-
Notifications
You must be signed in to change notification settings - Fork 0
/
qTreeIso.cpp
1302 lines (1143 loc) · 46.8 KB
/
qTreeIso.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
//##########################################################################
//# #
//# CLOUDCOMPARE PLUGIN: qTreeIso #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: Morris Aurich #
//# #
//##########################################################################
// First:
// Replace all occurrences of 'ExamplePlugin' by your own plugin class name in this file.
// This includes the resource path to info.json in the constructor.
// Second:
// Open ExamplePlugin.qrc, change the "prefix" and the icon filename for your plugin.
// Change the name of the file to <yourPluginName>.qrc
// Third:
// Open the info.json file and fill in the information about the plugin.
// "type" should be one of: "Standard", "GL", or "I/O" (required)
// "name" is the name of the plugin (required)
// "icon" is the Qt resource path to the plugin's icon (from the .qrc file)
// "description" is used as a tootip if the plugin has actions and is displayed in the plugin dialog
// "authors", "maintainers", and "references" show up in the plugin dialog as well
// STL
#include <vector>
#include <map>
#include <algorithm>
// Qt
#include <QtGui>
// common
#include <ccPickingHub.h>
//qCC_db
#include <ccHObjectCaster.h>
#include <ccPointCloud.h>
#include <ccGenericPointCloud.h>
// #include <CCConst.h>
// qCC
// CCLib
#include <ReferenceCloud.h>
#include "qTreeIso.h"
// Default constructor:
// - pass the Qt resource path to the info.json file (from <yourPluginName>.qrc file)
// - constructor should mainly be used to initialize actions and other members
qTreeIso::qTreeIso( QObject *parent )
: QObject( parent )
, ccStdPluginInterface( ":/CC/plugin/qTreeIso/info.json" )
, m_actionSplitByColor( nullptr )
, m_actionSplitByScalar( nullptr )
, m_actionRemoveLowestPoints( nullptr )
, m_actionBHDSlice( nullptr )
, m_actionExtractPointsOfSameColor( nullptr )
, m_actionExtractPointsOfSameColorIntoOther( nullptr )
{
}
// This method should enable or disable your plugin actions
// depending on the currently selected entities ('selectedEntities').
void qTreeIso::onNewSelection( const ccHObject::Container &selectedEntities )
{
if ( m_actionSplitByColor == nullptr )
{
return;
}
// If you need to check for a specific type of object, you can use the methods
// in ccHObjectCaster.h or loop and check the objects' classIDs like this:
//
// for ( ccHObject *object : selectedEntities )
// {
// if ( object->getClassID() == CC_TYPES::VIEWPORT_2D_OBJECT )
// {
// // ... do something with the viewports
// }
// }
// For example - only enable our action if something is selected.
bool selected = !selectedEntities.empty();
m_actionSplitByColor->setEnabled( selected );
m_actionSplitByScalar->setEnabled( selected );
m_actionRemoveLowestPoints->setEnabled( selected );
m_actionExtractPointsOfSameColorIntoOther->setEnabled( selected );
}
// This method returns all the 'actions' your plugin can perform.
// getActions() will be called only once, when plugin is loaded.
QList<QAction *> qTreeIso::getActions()
{
// default action (if it has not been already created, this is the moment to do it)
// always initialized at once
if ( !m_actionSplitByColor )
{
m_actionSplitByColor = new QAction( QString("Split by color"), this );
m_actionSplitByColor->setToolTip( QString("Split cloud by rgb color") );
m_actionSplitByColor->setIcon( getIcon() );
// Connect appropriate signal
connect( m_actionSplitByColor, &QAction::triggered, this, &qTreeIso::doSplitByColor );
// ACTION split by scalar
m_actionSplitByScalar = new QAction( QString("Split by scalar"), this );
m_actionSplitByScalar->setToolTip( QString("Split cloud by active scalar field") );
m_actionSplitByScalar->setIcon( getIcon() );
connect( m_actionSplitByScalar, &QAction::triggered, this, &qTreeIso::doSplitByScalar );
// ACTION remove lowest pts
m_actionRemoveLowestPoints = new QAction( QString("Remove lowest points"), this );
m_actionRemoveLowestPoints->setToolTip( QString("Removes lowest points in cloud based on a 2d grid") );
m_actionRemoveLowestPoints->setIcon( getIcon() );
connect( m_actionRemoveLowestPoints, &QAction::triggered, this, &qTreeIso::doRemoveLowestPoints );
m_actionBHDSlice = new QAction( QString("BHD Slice"), this );
m_actionBHDSlice->setToolTip( QString("Select a point at the start of the trunk (corrected for slope etc.) that you want a BHD slice of") );
m_actionBHDSlice->setIcon( getIcon() );
connect( m_actionBHDSlice, &QAction::triggered, this, &qTreeIso::doBHDSlice );
// ACTION remove points of same color
m_actionExtractPointsOfSameColor = new QAction( QString("Extract points of same color!"), this );
m_actionExtractPointsOfSameColor->setToolTip( QString("Pick a point in a point cloud and extract all points in that cloud that have the same color (points in old cloud are deleted)!") );
