTranslation(Pin);
ccSphere* sphere = new ccSphere(sphereRadius,&trans,pointName);
sphere->showNameIn3D(true);
sphere->setTempColor(ccColor::yellow,true);
m_refPoints.addChild(sphere);
}
if (m_associatedWin)
{
m_associatedWin->redraw();
}
onPointCountChanged();
return true;
}
bool ccPointPairRegistrationDlg::addAlignedPoint(CCVector3d& Pin, ccHObject* entity/*=0*/, bool shifted/*=0*/)
{
//if the input point is not shifted, we shift it to the aligned coordinate system
assert(entity == 0 || entity == m_aligned.entity);
//first point?
if (m_alignedPoints.size() == 0)
{
assert(m_aligned.entity);
//simply copy the cloud global shift/scale
ccGenericPointCloud* cloud = ccHObjectCaster::ToGenericPointCloud(m_aligned.entity);
if (cloud)
{
m_alignedPoints.setGlobalScale(cloud->getGlobalScale());
m_alignedPoints.setGlobalShift(cloud->getGlobalShift());
}
}
PointCoordinateType sphereRadius = -PC_ONE;
if (!convertToSphereCenter(Pin,entity,sphereRadius))
return false;
//transform the input point in the 'global world' by default
if (shifted)
Pin = m_alignedPoints.toGlobal3d<double>(Pin);
//check that we don't duplicate points
for (unsigned i=0; i<m_alignedPoints.size(); ++i)
{
CCVector3d Pi = m_alignedPoints.toGlobal3d<PointCoordinateType>(*m_alignedPoints.getPoint(i));
if ((Pi-Pin).norm() < ZERO_TOLERANCE)
{
ccLog::Error("Point already picked or too close to an already selected one!");
return false;
}
}
unsigned newPointIndex = m_alignedPoints.size();
if (newPointIndex == m_alignedPoints.capacity() && !m_alignedPoints.reserve(newPointIndex+1))
{
ccLog::Error("Not enough memory?!");
return false;
}
//shift point to the local coordinate system before pushing it
CCVector3 P = m_alignedPoints.toLocal3pc<double>(Pin);
m_alignedPoints.addPoint(P);
QString pointName = QString("A%1").arg(newPointIndex);
//add corresponding row in table
addPointToTable(alignedPointsTableWidget,newPointIndex,Pin,pointName);
//eventually add a label (or a sphere)
if (sphereRadius <= 0)
{
cc2DLabel* label = CreateLabel(&m_alignedPoints,newPointIndex,pointName,m_associatedWin);
m_alignedPoints.addChild(label);
}
else
{
ccGLMatrix trans;
trans.setTranslation(Pin);
ccSphere* sphere = new ccSphere(sphereRadius,&trans,pointName);
sphere->showNameIn3D(true);
sphere->setTempColor(ccColor::red,true);
m_alignedPoints.addChild(sphere);
}
if (m_associatedWin)
m_associatedWin->redraw();
onPointCountChanged();
return true;
}
bool ccPointPairRegistrationDlg::init( ccGLWindow* win,
ccHObject* aligned,
ccHObject* reference/*=0*/)
{
assert(win);
assert(aligned);
clear();
if (!aligned)
{
ccLog::Error("[PointPairRegistration] Need an aligned entity at least!");
return false;
}
//create dedicated 3D view
if (!m_associatedWin)
{
//import GL filter so as to get the same rendering aspect!
{
ccGenericGLDisplay* sourceDisplay = aligned->getDisplay();
if (!sourceDisplay && reference)
sourceDisplay = reference->getDisplay();
if (sourceDisplay)
{
ccGlFilter* filter = static_cast<ccGLWindow*>(sourceDisplay)->getGlFilter();
if (filter)
win->setGlFilter(filter->clone());
}
}
linkWith(win);
assert(m_associatedWin);
}
m_aligned = EntityContext(aligned);
m_reference = EntityContext(reference);
//add aligned entity to display
ccViewportParameters originViewportParams;
bool hasOriginViewportParams = false;
if (aligned)
{
if (aligned->getDisplay())
{
hasOriginViewportParams = true;
originViewportParams = aligned->getDisplay()->getViewportParameters();
}
//DGM: it's already in the global DB!
//m_associatedWin->addToOwnDB(aligned);
aligned->setDisplay(m_associatedWin);
aligned->setVisible(true);
aligned->setSelected(false);
SetEnabled_recursive(aligned);
//SetVisible_recursive(aligned);
}
//add reference entity (if any) to display
if (reference)
{
if (!hasOriginViewportParams && reference->getDisplay())
{
hasOriginViewportParams = true;
originViewportParams = reference->getDisplay()->getViewportParameters();
}
//DGM: it's already in the global DB!
//m_associatedWin->addToOwnDB(reference);
reference->setDisplay(m_associatedWin);
reference->setVisible(true);
reference->setSelected(false);
SetEnabled_recursive(reference);
//SetVisible_recursive(reference);
}
showReferenceCheckBox->setChecked(reference != 0);
showReferenceCheckBox->setEnabled(reference != 0);
showAlignedCheckBox->setChecked(true);
m_associatedWin->showMaximized();
resetTitle();
if (hasOriginViewportParams)
{
m_associatedWin->setViewportParameters(originViewportParams);
m_associatedWin->redraw();
}
else
{
m_associatedWin->zoomGlobal();
m_associatedWin->redraw(); //already called by zoomGlobal
}
onPointCountChanged();
return true;
}
void ccPointPairRegistrationDlg::removeRefPoint(int index, bool autoRemoveDualPoint/*=false*/)
{
if (index >= static_cast<int>(m_refPoints.size()))
{
ccLog::Error("[ccPointPairRegistrationDlg::removeRefPoint] Invalid index!");
assert(false);
return;
}
int pointCount = static_cast<int>(m_refPoints.size());
//remove the label (or sphere)
m_refPoints.removeChild(index);
//remove array row
refPointsTableWidget->removeRow(index);
//shift points & rename labels
for (int i = index + 1; i < pointCount; ++i)
{
*const_cast<CCVector3*>(m_refPoints.getPoint(i - 1)) = *m_refPoints.getPoint(i);
//new name
QString pointName = QString("R%1").arg(i - 1);
//update the label (if any)
ccHObject* child = m_refPoints.getChild(i - 1);
if (child)
{
if (child->isKindOf(CC_TYPES::LABEL_2D))
{
cc2DLabel* label = static_cast<cc2DLabel*>(child);
label->clear();
CreateLabel(label, &m_refPoints, static_cast<unsigned>(i - 1), pointName, m_associatedWin);
}
else //probably a sphere
{
child->setName(pointName);
}
}
//update array
refPointsTableWidget->setVerticalHeaderItem(i - 1, new QTableWidgetItem(pointName));
}
m_refPoints.invalidateBoundingBox();
pointCount--;
assert(pointCount >= 0);
m_refPoints.resize(static_cast<unsigned>(pointCount));
if (m_refPoints.size() == 0)
{
//reset global shift (if any)
m_refPoints.setGlobalShift(0, 0, 0);
m_refPoints.setGlobalScale(1.0);
}
if (m_associatedWin)
{
m_associatedWin->redraw();
}
onPointCountChanged();
//auto-remove the other point?
if ( autoRemoveDualPoint
&& index < static_cast<int>(m_alignedPoints.size())
&& QMessageBox::question(0, "Remove dual point", "Remove the equivalent aligned point as well?", QMessageBox::Yes, QMessageBox::No) == QMessageBox::Yes)
{
removeAlignedPoint(index,false);
}
}