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sw_floorplan.cpp
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#include"sw_floorplan.h"
#include"sw_functions.h"
#include"sw_cornerExtraction.h"
#include"sw_codingEdit.h"
#include "sw_cgal_mesh_processing.h"
#include<QtGui>
//--------------------------------------computeCurvatures-----------------------------------------------//
// compute the curvatures of each point in the point cloud
void SW::InconsistenRegionDetector::computeCurvatures()
{
p_curvatures_.clear();
QVector<uint> pts_ids = p_floor_plan_->p_pc_->p_pt_ids_;
QVector<Point> pts = p_floor_plan_->p_pc_->p_points_;
cv::Mat points(pts_ids.size(),3,CV_32FC1);
cv::Mat query(pts_ids.size(),3,CV_32FC1);
cv::Mat dists;
cv::Mat indices;
int index = 0;
foreach(uint it, pts_ids)
{
points.at<float>(index, 0) = pts[it].x;
points.at<float>(index, 1) = pts[it].y;
points.at<float>(index, 2) = pts[it].z;
query.at<float>(index, 0) = pts[it].x;
query.at<float>(index, 1) = pts[it].y;
query.at<float>(index, 2) = pts[it].z;
index++;
}
cv::flann::KDTreeIndexParams params(4);
cv::flann::Index neighbours_search(points, params);
neighbours_search.knnSearch(query, indices, dists, p_Knn_, cv::flann::SearchParams(128));
////////////////////////////////////////////////////////////////////////////
vector<vector<float> > Singulars;
vector<float> Singular;
Singular.resize(3);
Singulars.resize(pts_ids.size(), Singular);
cv::Mat Covar_matrix(3,3,CV_32FC1);
cv::Mat Sample(3,1,CV_32FC1);
cv::Mat Mean(3,1,CV_32FC1);
cv::Mat S,U,V;
for(int i=0; i< indices.rows; i++)
{
Mean.setTo(0);
for(int j=0; j<indices.cols; j++)
{
int point_index = indices.at<int>(i,j);//////////////////////type////////////////////
Mean.at<float>(0) += pts[point_index].x/p_Knn_;
Mean.at<float>(1) += pts[point_index].y/p_Knn_;
Mean.at<float>(2) += pts[point_index].z/p_Knn_;
}
Covar_matrix.setTo(0);
for(int j=0; j<indices.cols; j++)
{
int point_index = indices.at<int>(i,j);
Sample.at<float>(0) = pts[point_index].x;
Sample.at<float>(1) = pts[point_index].y;
Sample.at<float>(2) = pts[point_index].z;
Sample -= Mean;
Covar_matrix += Sample*Sample.t()/p_Knn_;
// cout<<Covar_matrix<<endl;
}
//SVD decmposition
cv::SVD::compute(Covar_matrix,S,U,V);
// Singular values
for(int k=0; k<3; k++)
{
Singular[k] = S.at<float>(k);
}
//cout<<"S: "<<S<<endl;
Singulars[i].swap(Singular);
}
for(int i=0; i<Singulars.size(); i++)
{
p_curvatures_.push_back(Singulars[i][1]/Singulars[i][2]);
}
Covar_matrix.release();
Sample.release();
Mean.release();
S.release();
U.release();
V.release();
points.release();
query.release();
dists.release();
indices.release();
Singulars.clear();
}
//---------------------------------------getInconsistentRegion------------------------------------------//
// compute the inconsistent region in the point cloud
void SW::InconsistenRegionDetector::getInconsistentRegion()
{
const QVector<uint> *pts_ids = &p_floor_plan_->p_pc_->p_pt_ids_;
QVector<Point> *pts = &p_floor_plan_->p_pc_->p_points_;
int index = 0;
foreach(uint it, *pts_ids)
{
(*pts)[it].inconsist_ = false;
if(p_curvatures_[index] < p_threshold_)
{
(*pts)[it].inconsist_ = true;
}
index ++;
}
}
//---------------------------------------detect---------------------------------------------------------//
void SW::InconsistenRegionDetector::detect( bool is_knn_changed, bool is_thresh_changed)
{
if(p_floor_plan_->p_pc_->p_points_.size()==0)
{
QMessageBox::warning(0, tr("Warning!"), tr("No Points!"));
}
// k values