m_actionExtractPointsOfSameColor->setIcon( getIcon() );
connect(m_actionExtractPointsOfSameColor, &QAction::triggered, this, &qTreeIso::doExtractPointsOfSameColor);
m_actionExtractPointsOfSameColorIntoOther = new QAction( QString("Extract points of same color!"), this );
m_actionExtractPointsOfSameColorIntoOther->setToolTip( QString("Pick a point in a point cloud and extract all points in that cloud that have the same color (points in old cloud are deleted) into selected entity (in DB Tree)!") );
m_actionExtractPointsOfSameColorIntoOther->setIcon( getIcon() );
connect(m_actionExtractPointsOfSameColorIntoOther, &QAction::triggered, this, &qTreeIso::doExtractPointsOfSameColorIntoOther);
}
return { m_actionSplitByColor, m_actionSplitByScalar, m_actionRemoveLowestPoints, m_actionBHDSlice, m_actionExtractPointsOfSameColor, m_actionExtractPointsOfSameColorIntoOther };
}
// This is an example of an action's method called when the corresponding action
// is triggered (i.e. the corresponding icon or menu entry is clicked in CC's
// main interface). You can access most of CC's components (database,
// 3D views, console, etc.) via the 'm_app' variable (see the ccMainAppInterface
// class in ccMainAppInterface.h).
void qTreeIso::doExtractPointsOfSameColor()
{
m_onPointPicked = EXTRACT_POINTS;
startPicking();
}
void qTreeIso::doExtractPointsOfSameColorIntoOther()
{
m_onPointPicked = EXTRACT_POINTS_INTO_OHTER;
startPicking();
}
// adapted from ccCompass plugin
//registers this plugin with the picking hub
bool qTreeIso::startPicking()
{
if (m_picking) //already picking... don't need to add again
return true;
//check valid gl window
if (!m_app->getActiveGLWindow())
{
//invalid pointer error
m_app->dispToConsole("Error: qTreeIso could not find the Cloud Compare window. Abort!", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return false;
}
//activate "point picking mode"
if (!m_app->pickingHub()) //no valid picking hub
{
m_app->dispToConsole("[qTreeIso] Could not retrieve valid picking hub. Measurement aborted.", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return false;
}
if (!m_app->pickingHub()->addListener(this, true, true))
{
m_app->dispToConsole("Another tool is already using the picking mechanism. Stop it first", ccMainAppInterface::ERR_CONSOLE_MESSAGE);
return false;
}
m_picking = true;
return true;
}
//removes this plugin from the picking hub
void qTreeIso::stopPicking()
{
//stop picking
if (m_app->pickingHub())
{
m_app->pickingHub()->removeListener(this);
}
m_picking = false;
}
//This function is called when a point is picked (through the picking hub)
void qTreeIso::onItemPicked(const ccPickingListener::PickedItem& pi)
{
switch (m_onPointPicked)
{
case NONE:
return;
case EXTRACT_POINTS:
pointPickedExtractPointsOfSameColor(pi.entity, pi.itemIndex, pi.clickPoint.x(), pi.clickPoint.y(), pi.P3D); //map straight to pointPicked function
break;
case EXTRACT_POINTS_INTO_OHTER:
pointPickedExtractPointsOfSameColorIntoOther(pi.entity, pi.itemIndex, pi.clickPoint.x(), pi.clickPoint.y(), pi.P3D);
break;
case DO_BHD_SLICE:
pointPickedBHDSlice(pi.entity, pi.itemIndex, pi.clickPoint.x(), pi.clickPoint.y(), pi.P3D);
break;
}
}
void qTreeIso::pointPickedExtractPointsOfSameColor(ccHObject* entity, unsigned itemIdx, int x, int y, const CCVector3& P)
{
if (!entity) //null pick
{
return;
}
////no active tool (i.e. picking mode) - set selected object as active
//if (!m_activeTool)
//{
// m_app->setSelectedInDB(entity, true);
// return;
//}
// make sure we picked a point cloud?
if (!entity->isKindOf(CC_TYPES::POINT_CLOUD))
{
m_app->dispToConsole( "[qTreeIso] Warning: Please select a point that's part of a point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
//get point cloud
// ccGenericPointCloud* genCloud = ccHObjectCaster::ToGenericPointCloud(entity);
ccPointCloud* cloud = static_cast<ccPointCloud*>(entity); //cast to point cloud
if (!cloud)
{
ccLog::Warning("[Item picking] Shit's fubar (Picked point is not in pickable entities DB?)!");
return;
}
auto pointColor = cloud->getPointColor(itemIdx);
m_app->dispToConsole(QString("[qTreeIso] Picked point's color is: R %1 G %2 B %3").arg(pointColor.r).arg(pointColor.g).arg(pointColor.b), ccMainAppInterface::STD_CONSOLE_MESSAGE);
unsigned numberOfPoints = cloud->size();
ccHObject* parent = cloud->getParent();
if (!parent->isGroup())
{
m_app->dispToConsole( "[qTreeIso] Warning: Couldn't find group belonging to point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
// CCLib::ReferenceCloud sameColorIndexes(cloud);
// use the point cloud's default visiblity array but we have to reset it and lose current visiblity info
// since there might be points already hidden but since we lose this information anyway when usinge createNewCloudFromVisbilitySelection?
