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structrock.cpp
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structrock.cpp
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/*
* Software License Agreement (BSD License)
*
* Xin Wang
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* 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 <vector>
#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <algorithm>
#include <time.h>
#include <math.h>
#include <libpq-fe.h>
#include "pcl/common/common_headers.h"
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl/surface/concave_hull.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/filters/extract_indices.h>
#include <vtkRenderWindow.h>
#include <boost/thread/thread.hpp>
#include <Eigen/src/Core/Matrix.h>
#include <boost/algorithm/string/predicate.hpp>
#include <qfiledialog.h>
#include <qinputdialog.h>
#include <qmessagebox.h>
#include <qevent.h>
#include <qthread.h>
#include <qstringlist.h>
#include "ReadFileWorker.h"
#include "checkstatusThread.h"
#include "resampleWorker.h"
#include "downsampleWorker.h"
#include "knnormalWorker.h"
#include "ranormalWorker.h"
#include "StaticROWorker.h"
#include "RGSWorker.h"
#include "SaveClustersWorker.h"
#include "ReadXYZWorker.h"
#include "ShowProcessWorker.h"
#include "TestWorker.h"
#include "globaldef.h"
#include "dataLibrary.h"
#include "structrock.h"
#include "geo_region_growing.h"
#include "plotwindow.h"
#include "TimingShutdown.h"
using namespace std;
structrock::structrock(QWidget *parent, Qt::WFlags flags)
: QMainWindow(parent, flags),
viewer(new pcl::visualization::PCLVisualizer("3D Viewer")),
v1(1),
v2(2)
{
ui.setupUi(this);
QPalette pa;
pa.setColor(QPalette::WindowText,Qt::black);
ui.label->setPalette(pa);
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer->setBackgroundColor(0.4, 0.4, 0.4, v1);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor(0.4, 0.4, 0.4, v2);
viewer->initCameraParameters();
viewer->resetCamera();
ui.qvtkWidget->update();
openAction = new QAction(tr("&pcd File"), this);
openAction->setShortcut(QKeySequence::Open);
connect(openAction, SIGNAL(triggered()), this, SLOT(open()));
open_clusters = new QAction(tr("&bin File"), this);
connect(open_clusters, SIGNAL(triggered()), this, SLOT(OpenClusters()));
open_xyz = new QAction(tr("&xyz File"), this);
connect(open_xyz, SIGNAL(triggered()), this, SLOT(OpenXYZ()));
open_workflow = new QAction(tr("&Work Flow"), this);
connect(open_workflow, SIGNAL(triggered()), this, SLOT(OpenWorkFlow()));
SaveAsASCII = new QAction(tr("ASCII"), this);
connect(SaveAsASCII, SIGNAL(triggered()), this, SLOT(saveasascii()));
SaveAsBinary = new QAction(tr("Binary"), this);
connect(SaveAsBinary, SIGNAL(triggered()), this, SLOT(saveasbinary()));
exitAction = new QAction(tr("&Exit"), this);
exitAction->setShortcut(QKeySequence::Quit);
connect(exitAction, SIGNAL(triggered()), this, SLOT(exit()));
Reboot = new QAction(tr("&Reboot"), this);
connect(Reboot, SIGNAL(triggered()), this, SLOT(slotReboot()));
newWindow = new QAction(tr("&New Window"), this);
connect(newWindow, SIGNAL(triggered()), this, SLOT(NewWindow()));
save_normals = new QAction(tr("&Save Normals"), this);
connect(save_normals, SIGNAL(triggered()), this, SLOT(SaveNormals()));
save_clusters = new QAction(tr("&Save Clusters"), this);
connect(save_clusters, SIGNAL(triggered()), this, SLOT(SaveClusters()));
QMenu *file = menuBar()->addMenu(tr("&File"));
QMenu *open = file->addMenu(tr("&Open"));
open->addAction(openAction);
open->addAction(open_clusters);
open->addAction(open_xyz);
open->addAction(open_workflow);
QMenu *Save = file->addMenu(tr("&Save"));
QMenu *SavePCD = Save->addMenu(tr("&Save PCD as"));
SavePCD->addAction(SaveAsASCII);
SavePCD->addAction(SaveAsBinary);
Save->addAction(save_normals);
Save->addAction(save_clusters);
file->addAction(Reboot);
file->addAction(newWindow);
file->addAction(exitAction);
DownSampling = new QAction(tr("&Down Sampling"), this);
connect(DownSampling, SIGNAL(triggered()), this, SLOT(downsampling()));
ReSampling = new QAction(tr("&Resampling"), this);
connect(ReSampling, SIGNAL(triggered()), this, SLOT(resampling()));
normal_k_neighbor = new QAction(tr("&K-Neighbor"), this);
connect(normal_k_neighbor, SIGNAL(triggered()), this, SLOT(k_neighbor()));
