cloud_mesh_item.cpp

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#include <pcl/apps/modeler/cloud_mesh_item.h>
#include <pcl/apps/modeler/render_window.h>
#include <pcl/apps/modeler/render_window_item.h>
#include <pcl/apps/modeler/points_actor_item.h>
#include <pcl/apps/modeler/normals_actor_item.h>
#include <pcl/apps/modeler/surface_actor_item.h>
#include <pcl/apps/modeler/cloud_mesh.h>
#include <pcl/apps/modeler/main_window.h>
#include <pcl/apps/modeler/parameter.h>
#include <pcl/apps/modeler/parameter_dialog.h>
#include <pcl/common/common.h>
#include <vtkRenderWindow.h>


pcl::modeler::CloudMeshItem::CloudMeshItem (QTreeWidgetItem* parent, const std::string& filename)
  :QTreeWidgetItem(parent),
  AbstractItem(),
  filename_(filename),
  cloud_mesh_(boost::shared_ptr<CloudMesh>(new CloudMesh())),
  translation_x_(new DoubleParameter("Translation X", "Translation X", 0.0, -1.0, 1.0)),
  translation_y_(new DoubleParameter("Translation Y", "Translation Y", 0.0, -1.0, 1.0)),
  translation_z_(new DoubleParameter("Translation Z", "Translation Z", 0.0, -1.0, 1.0)),
  rotation_x_(new DoubleParameter("Rotation X", "Rotation X", 0.0, -180.0, 180.0)),
  rotation_y_(new DoubleParameter("Rotation Y", "Rotation Y", 0.0, -180.0, 180.0)),
  rotation_z_(new DoubleParameter("Rotation Z", "Rotation Z", 0.0, -180.0, 180.0))
{
  setFlags(flags()&(~Qt::ItemIsDropEnabled));
  setText(0, QString(filename.c_str()));
}

pcl::modeler::CloudMeshItem::CloudMeshItem (QTreeWidgetItem* parent, CloudMesh::PointCloudPtr cloud)
  :QTreeWidgetItem(parent),
  AbstractItem(),
  filename_("unnamed point cloud"),
  cloud_mesh_(boost::shared_ptr<CloudMesh>(new CloudMesh(cloud))),
  translation_x_(new DoubleParameter("Translation X", "Translation X", 0.0, -1.0, 1.0)),
  translation_y_(new DoubleParameter("Translation Y", "Translation Y", 0.0, -1.0, 1.0)),
  translation_z_(new DoubleParameter("Translation Z", "Translation Z", 0.0, -1.0, 1.0)),
  rotation_x_(new DoubleParameter("Rotation X", "Rotation X", 0.0, -180.0, 180.0)),
  rotation_y_(new DoubleParameter("Rotation Y", "Rotation Y", 0.0, -180.0, 180.0)),
  rotation_z_(new DoubleParameter("Rotation Z", "Rotation Z", 0.0, -180.0, 180.0))
{
  setFlags(flags()&(~Qt::ItemIsDropEnabled));
  setText(0, QString(filename_.c_str()));

  createChannels();

  treeWidget()->expandItem(this);
}

pcl::modeler::CloudMeshItem::CloudMeshItem(QTreeWidgetItem* parent,  const CloudMeshItem& cloud_mesh_item)
  :QTreeWidgetItem(parent),
  AbstractItem(),
  filename_(cloud_mesh_item.filename_),
  cloud_mesh_(cloud_mesh_item.cloud_mesh_),
  translation_x_(new DoubleParameter("Translation X", "Translation X", 0.0, -1.0, 1.0)),
  translation_y_(new DoubleParameter("Translation Y", "Translation Y", 0.0, -1.0, 1.0)),
  translation_z_(new DoubleParameter("Translation Z", "Translation Z", 0.0, -1.0, 1.0)),
  rotation_x_(new DoubleParameter("Rotation X", "Rotation X", 0.0, -180.0, 180.0)),
  rotation_y_(new DoubleParameter("Rotation Y", "Rotation Y", 0.0, -180.0, 180.0)),
  rotation_z_(new DoubleParameter("Rotation Z", "Rotation Z", 0.0, -180.0, 180.0))
{
  setFlags(flags()&(~Qt::ItemIsDropEnabled));
  setText(0, QString(filename_.c_str()));

  createChannels();

  treeWidget()->expandItem(this);
}

pcl::modeler::CloudMeshItem::~CloudMeshItem ()
{
}

bool
pcl::modeler::CloudMeshItem::savePointCloud(const QList<CloudMeshItem*>& items, const QString& filename)
{
  if (items.size() == 1)
    return (items.first()->getCloudMesh()->save(filename.toStdString()));