// otherwise we create our own separate vis table and pass that one
if (!cloud->resetVisibilityArray()) // resets visiblity array or allocates it if it wasn't already
{
ccLog::Error(QString("[Cloud %1] Visibility table could not be instantiated!").arg(cloud->getName()));
return;
}
ccGenericPointCloud::VisibilityTableType& visibilityArray = cloud->getTheVisibilityArray();
ccColor::Rgb cPtColor;
for (unsigned i = 0; i < numberOfPoints; ++i)
{
cPtColor = cloud->getPointColor(i);
// default all pts start as visibilityArray[i] = POINT_VISIBLE;
if (!((cPtColor.r == pointColor.r) &&(cPtColor.g == pointColor.g) && (cPtColor.b == pointColor.b)))
{
visibilityArray[i] = POINT_HIDDEN;
// if color matches
//if (!sameColorIndexes.addPointIndex(i))
//{
// // out of memory
// return;
//}
}
}
// m_app->dispToConsole(QString("[qTreeIso] Found %1 points with the same color !").arg(sameColorIndexes.size()), ccMainAppInterface::STD_CONSOLE_MESSAGE);
m_app->dispToConsole(QString("[qTreeIso] Found %1 points with the same color !").arg(std::count(visibilityArray.begin(), visibilityArray.end(), POINT_VISIBLE)), ccMainAppInterface::STD_CONSOLE_MESSAGE);
//we temporarily detach the entity, as it may undergo
//"severe" modifications (octree deletion, etc.) --> see ccPointCloud::createNewCloudFromVisibilitySelection
// taken from MainWindow::deactivateSegmentationMode
ccMainAppInterface::ccHObjectContext objContext = m_app->removeObjectTemporarilyFromDBTree(entity);
// no easy way to delete points from cloud -> for examples see MainWindow::deactivateSegmentationMode, ccGraphicalSegementationTool.cpp, ManualSegmentationTools.cpp
// have to use ccPointCloud::createNewCloudFromVisibilitySelection (which is also used by CC's segmentation tools see deactivateSegmentationMode)
// OLD ccPointCloud* extractedPoints = cloud->partialClone(&sameColorIndexes); // new cloud from reference cloud's indices
// new cloud will be created out of visible points and if we pass removeSelectedPoints=true then the visible points get removed from the original cloud
auto extractedPoints = cloud->createNewCloudFromVisibilitySelection(true);
if (extractedPoints)
{
extractedPoints->showColors(true);
extractedPoints->showSF(false);
//'shift on load' information
extractedPoints->setGlobalShift(cloud->getGlobalShift());
extractedPoints->setGlobalScale(cloud->getGlobalScale());
extractedPoints->setVisible(true);
extractedPoints->setName(QString("cR%1G%2B%3").arg(pointColor.r).arg(pointColor.g).arg(pointColor.b));
//we add new CC to parent
parent->addChild(extractedPoints);
m_app->addToDB(extractedPoints);
m_app->setSelectedInDB(extractedPoints, true);
}
else
{
m_app->dispToConsole(QString("[qTreeIso:extractPointsOfSameColor] Failed to create extracted cloud ! (not enough memory)"), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
}
// entity->setName(entity->getName() + QString(".remaining"));
m_app->putObjectBackIntoDBTree(entity, objContext);
stopPicking();
//redraw
m_app->updateUI();
m_app->getActiveGLWindow()->redraw();
}
//Process point picks
void qTreeIso::pointPickedExtractPointsOfSameColorIntoOther(ccHObject* entity, unsigned itemIdx, int x, int y, const CCVector3& P)
{
if (!entity) //null pick
{
return;
}
auto selEntities = m_app->getSelectedEntities();
// cloud that points should be inserted into must be the only selection
// onNewSelection already makes sure we have at least one selection
if (selEntities.size() > 1)
{
m_app->dispToConsole( "[qTreeIso] Warning: Please only select cloud that the points should be extracted to!", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
if (entity == selEntities[0])
{
m_app->dispToConsole("[qTreeIso] Points are already in selected entity!", ccMainAppInterface::STD_CONSOLE_MESSAGE);
return;
}
////no active tool (i.e. picking mode) - set selected object as active
//if (!m_activeTool)
//{
// m_app->setSelectedInDB(entity, true);
// return;
//}
// make sure we picked a point cloud?
