LVRReconstructionMarchingCubesDialog.cpp

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#include <QFileDialog>
 
#include <Eigen/Dense>
 
#include "LVRReconstructionMarchingCubesDialog.hpp"
#include "LVRItemTypes.hpp"
 
#include "lvr2/algorithm/NormalAlgorithms.hpp"
#include "lvr2/reconstruction/AdaptiveKSearchSurface.hpp"
#include "lvr2/reconstruction/BilinearFastBox.hpp"
#include "lvr2/reconstruction/FastReconstruction.hpp"
#include "lvr2/reconstruction/FastBox.hpp"
#include "lvr2/reconstruction/FastBox.hpp"
#include "lvr2/reconstruction/PointsetGrid.hpp"
#include "lvr2/reconstruction/TetraederBox.hpp"
#include "lvr2/geometry/HalfEdgeMesh.hpp"
#include "lvr2/io/PointBuffer.hpp"
#include "lvr2/io/Progress.hpp"
#include "lvr2/types/MatrixTypes.hpp"
 
namespace lvr2
{
 
//QProgressDialog* LVRReconstructViaMarchingCubesDialog::m_progressBar = new QProgressDialog;
LVRReconstructViaMarchingCubesDialog* LVRReconstructViaMarchingCubesDialog::m_master; 
void LVRReconstructViaMarchingCubesDialog::updateProgressbar(int p)
{
        m_master->setProgressValue(p);
}
 
void LVRReconstructViaMarchingCubesDialog::updateProgressbarTitle(string t)
{
        m_master->setProgressTitle(t);
}
 
 
void LVRReconstructViaMarchingCubesDialog::setProgressValue(int v)
{
        Q_EMIT(progressValueChanged(v));
    QApplication::processEvents();
}
 
void LVRReconstructViaMarchingCubesDialog::setProgressTitle(string t)
{
        Q_EMIT(progressTitleChanged(QString(t.c_str())));
    QApplication::processEvents();
}
 
LVRReconstructViaMarchingCubesDialog::LVRReconstructViaMarchingCubesDialog(string decomposition, LVRPointCloudItem* pc, QTreeWidgetItem* parent, QTreeWidget* treeWidget, vtkRenderWindow* window) :
   m_decomposition(decomposition), 
   m_pc(pc), m_parent(parent), 
   m_treeWidget(treeWidget),
   m_renderWindow(window)
{
        m_master = this;
 
    // Setup DialogUI and events
    QDialog* dialog = new QDialog(m_treeWidget);
    m_dialog = new ReconstructViaMarchingCubesDialog;
    m_dialog->setupUi(dialog);
 
    if(decomposition == "PMC")
    {
        dialog->setWindowTitle("Planar Marching Cubes");
    }
 
    connectSignalsAndSlots();
 
    m_progressDialog = new QProgressDialog;
    m_progressDialog->setMinimum(0);
    m_progressDialog->setMaximum(100);
    m_progressDialog->setMinimumDuration(100);
    m_progressDialog->setWindowTitle("Processing...");
    m_progressDialog->setAutoClose(false);
    m_progressDialog->reset();
    m_progressDialog->hide();
 
    // Register LVR progress callbacks
    ProgressBar::setProgressCallback(&updateProgressbar);
    ProgressBar::setProgressTitleCallback(&updateProgressbarTitle);
 
    connect(this, SIGNAL(progressValueChanged(int)), m_progressDialog, SLOT(setValue(int)));
    connect(this, SIGNAL(progressTitleChanged(const QString&)), m_progressDialog, SLOT(setLabelText(const QString&)));
 
    dialog->show();
    dialog->raise();
    dialog->activateWindow();
}
 
LVRReconstructViaMarchingCubesDialog::~LVRReconstructViaMarchingCubesDialog()
{
    m_master = 0;
    ProgressBar::setProgressCallback(0);
    ProgressBar::setProgressTitleCallback(0);
}
 