p_Knn_ = p_floor_plan_->spinBox_knn->value();
// k valuse
p_threshold_ = p_floor_plan_->doubleSpinBox_threshold->value();
if(is_knn_changed ==true)
{
computeCurvatures();
p_floor_plan_->setKnnChanged(false);
}
if(is_thresh_changed == true)
{
p_floor_plan_->setThreshChanged(false);
}
getInconsistentRegion();
//delete [] pts_ids;
//delete [] pts;
emit updateGLViewer();
emit enableGettingSlices();
}
//---------------------------------------divideToSlices-------------------------------------------------//
void SW::SlicesDataCaculator::divideToSlices()
{
QVector<uint> pts_ids = p_floor_plan_->p_pc_->p_pt_ids_;
QVector<Point> pts = p_floor_plan_->p_pc_->p_points_;
double step = p_floor_plan_->doubleSpinBox_stepValue->value();
if(step ==0)
{
QMessageBox::warning(0, tr("Warning!"), tr("Step cannot be 0!"));
}
else{
p_floor_plan_->p_slice_pts_.clear();
p_floor_plan_->p_ycoordinates_.clear();
p_floor_plan_->p_floorplan_displays_.f_slice_pt_ids_.clear();
p_floor_plan_->p_floorplan_displays_.f_Y_coords_.clear();
//------------------------- get the max height of the scene ---------------------//
double max_height = 0;
foreach (uint it, pts_ids)
{
if(max_height < pts[it].y)
{
max_height = pts[it].y;
}
}
//-------------------------get the slices data----------------------------------//
int layer_id = 0;
while(1)
{
double lower = layer_id * step;
double upper = (layer_id +1) *step;
if(lower >= max_height) break;
QVector<uint> temp_layer;
////float mean_num = 0;
foreach(uint it, pts_ids)
{
qglviewer::Vec normal( pts[it].normal_x,
pts[it].normal_y,
pts[it].normal_z);
qglviewer::Vec direction(0.0, 1.0, 0.0);
if(pts[it].inconsist_==false&&abs(normal*direction)< 0.2&&
pts[it].y <upper && pts[it].y >lower)
{
temp_layer.push_back(it);
}
}
//// mean_num = (mean_num* p_floor_plan_->p_ycoordinates_.size() +
//// temp_layer.size())/(float)(p_floor_plan_->p_ycoordinates_.size()+1);
//// if(temp_layer.size()< 0.5* mean_num) break;
p_floor_plan_->p_slice_pts_.push_back(temp_layer);
p_floor_plan_->p_ycoordinates_.push_back(lower);
layer_id ++;
}
//-------------------copy the variables to the FloorplanDisplay struct------------------//
// these variables are used for displaying in glviewers
foreach(QVector<uint> slice, p_floor_plan_->p_slice_pts_)
{
p_floor_plan_->p_floorplan_displays_.f_slice_pt_ids_.append(slice);
}
foreach(float y_coord, p_floor_plan_->p_ycoordinates_)
{
p_floor_plan_->p_floorplan_displays_.f_Y_coords_.append(y_coord);
}
// display the number of slices
p_floor_plan_->label_displayLayerNumber->setNum((int) p_floor_plan_->p_slice_pts_.size());
p_floor_plan_->label_displayLayerNumber->setBackgroundColor(Qt::green);
p_floor_plan_->setIsGettingSlicesFinished(true);
if(p_floor_plan_->isGettingSlicesFinished()==true&& p_floor_plan_->isComputeMainDirectsFinished()==true)
{
emit enableFloorPlanReconstruction();
}
emit updateGLViewer();
// pts_ids= 0;
// pc = 0;
}
}
//----------------------------------------computMainDirections------------------------------------------//
void SW::MainDirectionExtractor::computeMainDirections()
{
m_floor_plan_->p_main_directions_.clear();
QVector<uint> pts_ids = m_floor_plan_->p_pc_->p_pt_ids_;
QVector<Point> pts = m_floor_plan_->p_pc_->p_points_;
float angle = m_floor_plan_->doubleSpinBox_minAngle->value();
//------------------------------ collect all the points -----------------------------------------//
vector<Point> all_points;
foreach (uint it, pts_ids) {
if(pts[it].inconsist_ == false)
{
all_points.push_back(pts[it]);