if (!entity->isKindOf(CC_TYPES::POINT_CLOUD))
{
m_app->dispToConsole( "[qTreeIso] Warning: Please select a point that's part of a point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
//get point cloud
// ccGenericPointCloud* genCloud = ccHObjectCaster::ToGenericPointCloud(entity);
ccPointCloud* cloud = static_cast<ccPointCloud*>(entity); //cast to point cloud
if (!cloud)
{
ccLog::Warning("[Item picking] Shit's fubar (Picked point is not in pickable entities DB?)!");
return;
}
auto pointColor = cloud->getPointColor(itemIdx);
m_app->dispToConsole(QString("[qTreeIso] Picked point's color is: R %1 G %2 B %3").arg(pointColor.r).arg(pointColor.g).arg(pointColor.b), ccMainAppInterface::STD_CONSOLE_MESSAGE);
unsigned numberOfPoints = cloud->size();
ccHObject* parent = cloud->getParent();
if (!parent->isGroup())
{
m_app->dispToConsole( "[qTreeIso] Warning: Couldn't find group belonging to point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
// CCLib::ReferenceCloud sameColorIndexes(cloud);
// use the point cloud's default visiblity array but we have to reset it and lose current visiblity info
// since there might be points already hidden but since we lose this information anyway when usinge createNewCloudFromVisbilitySelection?
// otherwise we create our own separate vis table and pass that one
if (!cloud->resetVisibilityArray()) // resets visiblity array or allocates it if it wasn't already
{
ccLog::Error(QString("[Cloud %1] Visibility table could not be instantiated!").arg(cloud->getName()));
return;
}
ccGenericPointCloud::VisibilityTableType& visibilityArray = cloud->getTheVisibilityArray();
ccColor::Rgb cPtColor;
for (unsigned i = 0; i < numberOfPoints; ++i)
{
cPtColor = cloud->getPointColor(i);
// default all pts start as visibilityArray[i] = POINT_VISIBLE;
if (!((cPtColor.r == pointColor.r) &&(cPtColor.g == pointColor.g) && (cPtColor.b == pointColor.b)))
{
visibilityArray[i] = POINT_HIDDEN;
// if color matches
//if (!sameColorIndexes.addPointIndex(i))
//{
// // out of memory
// return;
//}
}
}
// m_app->dispToConsole(QString("[qTreeIso] Found %1 points with the same color !").arg(sameColorIndexes.size()), ccMainAppInterface::STD_CONSOLE_MESSAGE);
m_app->dispToConsole(QString("[qTreeIso] Found %1 points with the same color !").arg(std::count(visibilityArray.begin(), visibilityArray.end(), POINT_VISIBLE)), ccMainAppInterface::STD_CONSOLE_MESSAGE);
//we temporarily detach the entity, as it may undergo
//"severe" modifications (octree deletion, etc.) --> see ccPointCloud::createNewCloudFromVisibilitySelection
// taken from MainWindow::deactivateSegmentationMode
ccMainAppInterface::ccHObjectContext objContext = m_app->removeObjectTemporarilyFromDBTree(entity);
///
/// get cloud to insert points into
///
ccHObject* targetEntity = selEntities[0];
ccGenericPointCloud* targetCloud;
ccPointCloud* targetPC;
targetCloud = ccHObjectCaster::ToGenericPointCloud(targetEntity);
if (targetCloud && targetCloud->isA(CC_TYPES::POINT_CLOUD))
{
targetPC = static_cast<ccPointCloud*>(targetCloud);
}
else
{
m_app->dispToConsole(QString("Entity [%1] is not of type PointCloud !").arg(selEntities[0]->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
// remember these
bool targetShowColor = targetPC->colorsShown();
bool targetShowSF = targetPC->sfShown();
// check if target cloud has colors -> not needed since it's handled by += operator (which calls append)
//if (!targetPC->hasColors())
//{
// m_app->dispToConsole(QString("Entity [%1] has no colors !").arg(selEntities[0]->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
// return;
//}
// no easy way to delete points from cloud -> for examples see MainWindow::deactivateSegmentationMode, ccGraphicalSegementationTool.cpp, ManualSegmentationTools.cpp
// have to use ccPointCloud::createNewCloudFromVisibilitySelection (which is also used by CC's segmentation tools see deactivateSegmentationMode)
// OLD ccPointCloud* extractedPoints = cloud->partialClone(&sameColorIndexes); // new cloud from reference cloud's indices
// new cloud will be created out of visible points and if we pass removeSelectedPoints=true then the visible points get removed from the original cloud
// @Speed using createNewClouwFromVisiblitySelection even though we want to only extract the points into an existing cloud,
// since it handles deleting points properly