void LVRReconstructViaMarchingCubesDialog::connectSignalsAndSlots()
{
    QObject::connect(m_dialog->comboBox_pcm, SIGNAL(currentIndexChanged(const QString)), this, SLOT(toggleRANSACcheckBox(const QString)));
    QObject::connect(m_dialog->comboBox_gs, SIGNAL(currentIndexChanged(int)), this, SLOT(switchGridSizeDetermination(int)));
    QObject::connect(m_dialog->buttonBox, SIGNAL(accepted()), this, SLOT(generateMesh()));
}
 
void LVRReconstructViaMarchingCubesDialog::toggleRANSACcheckBox(const QString &text)
{
    QCheckBox* ransac_box = m_dialog->checkBox_RANSAC;
    if(text == "PCL")
    {
        ransac_box->setChecked(false);
        ransac_box->setCheckable(false);
    }
    else
    {
        ransac_box->setCheckable(true);
    }
}
 
void LVRReconstructViaMarchingCubesDialog::switchGridSizeDetermination(int index)
{
    QComboBox* gs_box = m_dialog->comboBox_gs;
 
    QLabel* label = m_dialog->label_below_gs;
    QDoubleSpinBox* spinBox = m_dialog->spinBox_below_gs;
 
    // TODO: Add reasonable default values
    if(index == 0)
    {
        label->setText("Voxel size");
        spinBox->setMinimum(0);
        spinBox->setMaximum(2000000);
        spinBox->setSingleStep(1);
        spinBox->setValue(10);
    }
    else
    {
        label->setText("Number of intersections");
        spinBox->setMinimum(1);
        spinBox->setMaximum(200000);
        spinBox->setSingleStep(1);
        spinBox->setValue(10);
    }
}
 
void LVRReconstructViaMarchingCubesDialog::generateMesh()
{
    QComboBox* pcm_box = m_dialog->comboBox_pcm;
    string pcm = pcm_box->currentText().toStdString();
    QCheckBox* extrusion_box = m_dialog->checkBox_Extrusion;
    bool extrusion = extrusion_box->isChecked();
    QCheckBox* ransac_box = m_dialog->checkBox_RANSAC;
    bool ransac = ransac_box->isChecked();
    QSpinBox* kn_box = m_dialog->spinBox_kn;
    int kn = kn_box->value();
    QSpinBox* kd_box = m_dialog->spinBox_kd;
    int kd = kd_box->value();
    QSpinBox* ki_box = m_dialog->spinBox_ki;
    int ki = ki_box->value();
    QCheckBox* reNormals_box = m_dialog->checkBox_renormals;
    bool reestimateNormals = reNormals_box->isChecked();
    QComboBox* gridMode_box = m_dialog->comboBox_gs;
    bool useVoxelsize = (gridMode_box->currentIndex() == 0) ? true : false;
    QDoubleSpinBox* gridSize_box = m_dialog->spinBox_below_gs;
    float  resolution = (float)gridSize_box->value();
 
 
    m_progressDialog->raise();
    m_progressDialog->show();
    m_progressDialog->activateWindow();
 
    using Vec = BaseVector<float>;
 
    QTreeWidgetItem* entry_point = m_parent;
    if(m_parent)
    {
        if(m_parent->type() == LVRScanDataItemType)
        {
            entry_point = m_parent->parent();
        }
    } 
 
    PointBufferPtr pc_buffer = m_pc->getPointBuffer();
    
    Transformd T = qttf::getTransformation(m_pc, NULL);
    std::cout << T << std::endl;
 
    pc_buffer = qttf::transform(pc_buffer, T);
 
    PointsetSurfacePtr<Vec> surface;
 
    if(pcm == "STANN" || pcm == "FLANN" || pcm == "NABO" || pcm == "NANOFLANN")
    {
        surface = PointsetSurfacePtr<Vec>( new AdaptiveKSearchSurface<Vec>(pc_buffer, pcm, kn, ki, kd, (ransac ? 1 : 0)) );
    }
 
    if(!surface->pointBuffer()->hasNormals() || reestimateNormals)
    {
        surface->calculateSurfaceNormals();
    }
 