  std::vector<const CloudMesh*> cloud_meshes;
  for (QList<CloudMeshItem*>::const_iterator items_it = items.begin();
    items_it != items.end();
    ++ items_it)
  {
    cloud_meshes.push_back((*items_it)->getCloudMesh().get());
  }

  return (CloudMesh::save(cloud_meshes, filename.toStdString()));
}

bool
pcl::modeler::CloudMeshItem::open()
{
  if(!cloud_mesh_->open(filename_))
    return (false);

  createChannels();

  treeWidget()->expandItem(this);

  return (true);
}

void
pcl::modeler::CloudMeshItem::prepareContextMenu(QMenu* menu) const
{
  menu->addMenu(ui()->menuFilters);
  menu->addMenu(ui()->menuRegistration);
  menu->addMenu(ui()->menuSurfaceReconstruction);
  menu->addAction(ui()->actionSavePointCloud);
  menu->addAction(ui()->actionClosePointCloud);
}

void
pcl::modeler::CloudMeshItem::createChannels()
{
  RenderWindowItem* render_window_item = dynamic_cast<RenderWindowItem*>(parent());
  addChild(new PointsActorItem(this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
  addChild(new NormalsActorItem(this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
  addChild(new SurfaceActorItem(this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
  for (int i = 0, i_end = childCount(); i < i_end; ++ i)
  {
    ChannelActorItem* child_item = dynamic_cast<ChannelActorItem*>(child(i));
    child_item->init();
  }

  render_window_item->getRenderWindow()->updateAxes();
  render_window_item->getRenderWindow()->resetCamera();

  return;
}


void
pcl::modeler::CloudMeshItem::updateChannels()
{
  cloud_mesh_->updateVtkPoints();
  cloud_mesh_->updateVtkPolygons();

  for (int i = 0, i_end = childCount(); i < i_end; ++ i)
  {
    ChannelActorItem* child_item = dynamic_cast<ChannelActorItem*>(child(i));
    child_item->update();
  }

  RenderWindowItem* render_window_item = dynamic_cast<RenderWindowItem*>(parent());
  render_window_item->getRenderWindow()->updateAxes();

  return;
}

void
pcl::modeler::CloudMeshItem::prepareProperties(ParameterDialog* parameter_dialog)
{
  translation_x_->reset();
  translation_y_->reset();
  translation_z_->reset();
  rotation_x_->reset();
  rotation_y_->reset();
  rotation_z_->reset();
  parameter_dialog->addParameter(translation_x_);
  parameter_dialog->addParameter(translation_y_);
  parameter_dialog->addParameter(translation_z_);
  parameter_dialog->addParameter(rotation_x_);
  parameter_dialog->addParameter(rotation_y_);
  parameter_dialog->addParameter(rotation_z_);

  Eigen::Vector4f min_pt, max_pt;
  pcl::getMinMax3D(*(cloud_mesh_->getCloud()), min_pt, max_pt);
  double x_range = max_pt.x() - min_pt.x();
  double y_range = max_pt.y() - min_pt.y();
  double z_range = max_pt.z() - min_pt.z();
  translation_x_->setLow(-x_range/2);
  translation_x_->setHigh(x_range/2);
  translation_x_->setStep(x_range/1000);
  translation_y_->setLow(-y_range/2);
  translation_y_->setHigh(y_range/2);
  translation_y_->setStep(y_range/1000);
  translation_z_->setLow(-z_range/2);
  translation_z_->setHigh(z_range/2);
  translation_z_->setStep(z_range/1000);
}

void
pcl::modeler::CloudMeshItem::setProperties()
{
  cloud_mesh_->transform(*translation_x_, *translation_y_, *translation_z_,
    *rotation_x_, *rotation_y_, *rotation_z_);

  updateChannels();
}

void
pcl::modeler::CloudMeshItem::updateRenderWindow()
{
  RenderWindowItem* render_window_item = dynamic_cast<RenderWindowItem*>(parent());
  for (int i = 0, i_end = childCount(); i < i_end; ++ i)
  {
    ChannelActorItem* child_item = dynamic_cast<ChannelActorItem*>(child(i));
    child_item->switchRenderWindow(render_window_item->getRenderWindow()->GetRenderWindow());
  }

  render_window_item->getRenderWindow()->updateAxes();
  render_window_item->getRenderWindow()->resetCamera();

  return;
}