auto extractedPoints = cloud->createNewCloudFromVisibilitySelection(true);
if (!extractedPoints)
{
m_app->dispToConsole(QString("[qTreeIso:extractPointsOfSameColor] Failed to create extracted cloud ! (not enough memory)"), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
ccPointCloud* extractedCloud;
if (extractedPoints->isA(CC_TYPES::POINT_CLOUD))
{
extractedCloud = static_cast<ccPointCloud*>(extractedPoints);
}
else
{
m_app->dispToConsole(QString("Selected entity [%1] is not of type PointCloud !").arg(selEntities[0]->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
*targetPC += extractedCloud;
// delete temp extractedPoints cloud
delete extractedPoints;
extractedPoints = nullptr;
extractedCloud = nullptr;
// reset these to the old values since the user might want to not display the color or the cloud at all
// to be able to see extracted points better
// otherwise i could set all the extracted point's to the cloud's color and save the original
// color as a packed int32 scalar field
targetPC->showColors(targetShowColor);
targetPC->showSF(targetShowSF);
// needs to be set on the parent! targetPC->setVisible(true);
m_app->putObjectBackIntoDBTree(entity, objContext);
stopPicking();
//redraw
m_app->updateUI();
m_app->getActiveGLWindow()->redraw();
}
void qTreeIso::doSplitByColor()
{
splitCloudBy(true, true, false);
}
void qTreeIso::doSplitByScalar()
{
splitCloudBy(false, true, false);
}
float findMedian(std::vector<float>& v)
{
// This algorithm handles both evenand odd sized inputs efficiently using
// the STL nth_element(amortized O(N)) algorithmand the max_element
// algorithm(O(n)).Note that nth_element has another guaranteed side
// effect, namely that all of the elements before n are all guaranteed to
// be less than v[n], just not necessarily sorted
// credit: Croc Dialer stackoverflow.com/questions/1719070
std::vector<float> tmp_array(std::begin(v), std::end(v));
size_t n = tmp_array.size() / 2;
// nth_element does enough of a sort to put one chosen element in the
// correct position, but doesn't completely sort the container
// sort till half of the array
std::nth_element(tmp_array.begin(), tmp_array.begin() + n, tmp_array.end());
// odd array return nth element as median
if (tmp_array.size() % 2) { return tmp_array[n]; }
else
{
// even sized vector -> average the two middle values
// since nth_element guarantees that all elements before n are smaller
// we can get max to find other middle val
// we could also use nth_element again with n as v.begin()+n-1
// but then we have to save tmp_array[n] first since nth_element will change the order
auto max_it = std::max_element(tmp_array.begin(), tmp_array.begin() + n);
return (*max_it + tmp_array[n]) * 0.5f;
}
}
void qTreeIso::doRemoveLowestPoints()
{
if (m_app == nullptr)
{
// m_app should have already been initialized by CC when plugin is loaded
Q_ASSERT(false);
return;
}
auto selEntities = m_app->getSelectedEntities();
ccHObject* entity;
ccGenericPointCloud* cloud;
ccPointCloud* pc;
// onNewSelection already makes sure we have at least one selection
if (selEntities.size() > 1)
{
m_app->dispToConsole("[qTreeIso] Warning: Please only select one entity!", ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
else
{
entity = selEntities[0];
cloud = ccHObjectCaster::ToGenericPointCloud(selEntities[0]);
if (cloud && cloud->isA(CC_TYPES::POINT_CLOUD))
{
pc = static_cast<ccPointCloud*>(cloud);
}
else
{
m_app->dispToConsole(QString("Entity [%1] is not of type PointCloud !").arg(selEntities[0]->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
}
ccHObject* parent = cloud->getParent();
if (!parent->isGroup())
{
m_app->dispToConsole( "[qTreeIso] Warning: Couldn't find group belonging to point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
unsigned numberOfPoints = pc->size();
if (numberOfPoints == 0)
{
return;
}
CCVector3 min, max;
pc->getBoundingBox(min, max);
auto minCorner = CCVector3d(min.x, min.y, min.z);
// COMMENTED SINCE
// we'd rather not spend that much time searching for a good grid step
// better to use a rough absolute grid or basic method for rough estimation
// then find lowest points for those cells and iterate over all the points
// again to mark all points within a threshold of that height
//auto octree = pc->getOctree();
//if (octree == nullptr)
//{
// octree = pc->computeOctree();
//}