all_points[all_points.size() -1].y = 0;
}
}
p_mean_dist_ = meanDistance(all_points);
//******** 对法向量进行双边滤波 ****************************************************************/
bilateralFilterNormal(all_points,6*p_mean_dist_, 15);
//******* EM 算法对法向量进行聚类 ************************************************************/
int nCluster = 10;
vector<Vec3> normals;
normals.resize(all_points.size());
for(int i=0; i<all_points.size(); i++)
{
normals[i].x_ = all_points[i].normal_x;
normals[i].y_ = all_points[i].normal_y;
normals[i].z_ = all_points[i].normal_z;
}
vector<Vec3> centers;
vector<float> weights;
vector<int> labels;
EMClustering(normals, nCluster, centers, weights, labels);
// cout<<"Centers Num: " << centers.size()<<endl;
// cout<<"Weights: ";
// for(int i=0; i< weights.size(); i++)
// cout<<weights[i]<<", ";
//cout<<endl;
//******** 7.0 对聚类后的中心进行合并 ********************************************************/
vector<Vec3> centers_after_merging;
vector<float> weights_after_merging;
vector<int> labels_after_merging;
centersMerging(centers, weights, labels, centers_after_merging,
weights_after_merging, labels_after_merging, angle);
#if 0
cout<<"Centers Num after Merging: " << centers_after_merging.size()<<endl;
cout<<"Weights: ";
for(int i=0; i< weights_after_merging.size(); i++)
cout<<weights_after_merging[i]<<", ";
cout<<endl;
#endif
for(int i=0; i< weights_after_merging.size(); i++)
{
if(weights_after_merging[i]> 0.05) //经验值，保存阈值大于0.05的 聚类中心
m_floor_plan_->p_main_directions_.push_back(centers_after_merging[i]);
}
m_floor_plan_->label_dispMainDirectionNumbers->setNum((int)m_floor_plan_->p_main_directions_.size());
m_floor_plan_->label_dispMainDirectionNumbers->setBackgroundColor(Qt::green);
m_floor_plan_->setIsComputeMainDirectsFinsihed (true);
if(m_floor_plan_->isGettingSlicesFinished()==true&& m_floor_plan_->isComputeMainDirectsFinished()==true)
{
emit enableFloorPlanReconstruction();
}
// pts_ids = 0;
// pc = 0;
}
//----------------------------------------reconstruction------------------------------------------------//
void SW::FloorPlanReconstructor:: reconstruction( )
{
emit updateGLViewer();
// initialize all the variables used in the reconstruction
float step = m_floor_plan_->doubleSpinBox_stepValue->value();
QVector<uint> pts_ids = m_floor_plan_->p_pc_->p_pt_ids_;
QVector<Point> pts = m_floor_plan_->p_pc_->p_points_;
QVector<QVector<uint> > * slices_pts = &m_floor_plan_->p_slice_pts_;
QVector<float> *ycoordinates = &m_floor_plan_->p_ycoordinates_;
QVector<Vec3> *main_directions = &m_floor_plan_->p_main_directions_;
QVector<QVector<uint> > *facets = &m_floor_plan_->p_mesh_->m_facets_;
QVector<Vec3> *vertices = &m_floor_plan_->p_mesh_->m_vertices_;
QVector<QPair<uint, uint> > *edges = &m_floor_plan_->p_mesh_->m_edges_;
QVector<Block3> *blocks = &m_floor_plan_->p_blocks_;
QVector<QVector<Vec3> > *semi_planes= &m_floor_plan_->p_floorplan_displays_.f_semi_planes_;
QVector<Vec3>* ending_boundary = &m_floor_plan_->p_floorplan_displays_.f_ending_layer_boundary_;
QVector<Vec3>* starting_boundary = &m_floor_plan_->p_floorplan_displays_.f_starting_layer_boundary_;
facets->clear();
vertices->clear();
blocks->clear();
starting_boundary->clear();
ending_boundary->clear();
semi_planes->clear();
double y_start = (double)getStartingLayer()* step;
double y_end = (double)getEndingLayer()* step;
// starting_boundary and endding_boundary are used for drawing
starting_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmin(), (float)y_start,
m_floor_plan_->p_pc_->zmin()));
