ranormalWorker.cpp

/*
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 *
 *  Xin Wang
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * Author : Xin Wang
 * Email  : ericrussell@zju.edu.cn
 *
 */

#include <time.h>
#include <string>
#include <sstream>
#include <pcl/features/normal_3d.h>
#include <pcl/features/normal_3d_omp.h>
#include <qinputdialog.h>
#include <qmessagebox.h>
#include "ranormalWorker.h"
#include "dataLibrary.h"
#include "globaldef.h"

void ranormalWorker::doWork(const double &radius)
{
	bool is_success(false);

    dataLibrary::checkupflow();

    dataLibrary::Status = STATUS_RANORMAL;

    dataLibrary::start = clock();

	//begin of processing
    pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
    ne.setInputCloud(dataLibrary::cloudxyz);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>());
    ne.setSearchMethod(tree);
    ne.setRadiusSearch(radius);
	if(!dataLibrary::normal->empty())
	{
		dataLibrary::normal->clear();
	}
    ne.compute(*dataLibrary::normal);

	if(!dataLibrary::pointnormals->empty())
	{
		dataLibrary::pointnormals->clear();
	}
	pcl::concatenateFields(*dataLibrary::cloudxyz, *dataLibrary::normal, *dataLibrary::pointnormals);

	is_success = true;
	//end of processing

    dataLibrary::finish = clock();

    if(this->getWriteLogMpde()&&is_success)
    {
        std::string log_text = "\tComputing Radius Normal costs: ";
        std::ostringstream strs;
        strs << (double)(dataLibrary::finish-dataLibrary::start)/CLOCKS_PER_SEC;
        log_text += (strs.str() +" seconds.");
        dataLibrary::write_text_to_log_file(log_text);
    }

    if(!this->getMuteMode()&&is_success)
    {
        emit show();
    }
    dataLibrary::Status = STATUS_READY;
    emit showReadyStatus();
	if(this->getWorkFlowMode()&&is_success)
	{
		this->Sleep(1000);
		emit GoWorkFlow();
	}
}