//// find appropriate cell size for nearest neighbour search
//double cellSize = std::max(max.x, std::max(max.y, max.z));
//unsigned char level = 0;
//constexpr float minCellSize = 0.1f;
//while (cellSize > minCellSize)
//{
// cellSize /= 2.0f;
// ++level;
//}
//// find grid step by computing avg nearest neighbor distance ?at lowest 2m z slice ?optional
//CCLib::DgmOctree::NearestNeighboursSearchStruct search_opt;
//// set query params that only get set once
//// only query point is updated every time
//search_opt.level = level;
//search_opt.minNumberOfNeighbors = 9; //9-18
//double dNN = 0;
//unsigned int validPts = 0;
//const float maxZ = min.z + 2.0f;
//for (unsigned n = 0; n < numberOfPoints; ++n)
//{
// //for each point
// const CCVector3* P = pc->getPoint(n);
// if (P->z > maxZ) continue;
// ++validPts;
// search_opt.queryPoint = *P;
// octree->getTheCellPosWhichIncludesThePoint(P, search_opt.cellPos, level);
// octree->computeCellCenter(search_opt.cellPos, level, search_opt.cellCenter);
// search_opt.pointsInNeighbourhood.clear();
// search_opt.alreadyVisitedNeighbourhoodSize = 0;
// unsigned neighborCount = octree->findNearestNeighborsStartingFromCell(search_opt, false);
// double avg_dist_sq = 0;
// for (unsigned i = 0; i < neighborCount; ++i)
// {
// avg_dist_sq += search_opt.pointsInNeighbourhood[i].squareDistd;
// }
//
// dNN += avg_dist_sq / static_cast<double>(neighborCount);
//}
//dNN = sqrt(dNN / static_cast<double>(validPts));
if (!pc->resetVisibilityArray()) // resets visiblity array or allocates it if it wasn't already
{
ccLog::Error(QString("[Cloud %1] Visibility table could not be instantiated!").arg(pc->getName()));
return;
}
ccGenericPointCloud::VisibilityTableType& visibilityArray = pc->getTheVisibilityArray();
// use average distance to nearest neighbour in bottom 2m z-slice as grid-step
//double gridStep = dNN;
constexpr double gridStep = 0.1f;
// changed + 0.5f to + 1.5f since i was running into out of bounds issues
unsigned int width = static_cast<unsigned int>((max.x - min.x) / gridStep + 1.5f);
unsigned int height = static_cast<unsigned int>((max.y - min.y) / gridStep + 1.5f);
const float heightRange = max.z - min.z;
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] %1w x %2h = %3 cells").arg(width).arg(height).arg(width*height), ccMainAppInterface::STD_CONSOLE_MESSAGE);
std::vector<float> lowestHeights;
try
{
lowestHeights.resize(width * height); // CARE! dont use reserve here std::fill won't work as expected etc.
}
catch (const std::bad_alloc&)
{
return;
}
std::fill(lowestHeights.begin(), lowestHeights.end(), std::numeric_limits<float>::max());
// from ccRasterGrid::fillWith
// first pass to find lowest heights in grid cell
constexpr float INCLINE_EPSILON = 0.05f;
for (unsigned n = 0; n < numberOfPoints; ++n)
{
//for each point
const CCVector3* P = cloud->getPoint(n);
//project it inside the grid
CCVector3d relativePos = CCVector3d::fromArray(P->u) - minCorner;
int x = static_cast<int>((relativePos.u[0] / gridStep + 0.5));
int y = static_cast<int>((relativePos.u[1] / gridStep + 0.5));
//we skip points that fall outside of the grid!
if (x < 0 || x >= static_cast<int>(width)
|| y < 0 || y >= static_cast<int>(height))
{
continue;
}
assert(x >= 0 && y >= 0);
unsigned idx = y * width + x;
float* cell = &lowestHeights[idx];
//if (std::abs(P->x - -7.264612) < 0.001f && std::abs(P->y - -18.490040) < 0.001f && std::abs(P->z - 0.044942) < 0.001f)
//if (std::abs(P->x - -5.308474) < 0.001f && std::abs(P->y - -20.401810) < 0.001f && std::abs(P->z - 1.131417) < 0.001f)
//{
// m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] cell(y%2,x%3) %1").arg(*cell).arg(y).arg(x), ccMainAppInterface::STD_CONSOLE_MESSAGE);
//}
//if (y == 82 && x == 162)
//{
// m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] np cell(y%2,x%3) %1").arg(*cell).arg(y).arg(x), ccMainAppInterface::STD_CONSOLE_MESSAGE);
//}
if (P->z < *cell)
{
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] smaller z"), ccMainAppInterface::STD_CONSOLE_MESSAGE);
*cell = P->z;
//#define INCLINE_CMP 1
#if INCLINE_CMP
// normalize z so we can compare it better
float pNormZ = relativePos.z / heightRange + INCLINE_EPSILON;
// de/increase cmp value by INCLINE_EPSILON so we dont miss jumps that are small
// when measured in an absolute way but huge when measure relatively
// e.g. from z 0.002 to 0.02