normal_radius = new QAction(tr("&Radius-threshold"), this);
connect(normal_radius, SIGNAL(triggered()), this, SLOT(radius()));
Static_remove_outlier = new QAction(tr("&Statistical"), this);
connect(Static_remove_outlier, SIGNAL(triggered()), this, SLOT(StaticRemoveOutlier()));
Conditional_remove_outlier = new QAction(tr("&Conditional(coming)"), this);
connect(Conditional_remove_outlier, SIGNAL(triggered()), this, SLOT(ConditionalRemoveOutlier()));
Radius_remove_outlier = new QAction(tr("&Radius(coming)"), this);
connect(Radius_remove_outlier, SIGNAL(triggered()), this, SLOT(RadiusRemoveOutlier()));
region_growing_segmentation = new QAction(tr("Region Growing"), this);
connect(region_growing_segmentation, SIGNAL(triggered()), this, SLOT(RegionGrowingSegmentation()));
QMenu *edit = menuBar()->addMenu(tr("&Edit"));
QMenu *filter = edit->addMenu(tr("Filtering"));
filter->addAction(DownSampling);
filter->addAction(ReSampling);
QMenu *normal = edit->addMenu(tr("&Extract Normals"));
normal->addAction(normal_k_neighbor);
normal->addAction(normal_radius);
QMenu *removeoutlier = edit->addMenu(tr("&Remove Outlier"));
removeoutlier->addAction(Static_remove_outlier);
removeoutlier->addAction(Conditional_remove_outlier);
removeoutlier->addAction(Radius_remove_outlier);
QMenu *segmentation = edit->addMenu(tr("&Segmentation"));
segmentation->addAction(region_growing_segmentation);
testing = new QAction(tr("&Test"), this);
connect(testing, SIGNAL(triggered()), this, SLOT(Testing()));
about = new QAction(tr("&About"), this);
connect(about, SIGNAL(triggered()), this, SLOT(About()));
stereonet = new QAction(tr("&Stereonet"), this);
connect(stereonet, SIGNAL(triggered()), this, SLOT(Stereonet()));
QMenu *help = menuBar()->addMenu(tr("&Help"));
help->addAction(about);
help->addAction(stereonet);
help->addAction(testing);
checkstatusThread *csThread(new checkstatusThread);
connect(csThread, SIGNAL(show(int)), this, SLOT(ShowStatus(int)));
connect(csThread, SIGNAL(finished()), csThread, SLOT(deleteLater()));
csThread->start();
}
structrock::~structrock()
{
}
void structrock::open()
{
QString filename = QFileDialog::getOpenFileName(NULL,tr("Open Point Cloud Data"),QDir::currentPath(),tr("Point Cloud Data (*.pcd);;All files (*.*)"));
if(!filename.isNull())
{
readfileworker.setWorkFlowMode(false);
readfileworker.setUnmute();
QObject::connect(&readfileworker, SIGNAL(ReadFileReady(int)), this, SLOT(ShowPCD(int)));
connect(&readfileworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
QObject::connect(&readfileworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
readfileworker.readFile(filename);
}
}
void structrock::OpenXYZ()
{
QString filename = QFileDialog::getOpenFileName(NULL,tr("Open XYZ Data"),QDir::currentPath(),tr("XYZ Data (*.txt);;All files (*.*)"));
if(!filename.isNull())
{
readxyzworker.setWorkFlowMode(false);
readxyzworker.setUnmute();
connect(&readxyzworker, SIGNAL(ReadXYZReady(int)), this, SLOT(ShowPCD(int)));
connect(&readxyzworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&readxyzworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
readxyzworker.readXYZ(filename);
}
}
void structrock::OpenWorkFlow()
{
QString filename = QFileDialog::getOpenFileName(NULL,tr("Open Work Flow File"),QDir::currentPath(),tr("Work Flow (*.txt);;All files (*.*)"));
if(!filename.isNull())
{
QByteArray ba = filename.toLocal8Bit();
std::string* strfilename = new std::string(ba.data());
std::ifstream file(strfilename->c_str());
if(file)
{
dataLibrary::clearWorkFlow();
std::stringstream buffer;
buffer << file.rdbuf();
file.close();
char line_split_str = ';';
std::string each_line;
while(std::getline(buffer, each_line, line_split_str))
{
std::istringstream line_stream(each_line);
char command_split_str = ',';
std::vector<std::string> tokens;
for(std::string each; std::getline(line_stream, each, command_split_str); tokens.push_back(each));
if(tokens.size()>0)
{
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),'\n'), tokens[0].end());
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),' '), tokens[0].end());
if(boost::starts_with(tokens[0],"#"))
{
}
else
{
WorkLine work;
work.command = tokens[0];
for(int i=1; i<tokens.size(); i++)
{
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),'\n'), tokens[i].end());
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),' '), tokens[i].end());
