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threeD_inspection.cpp
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threeD_inspection.cpp
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#include "threeD_Inspection.h"
threeD_Inspection::threeD_Inspection(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
ui.comboBox_ObjRecog->addItem("Pipe_Fitting");
ui.comboBox_ObjRecog->addItem("Cylinder");
ui.comboBox_ObjRecog->addItem("Hammer");
ui.comboBox_ObjRecog->addItem("L_Shape");
ui.comboBox_ObjRecog->addItem("Retangle");
ui.comboBox_ObjRecog->addItem("Syntec");
ui.comboBox_ObjRecog->addItem("Big_Blade");
ui.comboBox_ObjRecog->addItem("Random");
//------------------------------------------------------------------------------------------------
ui.comboBox_Scan_Obj->addItem("Aluminum_Turbine_Blade");
ui.comboBox_Scan_Obj->addItem("Composite_Turbine_Blade");
ui.comboBox_FrameSize_Obj->addItem("median");
ui.comboBox_FrameSize_Obj->addItem("tall");
ui.comboBox_FrameSize_Obj->addItem("short");
//------------------------------------------------------------------------------------------------
// Setup the TCP-IP
server_Kuka = new QTcpServer(this);
socket_Kuka = new QTcpSocket(this);
server_Probe = new QTcpServer(this);
socket_Probe = new QTcpSocket(this);
viewIndex = 0;
scanMethod = 0;
rotaPos = 0;
robotScan = false;
robotMove = false;
robotPause = false;
frameScan = false;
writeToProbe = false;
moveOrigin = false;
showPoints = true;
RegisMatr = Eigen::Matrix4f::Identity();
ui.comboBox_Kuka->addItem("Auto");
ui.comboBox_Kuka->addItem("Manually");
ui.comboBox_Probe->addItem("Auto");
ui.comboBox_Probe->addItem("Manually");
//------------------------------------------------------------------------------------------------
// Setup the cloud pointer
cloud_.reset(new PointCloudT);
source_.reset(new PointCloudT);
target_.reset(new PointCloudT);
segmented_cloud.reset(new PointCloudT);
Segmented_Indicates.reset(new PointCloudT);
features.reset(new PointCloudT);
center_features.reset(new PointCloudT);
recognised_cloud.reset(new PointCloudT);
model_cloud.reset(new PointCloudT);
frameTrans_cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
LoadframeTrans_cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
cloudxyz.reset(new pcl::PointCloud<pcl::PointXYZ>);
//------------------------------------------------------------------------------------------------
// Set up the QVTK window
viewer_.reset(new pcl::visualization::PCLVisualizer("viewer", false));
viewer_->setBackgroundColor(0, 0, 0);
ui.qvtkWidget->SetRenderWindow(viewer_->getRenderWindow());
viewer_->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
viewer_->addOrientationMarkerWidgetAxes(ui.qvtkWidget->GetInteractor());
ui.qvtkWidget->update();
//------------------------------------------------------------------------------------------------
// Set up 2D graph
Initial_2D_Graph();
ui.qvtkWidget_graph->update();
Licensing();
//------------------------------------------------------------------------------------------------
// Functions
connect(ui.actionOpen, SIGNAL(triggered()), this, SLOT(loadFileButtonPressed()));
connect(ui.actionSave, SIGNAL(triggered()), this, SLOT(saveButtonPressed()));
connect(ui.actionReset_3D_View, SIGNAL(triggered()), this, SLOT(Reset_3D_ViewPressed()));
connect(ui.actionReload_Cloud, SIGNAL(triggered()), this, SLOT(Reload_CloudPressed()));
connect(ui.actionDownsample, SIGNAL(triggered()), this, SLOT(DownsamplePressed()));
connect(ui.actionDenoise, SIGNAL(triggered()), this, SLOT(DenoisePressed()));
connect(ui.actionDenoise_by_normals, SIGNAL(triggered()), this, SLOT(DenoiseByNormalsPressed()));
connect(ui.actionEuclidean_Extraction, SIGNAL(triggered()), this, SLOT(Euclidean_Cluster_ExtractionPressed()));
connect(ui.actionCylinder_Fitting, SIGNAL(triggered()), this, SLOT(Cylinder_FittingPressed()));
connect(ui.actionOBB_Recognition, SIGNAL(triggered()), this, SLOT(OBB_Recognition()));
connect(ui.actionAutoScanning, SIGNAL(triggered()), this, SLOT(AutoScanningPressed()));
connect(ui.actionDownload, SIGNAL(triggered()), this, SLOT(DownloadPressed()));
connect(ui.actionPick_and_Place_Test, SIGNAL(triggered()), this, SLOT(Pick_and_Place_TestPressed()));
connect(ui.actionDenoise_by_segment, SIGNAL(triggered()), this, SLOT(Denoise_by_segmentPressed()));
connect(ui.actionShow_OBB, SIGNAL(triggered()), this, SLOT(Show_OBB()));
connect(ui.actionRecognition_Error_Report, SIGNAL(triggered()), this, SLOT(Recognition_Error_ReportPressed()));
connect(ui.actionSubOBB_Recognition, SIGNAL(triggered()), this, SLOT(SubOBB_Recognition()));
connect(ui.actionInitial_Transformation_VirtualCam, SIGNAL(triggered()), this, SLOT(Initial_Transformation_VirtualCam()));
connect(ui.actionGenerate_Database_VirtualCam, SIGNAL(triggered()), this, SLOT(Generate_Database_VirtualCam()));