    HalfEdgeMesh<Vec> mesh;
 
    if(m_decomposition == "MC")
    {
        auto grid = std::make_shared<PointsetGrid<Vec, FastBox<Vec>>>(
            resolution,
            surface,
            surface->getBoundingBox(),
            useVoxelsize,
            extrusion
        );
        grid->calcDistanceValues();
        auto reconstruction = make_unique<FastReconstruction<Vec, FastBox<Vec>>>(grid);
        reconstruction->getMesh(mesh);
    }
    else if(m_decomposition == "PMC")
    {
        BilinearFastBox<Vec>::m_surface = surface;
        auto grid = std::make_shared<PointsetGrid<Vec, BilinearFastBox<Vec>>>(
            resolution,
            surface,
            surface->getBoundingBox(),
            useVoxelsize,
            extrusion
        );
        grid->calcDistanceValues();
        auto reconstruction = make_unique<FastReconstruction<Vec, BilinearFastBox<Vec>>>(grid);
        reconstruction->getMesh(mesh);
    }
    else if(m_decomposition == "MT")
    {
        auto grid = std::make_shared<PointsetGrid<Vec, TetraederBox<Vec>>>(
            resolution,
            surface,
            surface->getBoundingBox(),
            useVoxelsize,
            extrusion
        );
        grid->calcDistanceValues();
        auto reconstruction = make_unique<FastReconstruction<Vec, TetraederBox<Vec>>>(grid);
        reconstruction->getMesh(mesh);
    }
    else if(m_decomposition == "SF")
    {
        SharpBox<Vec>::m_surface = surface;
        auto grid = std::make_shared<PointsetGrid<Vec, SharpBox<Vec>>>(
            resolution,
            surface,
            surface->getBoundingBox(),
            useVoxelsize,
            extrusion
        );
        grid->calcDistanceValues();
        auto reconstruction = make_unique<FastReconstruction<Vec, SharpBox<Vec>>>(grid);
        reconstruction->getMesh(mesh);
    }
 
    auto faceNormals = calcFaceNormals(mesh);
 
    ClusterBiMap<FaceHandle> clusterBiMap = planarClusterGrowing(mesh, faceNormals, 0.85);
    deleteSmallPlanarCluster(mesh, clusterBiMap, 10);
 
    ClusterPainter painter(clusterBiMap);
    auto clusterColors = DenseClusterMap<Rgb8Color>(painter.simpsons(mesh));
    auto vertexNormals = calcVertexNormals(mesh, faceNormals, *surface);
 
    TextureFinalizer<Vec> finalize(clusterBiMap);
    finalize.setVertexNormals(vertexNormals);
    finalize.setClusterColors(clusterColors);
    Materializer<Vec> materializer(mesh, clusterBiMap, faceNormals, *surface);
    MaterializerResult<Vec> matResult = materializer.generateMaterials();
    finalize.setMaterializerResult(matResult);
    MeshBufferPtr buffer = finalize.apply(mesh);
 
 
    ModelPtr model(new Model(buffer));
        ModelBridgePtr bridge(new LVRModelBridge(model));
        
        vtkSmartPointer<vtkRenderer> renderer = m_renderWindow->GetRenderers()->GetFirstRenderer();
        bridge->addActors(renderer);
   
    QString base("mesh");
 
    if(m_parent)
    {
        base = m_parent->text(0) + " (mesh)";
    }
 
    m_generatedModel = new LVRModelItem(bridge, base);
 
    if(entry_point)
    {
        entry_point->addChild(m_generatedModel);
    } else {
        m_treeWidget->addTopLevelItem(m_generatedModel);
    }
    
    
    m_generatedModel->setExpanded(true);
 
    m_progressDialog->hide();
 
}
 
} // namespace lvr2