starting_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmax(), (float)y_start,
m_floor_plan_->p_pc_->zmin()));
starting_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmax(), (float)y_start,
m_floor_plan_->p_pc_->zmax()));
starting_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmin(), (float)y_start,
m_floor_plan_->p_pc_->zmax()));
ending_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmin(), (float)y_end + step,
m_floor_plan_->p_pc_->zmin()));
ending_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmax(), (float)y_end + step,
m_floor_plan_->p_pc_->zmin()));
ending_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmax(), (float)y_end + step,
m_floor_plan_->p_pc_->zmax()));
ending_boundary->push_back(Vec3(m_floor_plan_->p_pc_->xmin(), (float)y_end + step,
m_floor_plan_->p_pc_->zmax()));
//-----------------------------------------------1.0 Get Corners of all Layers--------------------------------------//
// corners of each slice layers
vector<vector<vector< PointXYZRGBNormal> > > all_corners;
// starting points of all curvers in all layers
vector<vector<PointXYZRGBNormal> > start_pts;
float all_mean_dist = 0;
for(int i_s = p_starting_layer_; i_s<p_ending_layer_ + 1; i_s++)
{
// -------------------Slice Points---------------------//
QVector<uint> indices = (*slices_pts)[i_s];
QVector<Point> slice_data;
slice_data.resize(indices.size());
for(int i=0; i< slice_data.size(); i++)
{
int id = indices[i];
slice_data[i] = pts[id];
slice_data[i].y = 0;
}
//--------------------Mean Distance--------------------//
float mean_dist = meanDistance(slice_data);
all_mean_dist += mean_dist;
// -------------------Extracting Corners---------------//
vector<Point> slice_data_tmp;
vector<Vec3> main_directions_tmp;
foreach(Point pt, slice_data) {
slice_data_tmp.push_back(pt);
}
foreach(Vec3 v, *main_directions){
main_directions_tmp.push_back(v);
}
p_linking_curves_margin_ = m_floor_plan_->doubleSpinBox_curveMargin->value();
p_RG_line_width_ = m_floor_plan_->doubleSpinBox_lineWidth->value();
vector<vector<Point> > corners = cornerExtraction(slice_data_tmp,
mean_dist,
p_RG_line_width_,
p_linking_curves_margin_,
main_directions_tmp);
//---------------------Semi-planes-----------------------//
for(int i=0; i<corners.size(); i++ )
{
vector<PointXYZRGBNormal> sub_corners = corners[i];
if(sub_corners.size()==0) continue;
for(int j=0; j< sub_corners.size(); j++)
{
float id0 = j%sub_corners.size();
float id1 = (j+1)%sub_corners.size();
QVector<Vec3> boundary;
Vec3 pt;
pt.x_ = sub_corners[id0].x;
pt.y_ = (*ycoordinates)[i_s];
pt.z_ = sub_corners[id0].z;
boundary.append(pt);
pt.x_ = sub_corners[id1].x;
pt.y_ = (*ycoordinates)[i_s];
pt.z_ = sub_corners[id1].z;
boundary.append(pt);
pt.x_ = sub_corners[id1].x;
pt.y_ = (*ycoordinates)[i_s] + step;
pt.z_ = sub_corners[id1].z;
boundary.append(pt);
pt.x_ = sub_corners[id0].x;
pt.y_ = (*ycoordinates)[i_s] + step;
pt.z_ = sub_corners[id0].z;
boundary.append(pt);
semi_planes->append(boundary);
}
}
//---------------------Sort sub-curves--------------------//
// 对每一层的多个链接部分进行排序
Vec3 ref_pt(0,0,0);
if(corners.size()>1)
{
subCurvesPositionAdjustment(corners, ref_pt);
}
//----------------------Starting Point Adjustment----------//
//对起始点进行调整
startPosAdjustment(corners, ref_pt);
startDirectionAdjustment(corners);
//----------------------Recovering Y Coordinates------------//
for(int i=0; i<corners.size(); i++)
{
for(int j=0; j< corners[i].size(); j++)
{
corners[i][j].y = (*ycoordinates)[i_s];