connect(ui.actionTarge_Cloud, SIGNAL(triggered()), this, SLOT(Targe_Cloud()));
connect(ui.actionSource_Cloud, SIGNAL(triggered()), this, SLOT(Source_Cloud()));
connect(ui.actionOBB_Matching, SIGNAL(triggered()), this, SLOT(OBB_Matching()));
connect(ui.actionICP, SIGNAL(triggered()), this, SLOT(ICPPress()));
connect(ui.actionRegistration_Error_Report, SIGNAL(triggered()), this, SLOT(Registration_Error_Report()));
connect(ui.actionRG_SubOBB, SIGNAL(triggered()), this, SLOT(RG_SubOBB_Recognition()));
connect(ui.actionToolTest, SIGNAL(triggered()), this, SLOT(ToolTestPress()));
connect(ui.actionSphere_Detection, SIGNAL(triggered()), this, SLOT(Sphere_Detection()));
connect(ui.action_Regis_System_Positioning, SIGNAL(triggered()), this, SLOT(Regis_System_Positioning()));
connect(ui.actionUpsampling, SIGNAL(triggered()), this, SLOT(Upsampling()));
connect(ui.action_AutoMode_Pause, SIGNAL(triggered()), this, SLOT(AutoMode_Pause()));
connect(ui.action_AutoMode_Continue, SIGNAL(triggered()), this, SLOT(AutoMode_Continue()));
connect(ui.actionNormals, SIGNAL(triggered()), this, SLOT(Normals()));
connect(ui.action_Regis_Model_Driven, SIGNAL(triggered()), this, SLOT(Regis_Model_Driven()));
connect(ui.actionReset_Project, SIGNAL(triggered()), this, SLOT(Reset_Project()));
connect(ui.actionGenerate_Opt_Database, SIGNAL(triggered()), this, SLOT(Generate_Opt_Database()));
connect(ui.actionGennerate_NonSeg_Database, SIGNAL(triggered()), this, SLOT(Gennerate_NonSeg_Database()));
connect(ui.actionOverlap_Removal, SIGNAL(triggered()), this, SLOT(Overlap_RemovalPress()));
connect(ui.action_FrameBall_Detection, SIGNAL(triggered()), this, SLOT(FrameBall_DetectionPress()));
connect(ui.actionFrame_Matching, SIGNAL(triggered()), this, SLOT(Frame_Matching()));
connect(ui.actionFrame_Based_Registration, SIGNAL(triggered()), this, SLOT(FrameBased_CoarseRegistration()));
connect(ui.actionFrame_Based_Scan, SIGNAL(triggered()), this, SLOT(Frame_Based_Scan()));
connect(ui.action_FrameScan_Start, SIGNAL(triggered()), this, SLOT(TestFrameCali_Start()));
connect(ui.action_ScanFrame_Pause, SIGNAL(triggered()), this, SLOT(TestFrame_Pause()));
connect(ui.action_FrameScan_Continue, SIGNAL(triggered()), this, SLOT(TestFrame_Continue()));
connect(ui.action_FrameCaliSaveTransf, SIGNAL(triggered()), this, SLOT(TestFrame_SaveTransf()));
// Checkbox
connect(ui.checkBox_SubOBB_Recognition, SIGNAL(released()), this, SLOT(Recog_SubOBB_Checkbox()));
connect(ui.checkBox_OSubOBB_Recognition, SIGNAL(released()), this, SLOT(Recog_OSubOBB_Checkbox()));
connect(ui.checkBox_nonSeg_Recognition, SIGNAL(released()), this, SLOT(Recog_nonSegSubOBB_Checkbox()));
// Examples
connect(ui.actionICP_Example, SIGNAL(triggered()), this, SLOT(ICP_ExamplePressed()));
connect(ui.actionSVD_Example, SIGNAL(triggered()), this, SLOT(SVD_ExamplePressed()));
// Kuka communication
connect(ui.bt_Listen_Kuka, SIGNAL(pressed()), this, SLOT(bt_ListenKukaButtonPressed()));
connect(ui.bt_Send_Kuka, SIGNAL(pressed()), this, SLOT(writeData_Kuka()));
connect(ui.bt_Read_Kuka, SIGNAL(pressed()), this, SLOT(readData_Kuka()));
connect(server_Kuka, SIGNAL(newConnection()), this, SLOT(myConnection_Kuka()));
connect(ui.bt_Origin_Kuka, SIGNAL(pressed()), this, SLOT(Origin_KukaPressed()));
connect(ui.bt_Move_Kuka, SIGNAL(pressed()), this, SLOT(Move_KukaPressed()));
// Probe Communication
connect(ui.bt_Listen_Probe, SIGNAL(pressed()), this, SLOT(bt_ListenProbeButtonPressed()));
connect(server_Probe, SIGNAL(newConnection()), this, SLOT(myConnection_Probe()));
// Rotational Table
connect(ui.action_rotaTable_Connect, SIGNAL(triggered()), this, SLOT(rotaTable_Connect()));
connect(ui.action_rotaTable_Disconnect, SIGNAL(triggered()), this, SLOT(rotaTable_Disconnect()));
connect(ui.action_rotaTable_Move_60_Degree, SIGNAL(triggered()), this, SLOT(rotaTable_Move_60_Degree()));
connect(ui.action_rotaTab_ZeroPos, SIGNAL(triggered()), this, SLOT(rotaTab_ZeroPos()));
}
threeD_Inspection::~threeD_Inspection()
{
rotationalTable->Move("X0");
delay(500);
server_Kuka->close();
delete server_Kuka;
server_Probe->close();
delete server_Probe;
fnPerformaxComClose(rotationalTable->m_hUSBDevice);
}
void threeD_Inspection::loadFileButtonPressed()
{
QElapsedTimer timer;
QString filename = QFileDialog::getOpenFileName(this, tr("Open point cloud"), "", tr("Point cloud data (*.pcd *.ply *.txt)"));
//QString filename = "//aidc-ntu3-pc/Users/Public/pointcloud.pcd";
//ui.textEdit->append(filename);
if (filename.isEmpty()) return;
if (!cloud_->empty())cloud_->clear();
if (!cloudxyz->empty())cloudxyz->clear();
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
{
if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename.toStdString(), *cloudxyz) == -1) //* load the file
