qRANSAC_SD.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "ecvStdPluginInterface.h"
 
 
class qRansacSD : public QObject, public ccStdPluginInterface {
    Q_OBJECT
    Q_INTERFACES(ccPluginInterface ccStdPluginInterface)
    Q_PLUGIN_METADATA(IID "ecvcorp.cloudviewer.plugin.qRansacSD" FILE
                          "../info.json")
 
public:
    enum RANSAC_PRIMITIVE_TYPES {
        RPT_PLANE = 0,
        RPT_SPHERE = 1,
        RPT_CYLINDER = 2,
        RPT_CONE = 3,
        RPT_TORUS = 4,
    };
 
    struct RansacParams {
        float epsilon;           // distance threshold
        float bitmapEpsilon;     // bitmap resolution
        unsigned supportPoints;  // this is the minimal numer of points required
                                 // for a primitive
        float maxNormalDev_deg;  // maximal normal deviation from ideal shape
                                 // (in degrees)
        float probability;       // probability that no better candidate was
                                 // overlooked during sampling
        bool randomColor;     // should the resulting detected shapes sub point
                              // cloud be colored randomly
        bool primEnabled[5];  // RANSAC_PRIMITIVE_TYPES
        float minRadius;
        float maxRadius;
        RansacParams()
            : epsilon(0.005f),
              bitmapEpsilon(0.01f),
              supportPoints(500),
              maxNormalDev_deg(25.0f),
              probability(0.01f),
              randomColor(true),
              minRadius(0.0000001f),
              maxRadius(1000000.0f) {
            primEnabled[RPT_PLANE] = true;
            primEnabled[RPT_SPHERE] = true;
            primEnabled[RPT_CYLINDER] = true;
            primEnabled[RPT_CONE] = false;
            primEnabled[RPT_TORUS] = false;
        };
 
        RansacParams(float scale)
            : epsilon(0.005f * scale),
              bitmapEpsilon(0.01f * scale),
              supportPoints(500),
              maxNormalDev_deg(25.0f),
              probability(0.01f),
              randomColor(true),
              minRadius(0.0000001f),
              maxRadius(1000000.0f) {
            primEnabled[RPT_PLANE] = true;
            primEnabled[RPT_SPHERE] = true;
            primEnabled[RPT_CYLINDER] = true;
            primEnabled[RPT_CONE] = false;
            primEnabled[RPT_TORUS] = false;
        };
    };
 
    explicit qRansacSD(QObject* parent = nullptr);
 
    // inherited from ccStdPluginInterface
    virtual QList<QAction*> getActions() override;
    virtual void registerCommands(ccCommandLineInterface* cmd) override;
    virtual void onNewSelection(
            const ccHObject::Container& selectedEntities) override;
 
    static ccHObject* executeRANSAC(ccPointCloud* ccPC,
                                    const RansacParams& params,
                                    bool silent = false);
protected slots:
 
    void doAction();
 
protected:
    QAction* m_action;
};