MinimumCutSegmentation.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "MinimumCutSegmentation.h"
 
#include <Utils/cc2sm.h>
#include <Utils/sm2cc.h>
 
#include "PclUtils/PCLModules.h"
#include "dialogs/MinimumCutSegmentationDlg.h"
 
// CV_DB_LIB
#include <ecvPointCloud.h>
 
// ECV_PLUGINS
#include <ecvMainAppInterface.h>
 
// QT
#include <QMainWindow>
 
// SYSTEM
#include <iostream>
#include <sstream>
 
MinimumCutSegmentation::MinimumCutSegmentation()
    : BasePclModule(
              PclModuleDescription(tr("Min Cut Segmentation"),
                                   tr("Min Cut Segmentation"),
                                   tr("Min Cut Segmentation from clouds"),
                                   ":/toolbar/PclAlgorithms/icons/mincut.png")),
      m_dialog(nullptr),
      m_colored(false),
      m_neighboursNumber(14),
      m_smoothSigma(0.25f),
      m_backWeightRadius(3.0f),
      m_foregroundWeight(0.8f),
      m_cx(0.0f),
      m_cy(0.0f),
      m_cz(0.0f) {}
 
MinimumCutSegmentation::~MinimumCutSegmentation() {
    // we must delete parent-less dialogs ourselves!
    if (m_dialog && m_dialog->parent() == nullptr) delete m_dialog;
}
 
int MinimumCutSegmentation::checkSelected() {
    // do we have a selected cloud?
    int have_cloud = isFirstSelectedCcPointCloud();
    if (have_cloud != 1) return -11;
 
    return 1;
}
 
int MinimumCutSegmentation::openInputDialog() {
    // initialize the dialog object
    if (!m_dialog) m_dialog = new MinimumCutSegmentationDlg(m_app);
 
    m_dialog->refreshLabelComboBox();
    ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
    if (cloud->hasColors() || cloud->hasScalarFields()) {
        m_colored = true;
    } else {
        m_colored = false;
    }
 
    if (!m_dialog->exec()) return 0;
 
    return 1;
}
 
void MinimumCutSegmentation::getParametersFromDialog() {
    if (!m_dialog) return;
 
    m_cx = static_cast<float>(m_dialog->cxAxisDoubleSpinBox->value());
    m_cy = static_cast<float>(m_dialog->cyAxisDoubleSpinBox->value());
    m_cz = static_cast<float>(m_dialog->czAxisDoubleSpinBox->value());
 
    m_neighboursNumber = m_dialog->neighboursNumSpinBox->value();
    m_smoothSigma = static_cast<float>(m_dialog->smoothSigmaSpinbox->value());
    m_backWeightRadius =
            static_cast<float>(m_dialog->backWeightRadiusSpinbox->value());
    m_foregroundWeight =
            static_cast<float>(m_dialog->foreWeightSpinbox->value());
}
 
int MinimumCutSegmentation::checkParameters() { return 1; }
 
int MinimumCutSegmentation::compute() {
    ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
    if (!cloud) return -1;
 
    PCLCloud::Ptr sm_cloud = cc2smReader(cloud).getAsSM();
    if (!sm_cloud) return -1;
 
    // initialize all possible clouds
    std::vector<pcl::PointIndices> clusters;
    PointCloudT::Ptr xyzCloud(new PointCloudT);
    PointCloudRGB::Ptr rgbCloud(new PointCloudRGB);
    PointCloudRGB::Ptr cloudSegmented(new PointCloudRGB);
 
    if (m_colored)  // XYZRGB
    {
        PointRGB foregroundPoint(0.0f, 0.0f, 0.0f, 255, 255, 255);
        foregroundPoint.x = m_cx;
        foregroundPoint.y = m_cy;
        foregroundPoint.z = m_cz;
        FROM_PCL_CLOUD(*sm_cloud, *rgbCloud);
        int result = PCLModules::GetMinCutSegmentation<PointRGB>(
                rgbCloud, clusters, cloudSegmented, foregroundPoint,
                m_neighboursNumber, m_smoothSigma, m_backWeightRadius,
                m_foregroundWeight);
        if (result < 0) return -1;
    } else  // XYZ
    {
        FROM_PCL_CLOUD(*sm_cloud, *xyzCloud);
        PointT foregroundPoint(m_cx, m_cy, m_cz);
        int result = PCLModules::GetMinCutSegmentation<PointT>(
                xyzCloud, clusters, cloudSegmented, foregroundPoint,
                m_neighboursNumber, m_smoothSigma, m_backWeightRadius,
                m_foregroundWeight);
        if (result < 0) return -1;
    }
 
    PCLCloud out_cloud_sm;
    TO_PCL_CLOUD(*cloudSegmented, out_cloud_sm);
 
    if (out_cloud_sm.height * out_cloud_sm.width == 0) {
        // cloud is empty
        return -53;
    }
 
    ccPointCloud* out_cloud_cc = pcl2cc::Convert(out_cloud_sm);
    if (!out_cloud_cc) {
        // conversion failed (not enough memory?)
        return -1;
    }
 
    if (cloud) {
        out_cloud_cc->setName(cloud->getName() + "-min-cut");
        // copy global shift & scale
        out_cloud_cc->setGlobalScale(cloud->getGlobalScale());
        out_cloud_cc->setGlobalShift(cloud->getGlobalShift());
 
        cloud->setEnabled(false);
        if (cloud->getParent()) cloud->getParent()->addChild(out_cloud_cc);
    }
    emit newEntity(out_cloud_cc);
 
    return 1;
}
 
QString MinimumCutSegmentation::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(
                    "Min Cut Segmentation does not returned any point. Try "
                    "relaxing your parameters");
    }
 
    return BasePclModule::getErrorMessage(errorCode);
}