ui.textEdit->append("Couldn't read file.pcd \n");
}
else if (filename.endsWith(".txt", Qt::CaseInsensitive))
{
if (cInspection->loadCloud_txt(filename.toStdString(), *cloudxyz) == 0) //* load the file
ui.textEdit->append("Couldn't read file.txt \n");
}
else ui.textEdit->append("File must be .pcd or .txt");
// If point cloud contains NaN values, remove them before updating the visualizer point cloud
if (cloudxyz->size())
{
pcl::copyPointCloud(*cloudxyz, *cloud_);
//Eigen::Affine3f transformMatrix = Eigen::Affine3f::Identity();
//transformMatrix.rotate(Eigen::AngleAxisf(M_PI * ((float)180 / 180), Eigen::Vector3f::UnitX())); // camera to robot-end-effector
//pcl::transformPointCloud(*cloud_, *cloud_, transformMatrix);
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
else ui.textEdit->append("No point was loaded");
}
void threeD_Inspection::DownloadPressed()
{
//QString filename = QFileDialog::getOpenFileName(this, tr("Open point cloud"), "", tr("Point cloud data (*.pcd *.ply *.txt)"));
QString filename = "//aidc-ntu3-pc/Users/Public/pointcloud.pcd";
//ui.textEdit->append(filename);
if (!cloud_->empty())cloud_->clear();
if (!cloudxyz->empty())cloudxyz->clear();
if (filename.isEmpty()) return;
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
{
if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename.toStdString(), *cloudxyz) == -1) //* load the file
ui.textEdit->append("Couldn't read file.pcd \n");
}
else if (filename.endsWith(".txt", Qt::CaseInsensitive))
{
if (cInspection->loadCloud_txt(filename.toStdString(), *cloudxyz) == 0) //* load the file
ui.textEdit->append("Couldn't read file.txt \n");
}
else ui.textEdit->append("File must be .pcd or .txt");
// If point cloud contains NaN values, remove them before updating the visualizer point cloud
if (cloudxyz->size())
{
pcl::copyPointCloud(*cloudxyz, *cloud_);
ui.textEdit->append("Download Points: " + QString::number(cloud_->size()));
if(showPoints) Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
else ui.textEdit->append("No point was loaded");
}
void threeD_Inspection::saveButtonPressed()
{
QString filename = QFileDialog::getSaveFileName(this, tr("Save point cloud"), "", tr("Point cloud data (*.pcd *.ply *.txt)"));
//QString filename = "D:/PhD-Research/1.pcd";
if (filename.isEmpty())
return;
int return_status = 0;
if (cloud_->size())
{
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
return_status = pcl::io::savePCDFileBinary(filename.toStdString(), *cloud_);
else if (filename.endsWith(".txt", Qt::CaseInsensitive))
{
if (cInspection->saveCloud(filename.toStdString(), *cloud_) == 0)
ui.textEdit->append("Cannot save file txt");
}
else ui.textEdit->append("Only can save file .pcd or .txt");
}
else ui.textEdit->append("Point Cloud is empty to be saved");
if (return_status != 0) ui.textEdit->append("Error writing point cloud");
}
void threeD_Inspection::Reset_3D_ViewPressed()
{
viewer_->removeAllPointClouds();
viewer_->removeAllShapes();
}
void threeD_Inspection::Reload_CloudPressed()
{
if (cloudxyz->size())
{
pcl::copyPointCloud(*cloudxyz, *cloud_);
for (int i = 0; i < cloud_->size(); i++)
{
cloud_->points[i].r = 0; cloud_->points[i].g = 0; cloud_->points[i].b = 0;
}
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
else ui.textEdit->append("Point Cloud is empty");
}
void threeD_Inspection::delay(int ms)
{
// delay n (seconds)
QTime dieTime = QTime::currentTime().addMSecs(ms);
while (QTime::currentTime() < dieTime)
QCoreApplication::processEvents(QEventLoop::AllEvents, 100);
}
void threeD_Inspection::OBB_Draw(const Cloud &input, QString name, bool remov)
{
if (remov) viewer_->removeAllShapes();
name.append("_1");
viewer_->addLine<pcl::PointXYZRGB>(input.points[0], input.points[1], 255, 0, 0, name.toUtf8().constData());
name.append("_2");
viewer_->addLine<pcl::PointXYZRGB>(input.points[0], input.points[2], 0, 255, 0, name.toUtf8().constData());
name.append("_3");
viewer_->addLine<pcl::PointXYZRGB>(input.points[0], input.points[3], 0, 0, 255, name.toUtf8().constData());
name.append("_4");
viewer_->addLine<pcl::PointXYZRGB>(input.points[1], input.points[6], 255, 255, 0, name.toUtf8().constData());
name.append("_5");
viewer_->addLine<pcl::PointXYZRGB>(input.points[1], input.points[7], 255, 255, 0, name.toUtf8().constData());
name.append("_6");
viewer_->addLine<pcl::PointXYZRGB>(input.points[2], input.points[5], 255, 255, 0, name.toUtf8().constData());
name.append("_7");
viewer_->addLine<pcl::PointXYZRGB>(input.points[2], input.points[7], 255, 255, 0, name.toUtf8().constData());
name.append("_8");
viewer_->addLine<pcl::PointXYZRGB>(input.points[3], input.points[5], 255, 255, 0, name.toUtf8().constData());
name.append("_9");
viewer_->addLine<pcl::PointXYZRGB>(input.points[3], input.points[6], 255, 255, 0, name.toUtf8().constData());
name.append("_10");
