ranormalWorker.cpp

/*
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 *
 *  Xin Wang
 *
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 *     copyright notice, this list of conditions and the following
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 *     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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 *  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
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 *
 * Author : Xin Wang
 * Email  : ericrussell@zju.edu.cn
 *
 */

#include <string>
#include <sstream>
#include "geo_normal_3d.h"
#include "geo_normal_3d_omp.h"
#include "ranormalWorker.h"
#include "dataLibrary.h"
#include "globaldef.h"

bool ranormalWorker::is_para_satisfying(QString &message)
{
	if(dataLibrary::haveBaseData())
    {
		this->setParaSize(1);
		if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>=this->getParaSize())
		{
			double radius;
			std::stringstream ss(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[0]);
			ss >> radius;
			this->setRadius(radius);

			this->setParaIndex(this->getParaSize());
			return true;
		}
		else
		{
			message = QString("ranormal: Search Radius Not Given.");
			return false;
		}
	}
	else
	{
		message = QString("ranormal: You Do Not Have Any Point Cloud Data in Memery!");
		return false;
	}
}

void ranormalWorker::prepare()
{
	this->setShowCurvature(false);
	if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters.size()>this->getParaIndex())
	{
		if(dataLibrary::Workflow[dataLibrary::current_workline_index].parameters[this->getParaIndex()] == "showcurvature")
		{
			this->setShowCurvature(true);
			this->setParaIndex(this->getParaIndex()+1);
		}
	}
	this->setUnmute();
	this->setWriteLog();
	this->check_mute_nolog();
}

void ranormalWorker::doWork()
{
	bool is_success(false);

    dataLibrary::checkupflow();

    dataLibrary::Status = STATUS_RANORMAL;

    this->timer_start();

	//begin of processing
    GeoNormalEstimationOMP<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(this->getRadius());
	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

    this->timer_stop();

    if(this->getWriteLogMode()&&is_success)
    {
        std::string log_text = "\tComputing Radius Normal costs: ";
        std::ostringstream strs;
        strs << this->getTimer_sec();
        log_text += (strs.str() +" seconds.");
        dataLibrary::write_text_to_log_file(log_text);
    }

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