work.parameters.push_back(tokens[i]);
}
dataLibrary::Workflow.push_back(work);
}
}
}
if(dataLibrary::Workflow.size()>0)
{
dataLibrary::current_workline_index=0;
dataLibrary::have_called_read_file = false;
command_parser();
}
}
delete strfilename;
}
}
void structrock::OpenWorkFlow(QString filename)
{
if(!filename.isNull())
{
QByteArray ba = filename.toLocal8Bit();
std::string* strfilename = new std::string(ba.data());
std::ifstream file(strfilename->c_str());
if(file)
{
dataLibrary::clearWorkFlow();
std::stringstream buffer;
buffer << file.rdbuf();
file.close();
char line_split_str = ';';
std::string each_line;
while(std::getline(buffer, each_line, line_split_str))
{
std::istringstream line_stream(each_line);
char command_split_str = ',';
std::vector<std::string> tokens;
for(std::string each; std::getline(line_stream, each, command_split_str); tokens.push_back(each));
if(tokens.size()>0)
{
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),'\n'), tokens[0].end());
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),' '), tokens[0].end());
if(boost::starts_with(tokens[0],"#"))
{
}
else
{
WorkLine work;
work.command = tokens[0];
for(int i=1; i<tokens.size(); i++)
{
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),'\n'), tokens[i].end());
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),' '), tokens[i].end());
work.parameters.push_back(tokens[i]);
}
dataLibrary::Workflow.push_back(work);
}
}
}
if(dataLibrary::Workflow.size()>0)
{
dataLibrary::current_workline_index=0;
command_parser();
}
}
delete strfilename;
}
}
void structrock::OpenWorkFlow(std::string commands)
{
dataLibrary::clearWorkFlow();
std::istringstream buffer(commands);
char line_split_str = ';';
std::string each_line;
while(std::getline(buffer, each_line, line_split_str))
{
std::istringstream line_stream(each_line);
char command_split_str = ',';
std::vector<std::string> tokens;
for(std::string each; std::getline(line_stream, each, command_split_str); tokens.push_back(each));
if(tokens.size()>0)
{
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),'\n'), tokens[0].end());
tokens[0].erase(std::remove(tokens[0].begin(), tokens[0].end(),' '), tokens[0].end());
if(boost::starts_with(tokens[0],"#"))
{
}
else
{
WorkLine work;
work.command = tokens[0];
for(int i=1; i<tokens.size(); i++)
{
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),'\n'), tokens[i].end());
tokens[i].erase(std::remove(tokens[i].begin(), tokens[i].end(),' '), tokens[i].end());
work.parameters.push_back(tokens[i]);
}
dataLibrary::Workflow.push_back(work);
}
}
}
if(dataLibrary::Workflow.size()>0)
{
dataLibrary::current_workline_index=0;
command_parser();
}
}
void structrock::command_parser()
{
if(dataLibrary::Workflow.size()!=0)
{
if(dataLibrary::current_workline_index<dataLibrary::Workflow.size())
{
bool need_move_on(true);
std::string command_string = dataLibrary::Workflow[dataLibrary::current_workline_index].command;
std::transform(command_string.begin(), command_string.end(), command_string.begin(), ::tolower);
if(command_string == "openpcd")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
if(!dataLibrary::have_called_read_file)
{
readfileworker.setWorkFlowMode(true);
readfileworker.setUnmute();
readfileworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
readfileworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
readfileworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
readfileworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
readfileworker.setUnWriteLog();
}
}
}
QObject::connect(&readfileworker, SIGNAL(ReadFileReady(int)), this, SLOT(ShowPCD(int)));
QObject::connect(&readfileworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
QObject::connect(&readfileworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
QObject::connect(&readfileworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
readfileworker.readFile(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
dataLibrary::have_called_read_file = true;
}
else
{
std::string commands = "";
for(int i=dataLibrary::current_workline_index; i<dataLibrary::Workflow.size(); i++)
{
if(dataLibrary::Workflow[i].parameters.size()>0)
{
commands += dataLibrary::Workflow[i].command;
commands += ",";
for(int j=0; j<dataLibrary::Workflow[i].parameters.size()-1; j++)
{