viewer_->addLine<pcl::PointXYZRGB>(input.points[4], input.points[5], 255, 255, 0, name.toUtf8().constData());
name.append("_11");
viewer_->addLine<pcl::PointXYZRGB>(input.points[4], input.points[6], 255, 255, 0, name.toUtf8().constData());
name.append("_12");
viewer_->addLine<pcl::PointXYZRGB>(input.points[4], input.points[7], 255, 255, 0, name.toUtf8().constData());
viewer_->resetCamera();
ui.qvtkWidget->update();
}
void threeD_Inspection::Coordinate_Draw(bool remov)
{
if (remov) viewer_->removeAllShapes();
pcl::PointXYZRGB point_0, point_1, point_2, point_3;
point_0.x = 0;
point_0.y = 0;
point_0.z = 0;
point_1.x = 20;
point_1.y = 0;
point_1.z = 0;
point_2.x = 0;
point_2.y = 20;
point_2.z = 0;
point_3.x = 0;
point_3.y = 0;
point_3.z = 20;
viewer_->addLine<pcl::PointXYZRGB>(point_0, point_1, 255, 0, 0, "Ox");
viewer_->addLine<pcl::PointXYZRGB>(point_0, point_2, 0, 255, 0, "Oy");
viewer_->addLine<pcl::PointXYZRGB>(point_0, point_3, 0, 0, 255, "Oz");
viewer_->resetCamera();
ui.qvtkWidget->update();
}
void threeD_Inspection::Cloud_Display(const Cloud &input, QString name, int pointSize, bool removCloud, bool removeShape, bool resetCam)
{
if (input.size() == 0)
{
ui.textEdit->append("Point Cloud is empty");
return;
}
pcl::PointCloud<PointT>::Ptr inputShow(new pcl::PointCloud<PointT>);
pcl::copyPointCloud(input, *inputShow);
if (removCloud) viewer_->removeAllPointClouds();
if (removeShape) viewer_->removeAllShapes();
if (!input.points[0].rgb) cInspection->colorCloudDistances(*inputShow);
if (!viewer_->updatePointCloud(inputShow, name.toUtf8().constData()))
viewer_->addPointCloud(inputShow, name.toUtf8().constData());
viewer_->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, pointSize, name.toUtf8().constData());
if (resetCam) viewer_->resetCamera();
ui.qvtkWidget->update();
}
void threeD_Inspection::Show_OBB()
{
if (cloud_->size() == 0) return;
cInspection->OBB_features(*cloud_, *features);
ui.textEdit->append("OBB Max:" + QString::number(features->points[8].x));
ui.textEdit->append("OBB Mid:" + QString::number(features->points[8].y));
ui.textEdit->append("OBB Min:" + QString::number(features->points[8].z));
OBB_Draw(*features, QString::number(1), true);
}
void threeD_Inspection::Reset_Project()
{
ui.textEdit->clear();
cloud_.reset(new PointCloudT);
source_.reset(new PointCloudT);
target_.reset(new PointCloudT);
segmented_cloud.reset(new PointCloudT);
Segmented_Indicates.reset(new PointCloudT);
features.reset(new PointCloudT);
center_features.reset(new PointCloudT);
recognised_cloud.reset(new PointCloudT);
model_cloud.reset(new PointCloudT);
frameTrans_cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
LoadframeTrans_cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
cloudxyz.reset(new pcl::PointCloud<pcl::PointXYZ>);
viewIndex = 0;
rotaPos = 0;
scanMethod = 0;
robotScan = false;
frameScan = false;
scanMethod = 0;
robotMove = false;
robotPause = false;
writeToProbe = false;
moveOrigin = false;
showPoints = true;
RegisMatr = Eigen::Matrix4f::Identity();
viewer_->removeAllPointClouds();
viewer_->removeAllShapes();
ui.qvtkWidget->update();
}
void threeD_Inspection::Licensing()
{
QString currentTime = QDateTime::currentDateTime().toString("dd.MM.yyyy");;
/*ui.textEdit->append(currentTime);
ui.textEdit->append(currentTime.section(".", 0, 0));
ui.textEdit->append(currentTime.section(".", 1, 1));
ui.textEdit->append(currentTime.section(".", 2, 2));*/
int date = currentTime.section(".", 0, 0).toInt();
int month = currentTime.section(".", 1, 1).toInt();
int year = currentTime.section(".", 2, 2).toInt();
QString filename = "CADdata\\keyCloud.pcd";
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_Time(new pcl::PointCloud<pcl::PointXYZ>());
/*cloud_Time->push_back(pcl::PointXYZ(22, 7, 2017));
pcl::io::savePCDFileBinary(filename.toStdString(), *cloud_Time);
cloud_Time->clear();*/
if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename.toStdString(), *cloud_Time) == -1)
{
QMessageBox msgBox;
msgBox.setText("Can not read file");
msgBox.exec();
}
if (cloud_Time->points[0].x == 22 & cloud_Time->points[0].y == 7 & cloud_Time->points[0].z == 2017)
if ((year - 2017) * 12 + (month - 7) < 6) // To 30/12/2017
return;
cloud_Time->clear();
cloud_Time->push_back(pcl::PointXYZ(date, month, 2*year));
pcl::io::savePCDFileBinary(filename.toStdString(), *cloud_Time);
QMessageBox msgBox;
msgBox.setText("This version was outdate, Please update new version!");
msgBox.exec();
exit(EXIT_FAILURE);
}
void threeD_Inspection::SaveSingleScan()
{
if (source_->size())
{
int return_status = 0;
string savFile = "SaveOnline\\SingleScan\\";
savFile.append(QString::number(viewIndex).toUtf8().constData());
savFile.append(".pcd");
return_status = pcl::io::savePCDFileBinary(savFile, *source_);
if (return_status != 0) ui.textEdit->append("Error writing point cloud");