}
}
all_corners.push_back(corners);
//----------------------Starting Points of each curves-------//
//存储每个获取每个轮廓的起始点
vector<PointXYZRGBNormal> pts;
for(int i=0; i< corners.size(); i++)
{
// 每一个起始点的y坐标都是最低层的y坐标
corners[i][0].y = (*ycoordinates)[i_s];
pts.push_back(corners[i][0]);
}
start_pts.push_back(pts);
//emit signals to update QGLViewer
emit updateGLViewer();
}
// mean distance between all layers of slices
all_mean_dist /= (p_ending_layer_ + 1 - p_starting_layer_);
//Margin for letter
p_Letter_margin_ = m_floor_plan_->doubleSpinBox_letterMargin->value();
// Letters
Letter::TR( p_Letter_margin_ );
cout<<"p_letter_matgin: "<< p_Letter_margin_<<endl;
//------------------------------------------------- 2.0 Make Dictionary---------------------------------------------//
// each letter is a segment, we statistics all the letters and find the representive ones as the dictionary
vector<vector< PointXYZRGBNormal> > corners_tmp;
for(int i=0; i< all_corners.size(); i++)
{
for(int j=0; j< all_corners[i].size();j++)
{
corners_tmp.push_back(all_corners[i][j]);
}
}
map<Letter, string> table = make_dictionary( corners_tmp);
for(map< Letter, string>::iterator iter = table.begin();
iter!= table.end(); iter++)
{
cout<< "Key: "<< iter->first;
cout<< "----->";
cout<< "Value: " << iter-> second<< endl;
}
//------------------------------------------------- 3.0 Coding------------------------------------------------------//
// assign a string to each layer
vector<string> words = convertCurvesToWords(all_corners, table);
for(int i=0; i< words.size(); i++)
{
cout<<"num: "<<words[i].size();
cout<<" Code: ";
cout<<words[i];
cout<<endl;
}
//------------------------------------------------- 4.0 Clustering---------------------------------------------------//
// clustering for all the layers
//4.0 对编码进行聚类，获取标签个数，用于多目标的分配
vector<float> weights;
vector<vector<PointXYZRGBNormal> > centers_pos;
vector<string> centers = codeCentersClustering(words, weights, start_pts, centers_pos );
cout<<"Before Optimization: "<<endl;
for(int i=0; i< centers.size(); i++)
{
cout<<centers[i]<<", weight: "<<weights[i]<<endl;
}
//------------------------------------------------- 5.0 MRF Optimization---------------------------------------------//
float sim_thresh = 0.5;
p_MRF_lambda_ = m_floor_plan_->doubleSpinBox_MRFLambda->value();
vector<string>results = multiLabelAssignment( words, centers, weights,start_pts,
centers_pos ,sim_thresh, p_MRF_lambda_);
for(int i=0; i< results.size(); i++)
{
cout<<i<< "the layer: " <<results[i]<<endl;
}
//------------------------------------------------- 6.0 Creating Blocks---------------------------------------------//
//6.0 沿着垂直方向进行搜索，连续相同的轮廓聚类成BLOCK3
vector<Block3> blocks_temp = getBlocks(results, start_pts, step);
//reconstruction from the ground
if(blocks_temp.size()> 0){ blocks_temp[0].start_h_ = 0;}
for(int i=0; i< blocks_temp.size(); i++)
{
cout<<"[" <<endl;
cout<<blocks_temp[i].word_<<endl;
cout<<blocks_temp[i].start_h_<< ", "<< blocks_temp[i].end_h_<<endl;
cout<<endl;
}
//------------------------------------------------- 6.0 Creating Blocks---------------------------------------------//
//6.0 对Blocks 进行解码重建
map<string, Letter> table_inv;
for(map<Letter, string> ::iterator iter = table.begin(); iter!= table.end(); iter++)
{
table_inv.insert(make_pair(iter->second, iter->first));
}
blockReconstruction(blocks_temp, table_inv);
//------------------------------------------------- 7.0 posProcessing ---------------------------------------------//