// TODO: tweak epsilons + this compare factor
//float cmp = P->z >= 0 ? P->z * 0.5f - INCLINE_EPSILON : P->z * 1.5f + INCLINE_EPSILON; // use factor+1 when neg z
float up, down, left, right;
up = down = left = right = std::numeric_limits<float>::max();
up = ((y - 1) >= 0) ? (lowestHeights[idx - width] - min.z) / heightRange : up;
down = ((y + 1) < height) ? (lowestHeights[idx + width] - min.z) / heightRange : down;
left = ((x - 1) >= 0) ? (lowestHeights[idx - 1] - min.z) / heightRange : left;
right = ((x + 1) < width) ? (lowestHeights[idx + 1] - min.z) / heightRange : right;
// test if z of testing point is too much of an increase compared to its neighbours
if (!(pNormZ > up || pNormZ > down || pNormZ > left || pNormZ > right))
{
*cell = P->z;
}
else
{
//m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] Skipped Z %1 pNormZ+epsilon %2 up %3/%4 down %5/%6 left %7/%8 right %9/%10").arg(P->z).arg(pNormZ).arg(up).arg(up * heightRange).arg(down).arg(down * heightRange).arg(left).arg(left * heightRange).arg(right).arg(right * heightRange), ccMainAppInterface::STD_CONSOLE_MESSAGE);
}
#endif
}
}
//#define MED_CMP 1
#if MED_CMP
float median = findMedian(lowestHeights);
float lim = (median - min.z) / heightRange + 0.05f;
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] median height: %1").arg(median), ccMainAppInterface::STD_CONSOLE_MESSAGE);
#endif
//#define AVG_NEIGHBOURS 1
#if AVG_NEIGHBOURS
// average cells with NWSE neighbours so we smooth steep slopes
for (unsigned int y = 0; y < height; ++y)
{
for (unsigned int x = 0; x < width; ++x)
{
unsigned idx = y * width + x;
unsigned nneighbours = 0;
double avg = 0;
if (lowestHeights[idx] != std::numeric_limits<float>::max())
{
avg += lowestHeights[idx];
++nneighbours;
}
// TODO check if unset
// y/x unsigned cast to in so we can go <0
float val;
if (((int)y - 1) >= 0)
{
val = lowestHeights[idx - width];
if (val != std::numeric_limits<float>::max())
{
avg += val;
++nneighbours;
}
}
if ((y + 1) < height)
{
val = lowestHeights[idx + width];
if (val != std::numeric_limits<float>::max())
{
avg += val;
++nneighbours;
}
}
if (((int)x - 1) >= 0)
{
val = lowestHeights[idx - 1];
if (val != std::numeric_limits<float>::max())
{
avg += val;
++nneighbours;
}
}
if ((x + 1) < width)
{
val = lowestHeights[idx + 1];
if (val != std::numeric_limits<float>::max())
{
avg += val;
++nneighbours;
}
}
if (nneighbours)
{
avg /= static_cast<double>(nneighbours);
//m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] cell %1 avg %2").arg(lowestHeights[idx]).arg(avg), ccMainAppInterface::STD_CONSOLE_MESSAGE);
lowestHeights[idx] = static_cast<float>(avg);
}
}
}
#endif
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] minCorner: x %1 y %2 z %3").arg(minCorner.x).arg(minCorner.y).arg(minCorner.z), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
constexpr float GROUND_PT_EPSILON = 0.03f;
// SECOND pass to mark all points for extraction that are within a limit of the lowest height
for (unsigned n = 0; n < numberOfPoints; ++n)
{
//for each point
const CCVector3* P = cloud->getPoint(n);
//project it inside the grid
CCVector3d relativePos = CCVector3d::fromArray(P->u) - minCorner;
int x = static_cast<int>((relativePos.u[0] / gridStep + 0.5));
int y = static_cast<int>((relativePos.u[1] / gridStep + 0.5));
//we skip points that fall outside of the grid!
if (x < 0 || x >= static_cast<int>(width)
|| y < 0 || y >= static_cast<int>(height))
{
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] OUT OF BOUNDS! y %1 x %2").arg(y).arg(x), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] on point: x %1 y %2 z %3").arg(P->x).arg(P->y).arg(P->z), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
continue;
}
assert(x >= 0 && y >= 0);
unsigned idx = y * width + x;
float cell = lowestHeights[idx];
// decided to rather do this check here so the values we take from neighbouring fields don't
// propagate and we miss areas following a steeper incline
// check if cell value unset due to not passing neighbour checks
#if INCLINE_CMP
if (cell == std::numeric_limits<float>::max())
{
//m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] Found unset on y %1 x %2").arg(y).arg(x), ccMainAppInterface::STD_CONSOLE_MESSAGE);
// find neighbouring cells that are set
// float up, down, left, right = std::numeric_limits<float>::max(); => only right is initialized!!!