}
}
void threeD_Inspection::SaveRegisScan()
{
if (cloud_->size())
{
int return_status = 0;
string savFile = "SaveOnline\\RegisScan\\";
savFile.append(QString::number(viewIndex).toUtf8().constData());
savFile.append(".pcd");
return_status = pcl::io::savePCDFileBinary(savFile, *cloud_);
if (return_status != 0) ui.textEdit->append("Error writing point cloud");
}
}
// -----------------------------------------------------0--------------------------------------------------------
// Recognition
void threeD_Inspection::DownsamplePressed()
{
double ratio = ui.SpinBox_Downsample->text().toDouble();
cInspection->DownSampling(*cloud_, *cloud_, ratio);
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
void threeD_Inspection::Upsampling()
{
if (cloud_->size() == 0) return;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_Buf(new pcl::PointCloud<pcl::PointXYZ>());
pcl::copyPointCloud(*cloud_, *cloud_Buf);
double upSamPara_01 = ui.doubleBox_Upsampling_01->text().toDouble();
double upSamPara_02 = ui.doubleBox_Upsampling_02->text().toDouble();
double upSamPara_03 = ui.doubleBox_Upsampling_03->text().toDouble();
MovingLeastSquares<PointXYZ, PointXYZ> mls;
mls.setInputCloud(cloud_Buf);
mls.setSearchRadius(upSamPara_03);
mls.setPolynomialFit(true);
mls.setPolynomialOrder(upSamPara_03);
mls.setUpsamplingMethod(MovingLeastSquares<PointXYZ, PointXYZ>::SAMPLE_LOCAL_PLANE);
mls.setUpsamplingRadius(upSamPara_02);
mls.setUpsamplingStepSize(upSamPara_01);
PointCloud<PointXYZ>::Ptr cloud_smoothed(new PointCloud<PointXYZ>());
mls.process(*cloud_smoothed);
pcl::copyPointCloud(*cloud_smoothed, *cloud_);
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
void threeD_Inspection::DenoisePressed()
{
double StddevMulThresh = ui.doubleSpinBox_denoise->text().toDouble();
cInspection->Denoise_Statistical(*cloud_, *cloud_, StddevMulThresh);
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
void threeD_Inspection::DenoiseByNormalsPressed()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr Surface_Cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr input_Cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud_, *Surface_Cloud);
int level = ui.doubleBox_NormalLevel->text().toDouble();
double scale = ui.doubleBox_NormalScale->text().toDouble();
double thresh = ui.doubleBox_QualityThesh->text().toDouble();
for (int i = 0; i < Surface_Cloud->size() / level; i++) input_Cloud->push_back(Surface_Cloud->points[i * level]);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud(input_Cloud);
ne.setSearchSurface(Surface_Cloud);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
ne.setSearchMethod(tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
ne.setRadiusSearch(3);
ne.compute(*cloud_normals);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr quali_Cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
for (int i = 0; i < cloud_normals->size(); i++)
{
pcl::PointXYZRGB point;
point.x = cloud_->points[i].x;
point.y = cloud_->points[i].y;
point.z = cloud_->points[i].z;
if (abs(cloud_normals->points[i].normal_z) > thresh)
{
//ui.textEdit->append("cloud_normals z: " + QString::number(abs(cloud_normals->points[i].normal_z)));
quali_Cloud->push_back(point);
}
}
pcl::copyPointCloud(*quali_Cloud, *cloud_);
Cloud_Display(*cloud_, "cloud_", 2, true, true, true);
}
void threeD_Inspection::Denoise_by_segmentPressed()
{
double tolerance = ui.doubleSpinBox_denoise_EcliSeg->text().toDouble();
int minpoint = ui.spinBox_minP_Denoise->value();
cInspection->Denoise_Segment(*cloud_, *cloud_, tolerance, minpoint);
ui.textEdit->append("Number of Points: " + QString::number(cloud_->size()));
if (showPoints) Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
}
void threeD_Inspection::Euclidean_Cluster_ExtractionPressed()
{
ui.textEdit->clear();
// Euclidean Cluster Extraction
if (segmented_cloud->size())segmented_cloud->clear();
double tolerance = ui.SpinBox_Eucli_Seg->text().toDouble();
int minpoint = ui.spinBox_minP_seg->value();
if (cloud_->size()) cInspection->Euclidean_Cluster_Extraction(*cloud_, *segmented_cloud, *Segmented_Indicates, *center_features, tolerance, minpoint);
else
{
ui.textEdit->append("Input cloud is empty for segmentation process");
return;
}
for (int i = 0; i < (int)segmented_cloud->size(); i++)
{
segmented_cloud->points[i].r = Segmented_Indicates->points[i].r;
segmented_cloud->points[i].g = Segmented_Indicates->points[i].g;
segmented_cloud->points[i].b = Segmented_Indicates->points[i].b;
}
if (segmented_cloud->size())
{
ui.textEdit->append("Number of Points: " + QString::number(segmented_cloud->size()));
ui.textEdit->append("Number of clusters: " + QString::number(Segmented_Indicates->points[Segmented_Indicates->size()-1].x + 1));
Cloud_Display(*segmented_cloud, "Cloud_Segmented", 2, true, true, true);