commands += dataLibrary::Workflow[i].parameters[j];
commands += ",";
}
commands += dataLibrary::Workflow[i].parameters[dataLibrary::Workflow[i].parameters.size()-1];
commands += ";";
}
else
{
commands += dataLibrary::Workflow[i].command;
commands += ";";
}
}
#if defined(_WIN32)||defined(_WIN64)
size_t f = commands.find("\\");
commands.replace(f, std::string("\\").length(), "\\\\");
#endif
QProcess *myProcess = new QProcess;
QStringList commandsList;
commandsList << "-c"<<commands.c_str();
myProcess->setWorkingDirectory(QApplication::applicationDirPath());
#if !defined(_WIN32)&&(defined(__unix__)||defined(__unix)||(defined(__APPLE__)&&defined(__MACH__)))
myProcess->start("./structrock",commandsList);
#elif defined(_WIN32)||defined(_WIN64)
myProcess->start("structrock",commandsList);
#endif
}
}
else
{
Show_Errors(QString("Openpcd: Location of PCD file not provided."));
}
}
else if(command_string == "openbin")
{
}
else if(command_string == "openxyz")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
if(!dataLibrary::have_called_read_file)
{
readxyzworker.setWorkFlowMode(true);
readxyzworker.setUnmute();
readxyzworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
readxyzworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
readxyzworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
readxyzworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
readxyzworker.setUnWriteLog();
}
}
}
connect(&readxyzworker, SIGNAL(ReadXYZReady(int)), this, SLOT(ShowPCD(int)));
connect(&readxyzworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&readxyzworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&readxyzworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
readxyzworker.readXYZ(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
dataLibrary::have_called_read_file = true;
}
else
{
std::string commands = "";
for(int i=dataLibrary::current_workline_index; i<dataLibrary::Workflow.size(); i++)
{
if(dataLibrary::Workflow[i].parameters.size()>0)
{
commands += dataLibrary::Workflow[i].command;
commands += ",";
for(int j=0; j<dataLibrary::Workflow[i].parameters.size()-1; j++)
{
commands += dataLibrary::Workflow[i].parameters[j];
commands += ",";
}
commands += dataLibrary::Workflow[i].parameters[dataLibrary::Workflow[i].parameters.size()-1];
commands += ";";
}
else
{
commands += dataLibrary::Workflow[i].command;
commands += ";";
}
}
#if defined(_WIN32)||defined(_WIN64)
size_t f = commands.find("\\");
commands.replace(f, std::string("\\").length(), "\\\\");
#endif
QProcess *myProcess = new QProcess;
QStringList commandsList;
commandsList << "-c"<<commands.c_str();
myProcess->setWorkingDirectory(QApplication::applicationDirPath());
#if !defined(_WIN32)&&(defined(__unix__)||defined(__unix)||(defined(__APPLE__)&&defined(__MACH__)))
myProcess->start("./structrock",commandsList);
#elif defined(_WIN32)||defined(_WIN64)
myProcess->start("structrock",commandsList);
#endif
}
}
else
{
Show_Errors(QString("Openxyz: Location of XYZ file not provided."));
}
}
else if(command_string == "savepcdascii")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
savepcdASCIIworker.setWorkFlowMode(true);
connect(&savepcdASCIIworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&savepcdASCIIworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&savepcdASCIIworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
savepcdASCIIworker.saveascii(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
}
else
{
Show_Errors(QString("Savepcdascii: Save path not provided."));
}
}
else if(command_string == "savepcdbinary")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
savepcdBinaryworker.setWorkFlowMode(true);
connect(&savepcdBinaryworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&savepcdBinaryworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&savepcdBinaryworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
savepcdBinaryworker.savebinary(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
}
else
{
Show_Errors(QString("Savepcdbinary: Save path not provided."));
}
}
else if(command_string == "savenormals")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
savenormalsworker.setWorkFlowMode(true);
connect(&savenormalsworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&savenormalsworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&savenormalsworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
