PclAnnotationTool.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// LOCAL
#include <Utils/PCLCloud.h>
 
#include "Tools/ColorTools/PclPointCloudColorHandlerLUT.h"
#include "qPCL.h"
 
// CV_DB_LIB
#include <ecvGenericAnnotationTool.h>
 
// QT
#include <QObject>
#include <memory>
 
namespace PclUtils {
class PCLVis;
}
class ecvGenericVisualizer3D;
 
class vtkActor;
class Annotation;
class Annotaions;
 
class QPCL_ENGINE_LIB_API PclAnnotationTool : public ecvGenericAnnotationTool {
    Q_OBJECT
public:
    explicit PclAnnotationTool(
            AnnotationMode mode = AnnotationMode::BOUNDINGBOX);
    explicit PclAnnotationTool(
            ecvGenericVisualizer3D* viewer,
            AnnotationMode mode = AnnotationMode::BOUNDINGBOX);
    virtual ~PclAnnotationTool() override;
 
public:  // implemented from ecvGenericAnnotationTool interface
    virtual void setVisualizer(
            ecvGenericVisualizer3D* viewer = nullptr) override;
    virtual bool loadClassesFromFile(const std::string& file) override;
    virtual void getAnnotationLabels(
            std::vector<std::string>& labelList) override;
    virtual bool getCurrentAnnotations(std::vector<int>& annos) const override;
    virtual void initAnnotationLabels(
            const std::vector<std::string>& labelList) override;
 
    virtual void toggleInteractor() override;
    virtual bool setInputCloud(ccPointCloud* pointCloud,
                               int viewport = 0) override;
 
    virtual void start() override;
    virtual void stop() override;
 
    virtual void intersectMode() override;
    virtual void unionMode() override;
    virtual void trimMode() override;
    virtual void resetMode() override;
 
    virtual void reset() override;
    virtual void clear() override;
 
    virtual void exportAnnotations() override;
 
    virtual void changeAnnotationType(const std::string& type) override;
    virtual void selectExistedAnnotation(const std::string& type) override;
    virtual void updateCloud() override;
 
    // visibility
    virtual void showAnnotation() override;
    virtual void hideAnnotation() override;
    virtual void showOrigin() override;
    virtual void hideOrigin() override;
    virtual void removeAnnotation() override;
 
protected:  // implemented from ecvGenericAnnotationTool interface
    virtual void initialize(ecvGenericVisualizer3D* viewer) override;
 
protected slots:
    void pointPickingProcess(int index);
    void areaPickingEventProcess(const std::vector<int>& new_selected_slice);
    void pickedEventProcess(vtkActor* actor);
    void keyboardEventProcess(const std::string& symKey);
 
private:
    void showAnnotation(const Annotation* anno);
    void removeAnnotation(Annotation* anno);
    void hideAnnotation(Annotation* anno);
 
    void changeAnnotationType(Annotation* anno, const std::string& type);
    void setPointSize(const std::string& viewID, int viewport = 0);
    void highlightPoint(std::vector<int>& slice);
    void defaultColorPoint(std::vector<int>& slice);
    void createAnnotationFromSelectPoints(std::string type = "unknown");
 
    void labelCloudByAnnotations();
    void labelCloudByAnnotation(const Annotation* anno);
    void resetCloudByAnnotation(const Annotation* anno);
    void updateCloudLabel(const std::string& type);
 
    void refresh();
    void loadDefaultClasses();
 
    void filterPickedSlice(const std::vector<int>& inSlices,
                           std::vector<int>& outSlices,
                           bool skip = false);
 
private:
    void fastLabelCloud(const std::vector<int>& inSlices, int label = 0);
 
private:
    bool m_intersectMode;
    bool m_unionMode;
    bool m_trimMode;
 
    PclUtils::PCLVis* m_viewer;
 
    std::string m_pointcloudFileName;
    std::string m_annotationFileName;
 
    std::string m_annotationCloudId = "annotationCloud";
    std::string m_baseCloudId;
 
    PointCloudI::Ptr m_baseCloud;
 
    int* m_cloudLabel;
    PclPointCloudColorHandlerLUT<PointIntensity> m_colorHandler;
    std::vector<int> m_last_selected_slice;
 
    // manage annotations
    std::shared_ptr<Annotaions> m_annoManager;
 
    // for pick
    Annotation* m_currPickedAnnotation;
 
    std::vector<Annotation*> m_lastSelectedAnnotations;
};