constexpr float fmax = std::numeric_limits<float>::max();
float up, down, left, right;
up = down = left = right = fmax;
for(int i = 1; (up != fmax && down != fmax && left != fmax && right != fmax) && (i < static_cast<int>(std::min(width, height) * 0.3f)); ++i)
{
if(up == fmax)
up = ((y - i) >= 0) ? lowestHeights[idx - i*width] : up;
if(down == fmax)
down = ((y + i) < height) ? lowestHeights[idx + i*width] : down;
if(left == fmax)
left = ((x - i) >= 0) ? lowestHeights[idx - i] : left;
if(right == fmax)
right = ((x + i) < width) ? lowestHeights[idx + i] : right;
}
// use min of neighbours otherwise this cell might remain at float max
// update local AND cell in grid
lowestHeights[idx] = cell = std::min(up, std::min(down, std::min(left, right)));
}
#endif
#if MED_CMP
if (((cell - min.z) / heightRange) > lim)
{
float up, down, left, right;
up = down = left = right = 1.5f;//std::numeric_limits<float>::max();
for(int i = 1; (up > lim && down > lim && left > lim && right > lim) && (i < static_cast<int>(std::min(width, height) * 0.3f)); ++i)
{
if (up > lim && ((y - i) >= 0))
{
up = lowestHeights[idx - i * width];
up = ((up - min.z) / heightRange) <= lim ? up : 1.5f;
}
if (down > lim && ((y + i) < height))
{
down = lowestHeights[idx + i * width];
down = ((down - min.z) / heightRange) <= lim ? down : 1.5f;
}
if (left > lim && ((x - i) >= 0))
{
left = lowestHeights[idx - i];
left = ((left - min.z) / heightRange) <= lim ? left : 1.5f;
}
if (right > lim && ((x + i) < width))
{
right = lowestHeights[idx + i];
right = ((right - min.z) / heightRange) <= lim ? right : 1.5f;
}
}
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] cell %1 too high").arg(cell), ccMainAppInterface::STD_CONSOLE_MESSAGE);
// search from neighbour outwards till we find heights that dont exceed our height limit
// update local AND cell in grid
lowestHeights[idx] = cell = std::min(up, std::min(down, std::min(left, right)));
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] replacing with %1").arg(cell), ccMainAppInterface::STD_CONSOLE_MESSAGE);
}
#endif
if (P->z >= (cell + GROUND_PT_EPSILON))
{
// hide non ground pts
visibilityArray[n] = POINT_HIDDEN;
}
}
//we temporarily detach the entity, as it may undergo
//"severe" modifications (octree deletion, etc.) --> see ccPointCloud::createNewCloudFromVisibilitySelection
// taken from MainWindow::deactivateSegmentationMode
ccMainAppInterface::ccHObjectContext objContext = m_app->removeObjectTemporarilyFromDBTree(entity);
auto extractedPoints = cloud->createNewCloudFromVisibilitySelection(true);
if (!extractedPoints)
{
m_app->dispToConsole(QString("[qTreeIso:RemoveLowestPoints] Failed to create extracted cloud ! (not enough memory)"), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
else
{
//'shift on load' information
extractedPoints->setGlobalShift(pc->getGlobalShift());
extractedPoints->setGlobalScale(pc->getGlobalScale());
extractedPoints->setVisible(true);
extractedPoints->setName(QString("%1_GROUND").arg(cloud->getName()));
//we add new CC to parent
parent->addChild(extractedPoints);
m_app->addToDB(extractedPoints);
m_app->setSelectedInDB(extractedPoints, true);
}
m_app->putObjectBackIntoDBTree(entity, objContext);
entity->setEnabled(false);
//redraw
m_app->updateUI();
m_app->getActiveGLWindow()->redraw();
}
void qTreeIso::doBHDSlice()
{
m_onPointPicked = DO_BHD_SLICE;
startPicking();
}
void qTreeIso::pointPickedBHDSlice(ccHObject* entity, unsigned itemIdx, int x, int y, const CCVector3& P)
{
if (!entity) //null pick
{
return;
}
// make sure we picked a point cloud?
if (!entity->isKindOf(CC_TYPES::POINT_CLOUD))
{
m_app->dispToConsole( "[qTreeIso] Warning: Please select a point that's part of a point cloud !", ccMainAppInterface::WRN_CONSOLE_MESSAGE );
return;
}
//get point cloud
// ccGenericPointCloud* genCloud = ccHObjectCaster::ToGenericPointCloud(entity);
ccPointCloud* cloud = static_cast<ccPointCloud*>(entity); //cast to point cloud
if (!cloud)
{
ccLog::Warning("[Item picking] Shit's fubar (Picked point is not in pickable entities DB?)!");
return;
}
// push minZ 1.25m up from !picked! starting point and set maxZ to minZ + 10cm so we get 5cm above and under
// the 1.3m needed for BHD measurement
ccBBox cropBox(entity->getOwnBB());
cropBox.minCorner().z = P.z + 1.25f;
cropBox.maxCorner().z = cropBox.minCorner().z + 0.1f;
// from ccCropTool.cpp since i somehow can't include qCC/ccCropTool.h
// ccHObject* croppedEnt = ccCropTool::Crop(entity, cropBox, true);
CCLib::ReferenceCloud* selection = cloud->crop(cropBox, true);
if (!selection)
{
//process failed!
m_app->dispToConsole(QString("[Crop] Failed to crop cloud '%1'!").arg(cloud->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
return;
}
if (selection->size() == 0)
{
//no points fall inside selection!
m_app->dispToConsole(QString("[Crop] No point of the cloud '%1' falls inside the input box!").arg(cloud->getName()), ccMainAppInterface::WRN_CONSOLE_MESSAGE);
delete selection;