savenormalsworker.savenormals(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
}
else
{
Show_Errors(QString("Savenormals: Save path not provided."));
}
}
else if(command_string == "saveclusters")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
saveclustersworker.setWorkFlowMode(true);
saveclustersworker.setUnmute();
saveclustersworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
saveclustersworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
saveclustersworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
saveclustersworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
saveclustersworker.setUnWriteLog();
}
}
}
connect(&saveclustersworker, SIGNAL(SaveClustersReady(QString)), this, SLOT(ShowSavedClusters(QString)));
connect(&saveclustersworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&saveclustersworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&saveclustersworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
saveclustersworker.saveclusters(QString::fromUtf8(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0].c_str()));
}
else
{
Show_Errors(QString("Saveclusters: Save path not provided."));
}
}
else if(command_string == "downsample")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
double leaf;
std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss >> leaf;
downsampleworker.setWorkFlowMode(true);
downsampleworker.setUnmute();
downsampleworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
downsampleworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
downsampleworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
downsampleworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
downsampleworker.setUnWriteLog();
}
}
}
connect(&downsampleworker, SIGNAL(show()), this, SLOT(ShowDownsample()));
connect(&downsampleworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&downsampleworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&downsampleworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
downsampleworker.downsample(leaf);
}
else
{
Show_Errors(QString("Downsample: Minimum point distance not given."));
}
}
else if(command_string == "resample")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
double radius;
std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss >> radius;
resampleworker.setWorkFlowMode(true);
resampleworker.setUnmute();
resampleworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
resampleworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
resampleworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
resampleworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
resampleworker.setUnWriteLog();
}
}
}
connect(&resampleworker, SIGNAL(show()), this, SLOT(ShowResample()));
connect(&resampleworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&resampleworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&resampleworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
resampleworker.resample(radius);
}
else
{
Show_Errors(QString("Resample: Search radius not given."));
}
}
else if(command_string == "knnormal")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
int k;
std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss >> k;
knnormalworker.setWorkFlowMode(true);
knnormalworker.setUnmute();
knnormalworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
knnormalworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
knnormalworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
knnormalworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
knnormalworker.setUnWriteLog();
}
}
}
connect(&knnormalworker, SIGNAL(show()), this, SLOT(ShowknNormal()));
connect(&knnormalworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&knnormalworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&knnormalworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
knnormalworker.knnormal(k);
}
else
{
Show_Errors(QString("Knnormal: Number of neoghbor points not given."));
}
}
else if(command_string == "ranormal")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
double radius;
std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss >> radius;
ranormalworker.setWorkFlowMode(true);
ranormalworker.setUnmute();
ranormalworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
ranormalworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
ranormalworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
ranormalworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
ranormalworker.setUnWriteLog();
}
}
}
connect(&ranormalworker, SIGNAL(show()), this, SLOT(ShowraNormal()));
connect(&ranormalworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&ranormalworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&ranormalworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
ranormalworker.ranormal(radius);
}
else
{
Show_Errors(QString("Ranormal: Search radius not given."));
}
}
else if(command_string == "rostatic")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>0)
{
double stdDev;
std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss >> stdDev;
staticroworker.setWorkFlowMode(true);
staticroworker.setUnmute();
staticroworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>1)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "mute")
{
staticroworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1] == "nolog")
{
staticroworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>2)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "mute")
{
staticroworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2] == "nolog")
{
staticroworker.setUnWriteLog();
}
}
}
connect(&staticroworker, SIGNAL(show()), this, SLOT(ShowSRO()));
connect(&staticroworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&staticroworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&staticroworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
staticroworker.rostatic(stdDev);
}
else
{
Show_Errors(QString("Standard deviation not given."));
}
}
else if(command_string == "rgsegmentation")
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>5)
{
double smoothness;
std::stringstream ss_smoothness(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
ss_smoothness >> smoothness;
dataLibrary::RGSparameter.smoothness = smoothness;
double curvature;
std::stringstream ss_curvature(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[1]);
ss_curvature >> curvature;
dataLibrary::RGSparameter.curvature = curvature;
double residual;
std::stringstream ss_residual(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[2]);
ss_residual >> residual;
dataLibrary::RGSparameter.residual = residual;
int min_number_of_Points;
std::stringstream ss_min_number_of_Points(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[3]);
ss_min_number_of_Points >> min_number_of_Points;
dataLibrary::RGSparameter.min_number_of_Points = min_number_of_Points;
int number_of_neighbors;
std::stringstream ss_number_of_neighbors(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[4]);
ss_number_of_neighbors >> number_of_neighbors;
dataLibrary::RGSparameter.number_of_neighbors = number_of_neighbors;
std::string IsSmoothMode_string = dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[5];
std::transform(IsSmoothMode_string.begin(), IsSmoothMode_string.end(), IsSmoothMode_string.begin(), ::tolower);
if((IsSmoothMode_string == "true")||(IsSmoothMode_string == "false"))
{
if(IsSmoothMode_string == "true")
{
dataLibrary::RGSparameter.IsSmoothMode=true;
}
else if(IsSmoothMode_string == "false")
{
dataLibrary::RGSparameter.IsSmoothMode=false;
}
rgsworker.setWorkFlowMode(true);
rgsworker.setUnmute();
rgsworker.setWriteLog();
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>6)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[6] == "mute")
{
rgsworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[6] == "nolog")
{
rgsworker.setUnWriteLog();
}
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>7)
{
if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[7] == "mute")
{
rgsworker.setMute();
}
else if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[7] == "nolog")
{
rgsworker.setUnWriteLog();
}
}
}
connect(&rgsworker, SIGNAL(show()), this, SLOT(ShowRGS()));
connect(&rgsworker, SIGNAL(showReadyStatus()), this, SLOT(ShowReady()));
connect(&rgsworker, SIGNAL(showErrors(QString)), this, SLOT(Show_Errors(QString)));
connect(&rgsworker, SIGNAL(GoWorkFlow()), this, SLOT(command_parser()));
rgsworker.rgs();
}
else
{
Show_Errors(QString("Rgsegmentation: IsSmoothMode not set correctly, set with \"true\" or \"false\"."));
}
}
else
{