}
else ui.textEdit->append("No cluseter is segmented");
}
void threeD_Inspection::Cylinder_FittingPressed()
{
ui.textEdit->clear();
double DistanceThreshold = ui.SpinBox_DistThreshSeg->text().toDouble();
double RadiusMin = ui.SpinBox_minRadius->text().toDouble();
double RadiusMax = ui.SpinBox_maxRadius->text().toDouble();
int numOfpointThresh = ui.spinBox_Cylinder->text().toDouble();
if (!segmented_cloud->size())
{
ui.textEdit->append("Segmented Cloud is empty");
return;
}
if (center_features->size() != 0) center_features->clear();
for (int k = 0; k <= Segmented_Indicates->points[Segmented_Indicates->size() - 1].x; k++)
{
pcl::PointCloud<PointT>::Ptr cylinders(new pcl::PointCloud<PointT>);
pcl::PointCloud<PointT>::Ptr one_cylinder(new pcl::PointCloud<PointT>);
pcl::PointCloud<PointT>::Ptr cylinder_Indicates(new pcl::PointCloud<PointT>);
if (recognised_cloud->size()) recognised_cloud->clear();
for (int i = 0; i < (int)segmented_cloud->size(); i++)
{
if (Segmented_Indicates->points[i].x == k)
{
pcl::PointXYZRGB point;
point.x = segmented_cloud->points[i].x;
point.y = segmented_cloud->points[i].y;
point.z = segmented_cloud->points[i].z;
recognised_cloud->push_back(point);
}
}
if (recognised_cloud->size() == 0) continue;
int numOfCylinder = 0;
bool finish = false;
while (!finish)
{
cInspection->Cylinder_Detection(*recognised_cloud, *one_cylinder, *recognised_cloud, DistanceThreshold, RadiusMin, RadiusMax);
if (one_cylinder->size() > numOfpointThresh)
{
numOfCylinder++;
for (int i = 0; i < (int)one_cylinder->size(); i++)
{
pcl::PointXYZRGB point;
point.x = numOfCylinder;
point.y = 0;
point.z = 0;
cylinder_Indicates->push_back(point);
}
cInspection->OBB_features(*one_cylinder, *features);
cInspection->OBB_Inliers(*recognised_cloud, *features, *one_cylinder, *recognised_cloud);
//cylinders->operator+=(*one_cylinder);
/*ui.textEdit->append("OBB size X:" + QString::number(features->points[8].x));
ui.textEdit->append("OBB size Y:" + QString::number(features->points[8].y));
ui.textEdit->append("OBB size Z:" + QString::number(features->points[8].z));*/
features->points[9].r = 255;
features->points[9].g = 255;
features->points[9].b = 255;
center_features->push_back(features->points[9]);
Cloud_Display(*center_features, "Center", 20, false, false, false);
OBB_Draw(*features, QString::number(200 * k + numOfCylinder), false);
if (!ui.checkBox_DetecAll->isChecked()) return;
}
else finish = true;
}
}
if (!ui.checkBox_Host->isChecked())
{
ofstream saveFile;
saveFile.open("C:\\Users\\Public\\pose.txt", ios::binary);
if (!saveFile.is_open() || saveFile.fail())
{
ui.textEdit->append("Can not save pose");
return;
}
saveFile << features->points[9].x << " " << features->points[9].y << " " << features->points[9].z << "\n";
saveFile.close();
}
}
void threeD_Inspection::OBB_Recognition()
{
QElapsedTimer timer;
if (segmented_cloud->size() == 0 || Segmented_Indicates->size() == 0)
{
ui.textEdit->append("Segmeted point cloud is empty");
return;
}
for (int k = 0; k <= Segmented_Indicates->points[Segmented_Indicates->size() - 1].x; k++)
{
timer.start();
if (recognised_cloud->size() != 0) recognised_cloud->clear();
if (model_cloud->size() != 0) model_cloud->clear();
for (int i = 0; i < (int)segmented_cloud->size(); i++)
{
if (Segmented_Indicates->points[i].x == k)
{
pcl::PointXYZRGB point;
point.x = segmented_cloud->points[i].x;
point.y = segmented_cloud->points[i].y;
point.z = segmented_cloud->points[i].z;
recognised_cloud->push_back(point);
}
}
if (recognised_cloud->size() == 0) continue;
double pass = ui.SpinBox_passRecog->text().toDouble();
double OBB_toler = ui.doubleSpinBox_OBBTolerance->text().toDouble();
cInspection->objectName = ui.comboBox_ObjRecog->currentText();
unsigned char recog_status = cInspection->OBB_Recognition(*recognised_cloud, *model_cloud, OBB_toler, pass);
if (recog_status == 1) ui.textEdit->append("OBB size not fitted");
if (recog_status == 2) ui.textEdit->append("Matching score ICP is to low");
if (recog_status == 3) ui.textEdit->append("Can not load data from virtual camera!");
if (recog_status == 0)
{
ui.textEdit->append("OBB based Recognition Time: " + QString::number(timer.elapsed()) + " ms");
QString model_str = "model_";
model_str.append(QString::number(k));
Cloud_Display(*model_cloud, model_str, 2, false, false, true);
cInspection->OBB_features(*model_cloud, *features);
QString obb_str = "obb_";
obb_str.append(QString::number(k));
OBB_Draw(*features, obb_str, false);
//Coordinate_Draw(false);
if (!ui.checkBox_DetecAll->isChecked())
{
if (segmented_cloud->size() != 0) segmented_cloud->clear();
return;
}
}
}
if (segmented_cloud->size() != 0) segmented_cloud->clear();
}
void threeD_Inspection::SubOBB_Recognition()
{
Cloud_Display(*cloud_, "Cloud", 2, true, true, true);
