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dataLibrary.h
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dataLibrary.h
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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 : [email protected]
*
*/
#pragma once
#include <time.h>
#include <fstream>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/PolygonMesh.h>
#include <Eigen/src/Core/Matrix.h>
#include "ReadFileWorker.h"
#include "checkstatusThread.h"
#include "globaldef.h"
class dataLibrary
{
public:
static pcl::PointCloud<pcl::PointXYZ>::Ptr cloudxyz;
static pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudxyzrgb;
static pcl::PointCloud<pcl::PointXYZI>::Ptr cloudxyzi;
static pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudxyzrgb_clusters; //for showing the segmentation result
static pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudxyzrgb_features; //for showing the surface features
static pcl::PointCloud<pcl::Normal>::Ptr normal;
static pcl::PointCloud<pcl::PointNormal>::Ptr pointnormals;
static pcl::PointCloud<pcl::PointXYZ>::Ptr mls_points;
static pcl::PointCloud<pcl::PointXYZ>::Ptr downsampledxyz;
static pcl::PointCloud<pcl::PointXYZ>::Ptr outlier_removed_inlier;
static pcl::PointCloud<pcl::PointXYZ>::Ptr outlier_removed_outlier;
static pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud;
static pcl::PointCloud<pcl::PointXYZ>::Ptr segmentation_rem;
static std::string cloudID;
static std::vector<pcl::PointIndices> clusters;
static std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> cluster_patches; //for reading in the saved clusters data
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_faces_hull; //for visualizing fracture oulines
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_faces_hull_up; //for visualizing fracture oulines (up side)
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_faces_hull_down; //for visualizing fracture oulines (down side)
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_faces_circle_original; //for visualizing original fracture circles
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_faces_expanded; //for visualizing expanded fracture oulines
static std::vector<float> dips;
static std::vector<float> dip_directions;
static std::vector<float> out_dips;
static std::vector<float> out_dip_directions;
static std::vector<float> areas;
static std::vector<float> roughnesses;
static std::vector<std::string> patchIDs;
static int currentPatch;
static std::vector<int> selectedPatches;
static int Status;
static std::vector<pcl::PolygonMesh::Ptr> Fracture_Triangles;
static pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_hull_all;
static std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> fracture_patches;
static std::vector<Striation> fracture_striations;
static std::vector<Step> fracture_steps;
static std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> fractures_with_feature;
static std::string info_str;
static Eigen::Vector3f plane_normal_all;
static std::vector<Line> Lines;
static std::vector<Line> Lines_max;
static std::vector<Line> Lines_min;
static std::vector<WorkLine> Workflow;
static int current_workline_index;
static bool have_called_read_file;
static Vector3f cloud_centor;
public:
static void getColorBetweenBlueNRed(float value, int &red, int &green, int &blue);
static void getHeatMapColor(float value, int &red, int &green, int &blue);
static void checkupflow();
static bool haveBaseData();
static void clearall();
static void clearWorkFlow();
static bool projection322(const Eigen::Vector3f &xyz_centroid, const Eigen::Vector3f &unit_V1, const Eigen::Vector3f &unit_V2, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, pcl::PointCloud<pcl::PointXY>::Ptr cloud_out);
static bool projection223(const Eigen::Vector3f &xyz_centroid, const Eigen::Vector3f &unit_V1, const Eigen::Vector3f &unit_V2, pcl::PointCloud<pcl::PointXY>::Ptr cloud_in, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out);
static bool projection323(const Eigen::Vector3f &V1, const Eigen::Vector3f &V2, const Eigen::Vector3f &point_in, Eigen::Vector3f &point_out);
static bool projection322(const Eigen::Vector3f &V1, const Eigen::Vector3f &V2, const Eigen::Vector3f &point_in, Eigen::Vector2f &point_out);
static bool projection322(const Eigen::Vector3f &V1, const Eigen::Vector3f &V2, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<Eigen::Vector2f> &Points_out);
static bool dd2pole(float &dip_dir, float &dip, Eigen::Vector3f &pole);
static bool dd2arc(float &dip_dir, float &dip, std::vector<Eigen::Vector3f> &arc);
static bool stereonet_project(Eigen::Vector3f &on_sphere, Eigen::Vector2f &projected);
static bool eqArea_project(Eigen::Vector3f &on_sphere, Eigen::Vector2f &projected);
static bool PlaneWithLineIntersection(const Eigen::Vector3f &plane_normal, const Eigen::Vector3f &plane_centor, const Eigen::Vector3f &line_point, const Eigen::Vector3f &line_direction, Eigen::Vector3f &point);
static bool isInPolygon(const std::vector<Eigen::Vector2f> &convex_hull, const Eigen::Vector2f &test_point);
static float crossMultiply(const Eigen::Vector2f &u, const Eigen::Vector2f &v);
static bool isSegmentCrossPolygon(const Eigen::Vector2f &point_a, const Eigen::Vector2f &point_b, const std::vector<Eigen::Vector2f> &convex_hull);
static bool edge_inside_part(const Eigen::Vector3f &V, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &in_begin, const Eigen::Vector3f &in_end, Eigen::Vector3f &out_begin, Eigen::Vector3f &out_end);
static bool no_trim_edges(const Eigen::Vector3f &V, const Eigen::Vector3f &xyz_centroid, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &max_intersection, const Eigen::Vector3f &min_intersection, int patchNum, double f_p_angle, float &length);
static bool trim_edges(const Eigen::Vector3f &V, const Eigen::Vector3f &xyz_centroid, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &max_intersection, const Eigen::Vector3f &min_intersection, int patchNum, double f_p_angle, float &length);
static bool Circular(const Eigen::Vector3f &V, const Eigen::Vector3f &xyz_centroid, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &V_i, const Eigen::Vector3f &xyz_centroid_i, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull_i, int patchNum, float &length, const float &expand_ratio, bool is_triming_edges, bool needExLine);
static bool Rectangular(const Eigen::Vector3f &V, const Eigen::Vector3f &xyz_centroid, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &V_i, const Eigen::Vector3f &xyz_centroid_i, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull_i, int patchNum, float &length, const float &expand_ratio, bool is_triming_edges, bool needExLine);
static bool LowerBound(const Eigen::Vector3f &V, const Eigen::Vector3f &xyz_centroid, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull, const Eigen::Vector3f &V_i, const Eigen::Vector3f &xyz_centroid_i, pcl::PointCloud<pcl::PointXYZ>::Ptr convex_hull_i, int patchNum, float &length, bool is_triming_edges, bool needExLine);
static bool checkContents(std::vector<std::string> contents, std::string query);
static void write_text_to_log_file( const std::string &text );
static bool isOnlyDouble(const char* str);
static void assign_left_with_right(Vector3f &left, const Eigen::Vector3f &right);
static void assign_left_with_right(Eigen::Vector3f &left, const float* right);
static void assign_left_with_right(pcl::PointXYZ &left, const Eigen::Vector3f &right);
static Eigen::Vector4f fitPlaneManually(const pcl::PointCloud<pcl::PointXYZ>& cloud);
static Eigen::Vector3f compute3DCentroid(const pcl::PointCloud<pcl::PointXYZ>& cloud);
static Eigen::Vector4f fitPlaneManually(const pcl::PointCloud<pcl::PointXYZRGB>& cloud);
static Eigen::Vector3f compute3DCentroid(const pcl::PointCloud<pcl::PointXYZRGB>& cloud);
};