//7.0 对blocks进行后处理
posProcessing(blocks_temp, 20*all_mean_dist);
//-------------------------------------------------- 8.0 Processing results ---------------------------------------//
// 8.1 get results before MRF optimization
vector<Vec3>mid_vertices;
vector<vector<int> > mid_facets;
gettingTriangulationsFromAllCorners(all_corners, mid_vertices, mid_facets);
writeOFFFiles(mid_vertices, mid_facets, "model/mid_model.off");
// 8.2 get results after MRF optimization
vector<Vec3>final_vertices;
vector<vector<int> > final_facets;
gettingTriangulationsFromBlocks(blocks_temp, final_vertices, final_facets);
writeOFFFiles(final_vertices, final_facets, "model/final_model.off");
//---------------------------------------------------9.0 get final results----------------------------------------//
// 9.0 get vertices
for(int i=0; i<final_vertices.size(); i++ )
{
vertices->append(final_vertices[i]);
}
// 9.1 get facets
for(int i=0; i< final_facets.size(); i++)
{
QVector<uint> facet;
for(int j=0; j<final_facets[i].size(); j++)
{
facet.append(final_facets[i][j]);
}
facets->append(facet);
}
// 9.2 get edges
m_floor_plan_->p_mesh_->m_edges_.clear();
m_floor_plan_->p_mesh_->computeEdges();
// 9.3 get blocks
for(int i=0; i< blocks_temp.size(); i++)
{
blocks->append(blocks_temp[i]);
}
emit enableModelingCeiling();
//// slices_pts = 0;
//// ycoordinates = 0;
//// main_directions = 0;
//// facets = 0;
//// vertices = 0;
//// blocks = 0;
//// progress = 0;
//// semi_planes= 0;
//// ending_boundary= 0;
//// starting_boundary= 0;
}
//----------------------------------------constructor----------------------------------------------------//
SW::FloorPlanDialog::FloorPlanDialog(QWidget *parent,
PointCloud *pc, Mesh *mesh,
QMap<QString, Plane3D> *planes,
QMap<QString, cv::Mat_<cv::Vec3b> > * images,
QMap<QString, Camera> *cameras) :p_pc_(pc), p_mesh_(mesh), p_plane3Ds_(planes), p_images_(images),p_cameras_(cameras)
{
setupUi(this);
// threshold for Knn
spinBox_knn->setRange ( 1, 100);
spinBox_knn->setSingleStep(1);
spinBox_knn->setValue(0);
// threshold for inconsistent region
doubleSpinBox_threshold->setRange(1, 500);
doubleSpinBox_threshold->setSingleStep(1);
doubleSpinBox_threshold->setValue(10);
doubleSpinBox_letterMargin->setValue(0.1);
doubleSpinBox_letterMargin->setSingleStep(0.01);
/*****************image number need to set********/
//spinBox_imageID->setRange(0, 200);
/***********************************************/
label_displayLayerNumber->setNum(0);
label_displayLayerNumber->setBackgroundColor(Qt::yellow);
label_dispMainDirectionNumbers->setNum(0);
label_dispMainDirectionNumbers->setBackgroundColor(Qt::yellow);
p_inconsistent_detector_ = new InconsistenRegionDetector(this);
p_slices_acculator_ = new SlicesDataCaculator(this);
p_main_directions_extractor_ = new MainDirectionExtractor(this);
p_floorplan_constructor_ = new FloorPlanReconstructor(this);
is_knn_changed_ = false;
is_thresh_changed_ = false;
is_gettingSlices_finished_ = false;
is_computeMainDirects_finished_ = false;
////doubleSpinBox_windowDepth->setValue(0.05);
////doubleSpinBox_windowDepth->setRange(0,1);
////doubleSpinBox_windowDepth->setSingleStep(0.01);
connect(spinBox_knn, SIGNAL(valueChanged(int)), this, SLOT(KnnChanged()) );
connect(doubleSpinBox_threshold, SIGNAL(valueChanged(double)), this, SLOT(ThreshChanged()));
// enable group box
connect(p_inconsistent_detector_, SIGNAL(enableGettingSlices()), this, SLOT(enableGroupBoxGettingSlices()));