if (ui.checkBox_nonSeg_Recognition->isChecked())
{
Non_Segmentation_SubOBB_Recognition();
return;
}
QElapsedTimer timer;
if (segmented_cloud->size() == 0 || Segmented_Indicates->size() == 0)
{
ui.textEdit->append("Segmeted point cloud is empty");
return;
}
cInspection->desMethd[0] = 0; cInspection->desMethd[1] = 0; cInspection->desMethd[2] = 0;
if (ui.checkBox_RecogFea_Area->isChecked()) cInspection->desMethd[2] = 1;
if (ui.checkBox_RecogFea_Dis->isChecked()) cInspection->desMethd[1] = 1;
if (ui.checkBox_RecogFea_Normal->isChecked()) cInspection->desMethd[0] = 1;
for (int k = 0; k <= Segmented_Indicates->points[Segmented_Indicates->size() - 1].x; k++)
{
timer.start();
if (recognised_cloud->size() != 0) recognised_cloud->clear();
if (model_cloud->size() != 0) model_cloud->clear();
for (int i = 0; i < (int)segmented_cloud->size(); i++)
{
if (Segmented_Indicates->points[i].x == k)
{
pcl::PointXYZRGB point;
point.x = segmented_cloud->points[i].x;
point.y = segmented_cloud->points[i].y;
point.z = segmented_cloud->points[i].z;
recognised_cloud->push_back(point);
}
}
if (recognised_cloud->size() == 0) continue;
double pass = ui.SpinBox_passRecog->text().toDouble();
double OBB_tolerDown = ui.doubleSpinBox_SubOBBTolerance->text().toDouble();
double OBB_tolerUp = ui.doubleSpinBox_SubOBBToler_Up->text().toDouble();
double NCCThresh = ui.doubleSpinBox_Recog_NCCThresh->text().toDouble();
cInspection->objectName = ui.comboBox_ObjRecog->currentText();
unsigned char recog_status = 3;
if (ui.checkBox_SubOBB_Recognition->isChecked()) recog_status = cInspection->SubOBB_Recognition(*recognised_cloud, *model_cloud, OBB_tolerDown, pass);
if (ui.checkBox_OSubOBB_Recognition->isChecked()) recog_status = cInspection->Optimized_SubOBB_Recognition(*recognised_cloud, *model_cloud, NCCThresh, OBB_tolerUp, OBB_tolerDown, pass);
if (recog_status == 1) ui.textEdit->append("OBB size not fitted");
if (recog_status == 2) ui.textEdit->append("Matching score ICP is to low");
if (recog_status == 3) ui.textEdit->append("Can not load data from virtual camera");
if (recog_status == 0)
{
ui.textEdit->append("SubOBB based Recognition Time: " + QString::number(timer.elapsed()) + " ms");
QString model_str = "model_";
model_str.append(QString::number(k));
for (int i = 0; i < (int)model_cloud->size(); i++)
{
model_cloud->points[i].r = 255;
model_cloud->points[i].g = 255;
model_cloud->points[i].b = 255;
}
Cloud_Display(*model_cloud, model_str, 2, false, false, true);
cInspection->OBB_features(*model_cloud, *features);
QString obb_str = "obb_";
obb_str.append(QString::number(k));
OBB_Draw(*features, obb_str, false);
//Coordinate_Draw(false);
if (!ui.checkBox_DetecAll->isChecked())
{
if (segmented_cloud->size() != 0) segmented_cloud->clear();
return;
}
}
}
if (segmented_cloud->size() != 0) segmented_cloud->clear();
}
void threeD_Inspection::Non_Segmentation_SubOBB_Recognition()
{
ui.textEdit->append("Non_Segmentation_SubOBB_Recognition");
if (cloud_->size() == 0)
{
ui.textEdit->append("Point cloud is empty");
return;
}
if (ui.checkBox_RecogFea_Area->isChecked()) cInspection->desMethd[2] = 1;
if (ui.checkBox_RecogFea_Dis->isChecked()) cInspection->desMethd[1] = 1;
if (ui.checkBox_RecogFea_Normal->isChecked()) cInspection->desMethd[0] = 1;
QElapsedTimer timer;
timer.start();
double pass = ui.SpinBox_passRecog->text().toDouble();
double OBB_toler = ui.doubleSpinBox_SubOBBTolerance->text().toDouble();
cInspection->objectName = ui.comboBox_ObjRecog->currentText();
if (model_cloud->size()) model_cloud->clear();
unsigned char recog_status = cInspection->NonSeg_SubOBB_Recog(*cloud_, *model_cloud, pass);
if (recog_status == 1) ui.textEdit->append("OBB size not fitted");
if (recog_status == 2) ui.textEdit->append("Matching score ICP is to low");
if (recog_status == 0)
{
ui.textEdit->append("Recognition Time: " + QString::number(timer.elapsed()) + " ms");
QString model_str = "model_";
//model_str.append(QString::number(k));
Cloud_Display(*model_cloud, model_str, 2, true, false, true);
cInspection->OBB_features(*model_cloud, *features);
QString obb_str = "obb_";
//obb_str.append(QString::number(k));
OBB_Draw(*features, obb_str, false);
Coordinate_Draw(false);
}
}
void threeD_Inspection::RG_SubOBB_Recognition()
{
if (cloud_->size() == 0) return;
cInspection->objectName = ui.comboBox_ObjRecog->currentText();
cInspection->reportCount = 0;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr SceneCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr ObjectCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr ObjectCloud_Buf(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr ModelCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr PickCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZ>::Ptr PCLBestRota(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr PCLBestView(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr PCLBestNCC(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr PCLBestNumOfSubOBB(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr NCCLinePlot(new pcl::PointCloud<pcl::PointXYZ>);
