GreedyTriangulation.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "GreedyTriangulation.h"
 
#include <Utils/cc2sm.h>
#include <Utils/sm2cc.h>
 
#include "PclUtils/PCLModules.h"
#include "dialogs/GreedyTriangulationDlg.h"
 
// CV_DB_LIB
#include <ecvMesh.h>
#include <ecvPointCloud.h>
 
// ECV_PLUGINS
#include <ecvMainAppInterface.h>
 
// QT
#include <QMainWindow>
 
// SYSTEM
#include <iostream>
 
GreedyTriangulation::GreedyTriangulation()
    : BasePclModule(PclModuleDescription(
              tr("Greedy Triangulation"),
              tr("Greedy Triangulation"),
              tr("Greedy Triangulation from clouds"),
              ":/toolbar/PclAlgorithms/icons/greedy_triangulation.png")),
      m_dialog(nullptr),
      m_normalSearchRadius(10),
      m_knn_radius(10),
      m_useKnn(false),
      m_trigulationSearchRadius(25),
      m_weightingFactor(2.5),
      m_maxNearestNeighbors(100),
      m_maxSurfaceAngle(45),
      m_minAngle(10),
      m_maxAngle(120),
      m_normalConsistency(false) {}
 
GreedyTriangulation::~GreedyTriangulation() {
    // we must delete parent-less dialogs ourselves!
    if (m_dialog && m_dialog->parent() == nullptr) delete m_dialog;
}
 
int GreedyTriangulation::checkSelected() {
    // do we have a selected cloud?
    int have_cloud = isFirstSelectedCcPointCloud();
    if (have_cloud != 1) return -11;
 
    return 1;
}
 
int GreedyTriangulation::openInputDialog() {
    // initialize the dialog object
    if (!m_dialog)
        m_dialog = new GreedyTriangulationDlg(m_app ? m_app->getActiveWindow()
                                                    : 0);
 
    ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
    if (cloud) {
        ccBBox bBox = cloud->getOwnBB();
        if (bBox.isValid())
            m_dialog->normalSearchRadius->setValue(bBox.getDiagNorm() * 0.005);
    }
 
    if (!m_dialog->exec()) return 0;
 
    return 1;
}
 
void GreedyTriangulation::getParametersFromDialog() {
    if (!m_dialog) return;
 
    // get the parameters from the dialog
    m_normalConsistency = m_dialog->normalConsistency->isChecked();
    m_useKnn = m_dialog->useKnnCheckBoxForTriangulation->isChecked();
    m_knn_radius = m_dialog->knnSpinBoxForTriangulation->value();
    m_normalSearchRadius =
            static_cast<float>(m_dialog->normalSearchRadius->value());
 
    m_trigulationSearchRadius = m_dialog->triangulationSearchRadius->value();
    m_weightingFactor = static_cast<float>(m_dialog->weightingFactor->value());
    m_maxNearestNeighbors = m_dialog->nearestThreshold->value();
    m_maxSurfaceAngle = m_dialog->maxSurfaceAngle->value();
    m_minAngle = m_dialog->minAngle->value();
    m_maxAngle = m_dialog->maxAngle->value();
}
 
int GreedyTriangulation::checkParameters() {
    if (m_maxAngle > m_minAngle) {
        return 1;
    } else {
        return -52;
    }
}
 
int GreedyTriangulation::compute() {
    ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
    if (!cloud) return -1;
 
    // create storage for normals
    pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals(
            new pcl::PointCloud<pcl::PointNormal>);
 
    if (!cloud->hasNormals()) {
        // get xyz as pcl point cloud
        pcl::PointCloud<pcl::PointXYZ>::Ptr xyzCloud =
                cc2smReader(cloud).getXYZ2();
        if (!xyzCloud) return -1;
 
        // now compute
        pcl::PointCloud<NormalT>::Ptr normals(new pcl::PointCloud<NormalT>);
        int result = PCLModules::ComputeNormals<pcl::PointXYZ, NormalT>(
                xyzCloud, normals,
                m_useKnn ? m_knn_radius : m_normalSearchRadius, m_useKnn);
        if (result < 0) return -1;
 
        // concat points and normals
        pcl::concatenateFields(*xyzCloud, *normals, *cloudWithNormals);
        CVLog::Print(tr("[GreedyTriangulation::compute] generate new normals"));
    } else {
        PCLCloud::Ptr sm_cloud = cc2smReader(cloud).getAsSM();
        FROM_PCL_CLOUD(*sm_cloud, *cloudWithNormals);
        CVLog::Print(
                tr("[GreedyTriangulation::compute] find normals and use the "
                   "normals"));
    }
 
    // reconstruction
    PCLMesh mesh;
    int result = PCLModules::GetGreedyTriangulation(
            cloudWithNormals, mesh, m_trigulationSearchRadius,
            m_weightingFactor, m_maxNearestNeighbors, m_maxSurfaceAngle,
            m_minAngle, m_maxAngle, m_normalConsistency);
    if (result < 0) return -1;
 
    PCLCloud out_cloud_sm(mesh.cloud);
    if (out_cloud_sm.height * out_cloud_sm.width == 0) {
        // cloud is empty
        return -53;
    }
 
    ccMesh* out_mesh = pcl2cc::Convert(out_cloud_sm, mesh.polygons);
    if (!out_mesh) {
        // conversion failed (not enough memory?)
        return -1;
    }
 
    unsigned vertCount = out_mesh->getAssociatedCloud()->size();
    unsigned faceCount = out_mesh->size();
    CVLog::Print(
            tr("[greedy-triangulation-Reconstruction] %1 points, %2 face(s)")
                    .arg(vertCount)
                    .arg(faceCount));
 
    out_mesh->setName(tr("greedy-triangulation searchRadius[%1]")
                              .arg(m_trigulationSearchRadius));
    // copy global shift & scale
    out_mesh->getAssociatedCloud()->setGlobalScale(cloud->getGlobalScale());
    out_mesh->getAssociatedCloud()->setGlobalShift(cloud->getGlobalShift());
 
    if (cloud->getParent()) cloud->getParent()->addChild(out_mesh);
 
    emit newEntity(out_mesh);
 
    return 1;
}
 
QString GreedyTriangulation::getErrorMessage(int errorCode) {
    switch (errorCode) {
            // THESE CASES CAN BE USED TO OVERRIDE OR ADD FILTER-SPECIFIC ERRORS
            // CODES ALSO IN DERIVED CLASSES DEFULAT MUST BE ""
 
        case -51:
            return tr(
                    "Selected entity does not have any suitable scalar field "
                    "or RGB.");
        case -52:
            return tr(
                    "Wrong Parameters. One or more parameters cannot be "
                    "accepted");
        case -53:
            return tr(
                    "Greedy Triangulation does not returned any point. Try "
                    "relaxing your parameters");
        default:
            break;
    }
 
    return BasePclModule::getErrorMessage(errorCode);
}