connect(p_slices_acculator_, SIGNAL(enableFloorPlanReconstruction()), this, SLOT(enableGroupBoxFloorPlanReconstrucion()));
connect(p_main_directions_extractor_, SIGNAL(enableFloorPlanReconstruction()), this, SLOT(enableGroupBoxFloorPlanReconstrucion()));
connect(p_floorplan_constructor_, SIGNAL(enableModelingCeiling()), this, SLOT(enableGroupBoxModelingCeiling()));
// compute inconsistent region
// if button id pressed, signal to detect will be emitted
connect(pushButton_insistRegionDetection, SIGNAL(clicked()), this, SLOT(emitDetectionSignal()));
connect(this, SIGNAL(startToDetect(bool,bool)), p_inconsistent_detector_, SLOT(detect(bool,bool)), Qt::QueuedConnection);
p_inconsistent_detector_->moveToThread(&p_thread_);
p_thread_.start();
// getting slices
connect(pushButton_divide_slices, SIGNAL(clicked()), p_slices_acculator_, SLOT(divideToSlices()), Qt::QueuedConnection);
p_slices_acculator_->moveToThread(&p_thread_);
p_thread_.start();
// compute main directions
connect(pushButton_mainDireciongs, SIGNAL(clicked()),p_main_directions_extractor_, SLOT(computeMainDirections()), Qt::QueuedConnection);
p_main_directions_extractor_->moveToThread(&p_thread_);// thread
p_thread_.start();
// floor plan reconstrution
connect(horizontalSlider_Slayer, SIGNAL(valueChanged(int)), p_floorplan_constructor_, SLOT(starttingLayerChanged(int)));
connect(horizontalSlider_Elayer,SIGNAL(valueChanged(int)), p_floorplan_constructor_, SLOT(endingLayerChanged(int)));
connect(doubleSpinBox_lineWidth, SIGNAL(valueChanged(double)), p_floorplan_constructor_, SLOT(lineWidthChanged(double )));
connect(doubleSpinBox_curveMargin, SIGNAL(valueChanged(double)), p_floorplan_constructor_, SLOT(curveMarginChanged(double)));
connect(doubleSpinBox_MRFLambda, SIGNAL(valueChanged(double)), p_floorplan_constructor_, SLOT(MRFLambdaChanged(double)));
connect(doubleSpinBox_letterMargin, SIGNAL(valueChanged(double)), p_floorplan_constructor_, SLOT(LetterMarginChanged(double)));
connect(pushButton_floorplanRec, SIGNAL(clicked()), p_floorplan_constructor_, SLOT(reconstruction()), Qt::QueuedConnection);
p_floorplan_constructor_->moveToThread(&p_thread_);
p_thread_.start();
// get planes from triangulations
connect(pushButton_PolygonPlanes, SIGNAL(clicked()), this, SLOT(createPlanesFromTriangulations()));
//---------------------------------------------------------------windows relates---------------------------------------//
//gts detection
connect(pushButton_beginGTSDetection_, SIGNAL(clicked()), this, SLOT(startGTSDetection()));
// back prjection
connect(pushButton_backprojection, SIGNAL(clicked() ), this, SLOT(backProjection()));
// add window planes
connect(pushButton_addWindowPlanes, SIGNAL(clicked()), this, SLOT(addWindowPlanes()));
// accept added window planes
connect(pushButton_accpectWindowPlanes, SIGNAL(clicked()), this, SLOT(acceptAddedWindowPlanes()));
// abort added window planes
connect(pushButton_cacelWindowPlanes, SIGNAL(clicked()), this, SLOT(abortAddedWindowPlanes()));
}
//----------------------------------------createPlanesFromTriangulations------------------------------------------------//
void SW::FloorPlanDialog::createPlanesFromTriangulations()
{
//--------------------------------------------1.0 neighbours--------------------------------------------------//
// 1 neighbours of each facet,
// facets share a common edge are treated as neighbours
QVector<QVector<int> > neighbours;
neighbours.resize(p_mesh_->m_facets_.size());
for(int i=0; i< p_mesh_->m_facets_.size(); i++)
{