int NumOfSamplesX;
int PickX, PickY;
int numOfSubOBB_scene[3];
double ZThresh;
// Read Points from model and parameters
cInspection->ReadPCLPointCloud(*ModelCloud);
cInspection->TransferToOBB_CorrdinateXY(*cloud_, *SceneCloud);
cInspection->ReaVirtualCameraParameters(NumOfSamplesX, ZThresh);
cInspection->numOfSubOBB_Estimation(*SceneCloud, *ModelCloud, numOfSubOBB_scene);
for (int i = 0; i < SceneCloud->size(); i++)
{
SceneCloud->points[i].r = 255;
SceneCloud->points[i].g = 255;
SceneCloud->points[i].b = 255;
}
Cloud_Display(*SceneCloud, "Cloud", 2, true, true, true);
cInspection->RG_SubOBB_StartFind(*SceneCloud, *PickCloud, numOfSubOBB_scene);
int PickX_Buf, PickY_Buf;
int iter_buf = 0;
for (int iter = 1; iter < PickCloud->size(); iter++)
{
if (NCCLinePlot->size()) NCCLinePlot->clear();
plotter.clearPlots();
Line_2D_Graph();
double MaxDense = -1 * DBL_MAX;
int MaxIndex;
for (int i = 0; i < PickCloud->size(); i++)
{
if (MaxDense < PickCloud->points[i].z * PickCloud->points[i].g)
{
MaxDense = PickCloud->points[i].z * PickCloud->points[i].g;
PickX = PickCloud->points[i].x;
PickY = PickCloud->points[i].y;
MaxIndex = i;
}
}
PickCloud->points[MaxIndex].z = -1 * DBL_MAX;
if (iter != 1)
{
double distPick = sqrt((PickX - PickX_Buf) * (PickX - PickX_Buf) + (PickY - PickY_Buf) * (PickY - PickY_Buf));
ui.textEdit->append("distPick: " + QString::number(distPick));
ui.textEdit->append("NumOfSubOBBY_model: " + QString::number(cInspection->NumOfSubOBBY_model));
if (distPick < cInspection->NumOfSubOBBY_model) continue;
}
iter_buf++;
if (iter_buf > 2) iter = PickCloud->size();
if (ObjectCloud->size()) ObjectCloud->clear();
PickX_Buf = PickX;
PickY_Buf = PickY;
for (int grow_Buf = 0; grow_Buf < cInspection->NumOfSubOBBX_model / 2; grow_Buf++)
{
for (int growY = 0; growY <= grow_Buf; growY++)
for (int growX = 0; growX <= grow_Buf; growX++)
{
ui.textEdit->append("growY: " + QString::number(growY));
ui.textEdit->append("growX: " + QString::number(growX));
if (growY < grow_Buf & growX < grow_Buf) continue;
for (int k = -1; k < 2; k += 2)
for (int l = -1; l < 2; l += 2)
{
if (k == 0 || l == 0) continue;
PickX = PickX_Buf + k* growX;
PickY = PickY_Buf + l* growY;
if (PickX < 0 || PickY < 0 || PickX >= numOfSubOBB_scene[0] || PickY >= numOfSubOBB_scene[1]) continue;
if (ObjectCloud_Buf->size()) ObjectCloud_Buf->clear();
if (ObjectCloud->size()) pcl::copyPointCloud(*ObjectCloud, *ObjectCloud_Buf);
cInspection->RG_SubOBB_ObjExtraction(*SceneCloud, *ObjectCloud_Buf, numOfSubOBB_scene, PickX, PickY);
if (ObjectCloud_Buf->size() == 0) continue;
if (ObjectCloud_Buf->size() == ObjectCloud->size() & ObjectCloud->size() > 0) continue;
int status = cInspection->RG_SubOBB_Matching(*ObjectCloud_Buf, *ModelCloud, *PCLBestRota, *PCLBestView, *PCLBestNCC,
*PCLBestNumOfSubOBB, 0.2);
double BestNCC = PCLBestNCC->points[PCLBestNCC->size() - 1].z;
if (ObjectCloud_Buf->size())
{
if (BestNCC != -2) ui.textEdit->append("NCC: " + QString::number(BestNCC));
NCCLinePlot->push_back(pcl::PointXYZ(0, 0, BestNCC));
Update_Line_2D_Graph(*NCCLinePlot);
for (int i = 0; i < ObjectCloud_Buf->size(); i++)
{
ObjectCloud_Buf->points[i].r = 255;
ObjectCloud_Buf->points[i].g = 0;
ObjectCloud_Buf->points[i].b = 0;
}
Cloud_Display(*ObjectCloud_Buf, "ObjectCloud", 2, false, false, false);
delay(1000);
}
if (status == 1 || status == 2) continue;
if (status == 0)
{
if (ObjectCloud->size()) ObjectCloud->clear();
if (ObjectCloud_Buf->size()) pcl::copyPointCloud(*ObjectCloud_Buf, *ObjectCloud);
}
}
}
}
}
ui.textEdit->append("Completed!");
}
void threeD_Inspection::Recognition_Error_ReportPressed()
{
if (recognised_cloud->size() == 0 || model_cloud->size() == 0) return;
pcl::PointCloud<pcl::PointXYZ>::Ptr error_cloud(new pcl::PointCloud<pcl::PointXYZ>);
cInspection->Distances_CloudToCloud_PCL(*recognised_cloud, *model_cloud, *error_cloud);
double STD = 0;
double mindist = error_cloud->points[error_cloud->size() - 1].x;
for (int i = 0; i < error_cloud->size() - 1; i++)
{
STD += (error_cloud->points[i].x - mindist) * (error_cloud->points[i].x - mindist);
}
STD = sqrt(STD) / sqrt(error_cloud->size() - 2);
ui.textEdit->append("Mean Distance: " + QString::number(mindist));
ui.textEdit->append("Standard deviation: " + QString::number(STD));
cInspection->Display_Error_Report(*recognised_cloud, *error_cloud);
}
// -----------------------------------------------------0--------------------------------------------------------
// Virtial Camera
void threeD_Inspection::Initial_Transformation_VirtualCam()
{
if (cloud_->size() == 0)
{