// for each facet, accumulate how many common vertices they have
for(int j=0; j< p_mesh_->m_facets_.size(); j++)
{
if(i==j) continue;
int calc = 0;
for(int k=0; k< p_mesh_->m_facets_[i].size(); k++)
{
// a pair of neighbours shares at least two vertices
if(p_mesh_->m_facets_[j].contains(p_mesh_->m_facets_[i][k]))
{
calc ++;
}
}
if(calc >=1) neighbours[i].append(j);
}
}
//--------------------------------------------2.0 plane params-------------------------------------------------//
// 2 compute parameters of each plane, just a line parameters fitting
QVector<QVector<float> > plane_params;
plane_params.resize(p_mesh_->m_facets_.size());
for(int i=0; i<p_mesh_->m_facets_.size(); i++)
{
int id0= p_mesh_->m_facets_[i][0];
int id1= p_mesh_->m_facets_[i][1];
int id2= p_mesh_->m_facets_[i][2];
Vec3 pt0 = p_mesh_->m_vertices_[id0];
Vec3 pt1 = p_mesh_->m_vertices_[id1];
Vec3 pt2 = p_mesh_->m_vertices_[id2];
Vec3 v10 = pt1 - pt0;
Vec3 v21 = pt2 - pt1;
Vec3 normal = cross(v10, v21);
normal.normalize();;
float d = normal* pt0;
d = -d;
plane_params[i].append(normal[0]);
plane_params[i].append(normal[1]);
plane_params[i].append(normal[2]);
plane_params[i].append(d);
}
//------------------------------------------3.0 region growing algorithm---------------------------------------//
// 3 region growing algorithm
QVector<int> used(p_mesh_->m_facets_.size(), 0);
QVector<int> labels(p_mesh_->m_facets_.size(), -1);
int cluster_id =0;
int facet_id = 0;
while(facet_id< p_mesh_->m_facets_.size())
{
QList<int> seeds;
if(used[facet_id]==1)
{
facet_id++;
continue;
}
// 1 select a seed point
seeds.append(facet_id);
used[facet_id] =1;
labels[facet_id] = cluster_id;
facet_id ++;
while(seeds.size()> 0)
{
int seed_id = seeds[0];
seeds.pop_front();
Vec3 normal_s(plane_params[seed_id][0],
plane_params[seed_id][1],
plane_params[seed_id][2]);
QVector<int> neigbrs = neighbours[seed_id];
foreach (int n_id, neigbrs)
{
if(used[n_id] ==1 )continue;
Vec3 normal_n(plane_params[n_id][0],
plane_params[n_id][1],
plane_params[n_id][2]);
float pro = normal_n* normal_s;
pro = min(pro, (float)0.999);
pro = max(pro, -(float)0.999);
float angle = acos(pro)*180/3.1415;
if(angle > 10) continue;
seeds.push_back(n_id);
used[n_id] = 1;
labels[n_id] = cluster_id;
}
}
cluster_id ++;
}
//--------------------------------------------4.0 Create Planes-------------------------------------------------//
// 4 create planes
// planes are created and corresponding triangulations are added to each plane
int nCluster = cluster_id; //number of planes
// collect facets
QVector<QVector<int> > clusters;
clusters.resize(nCluster);
for(int i=0; i< nCluster; i++)
{
for(int j=0; j< labels.size(); j++)
{
if(labels[j] ==i)
{
clusters[i].append(j);
}
}
}
for(int i=0; i< clusters.size(); i++)
{
Plane3D plane;
/* name */
QString name;
name.sprintf("Plane%d", p_plane3Ds_->size());
/* color*/
plane.p_color_ = QColor(rand()&255, rand()&255, rand()&255);
/* facets and vertices */
vector<vector< Vec3> > facets;
for(int j=0; j< clusters[i].size(); j++)
{
int facet_id = clusters[i][j];
vector<Vec3> facet;
for(int k=0; k< p_mesh_->m_facets_[facet_id].size(); k++)
{
int pt_id = p_mesh_->m_facets_[facet_id][k];
facet.push_back(p_mesh_->m_vertices_[pt_id]);
}
facets.push_back(facet);
}
/* make sure that point index starts from 0 */
plane.updateTriangulations(facets);
/* plane params */
QSet<int> pt_ids;
for(int j=0; j< clusters[i].size(); j++)
{
int facet_id = clusters[i][j];
foreach(int id, p_mesh_->m_facets_[facet_id])
{
pt_ids.insert(id);
}
}