UserAssistedSegmenterGuiWidgetController.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    SceneUnderstanding::gui-plugins::UserAssistedSegmenterGuiWidgetController
 * @author     Rainer Kartmann ( rainer dot kartmann at student dot kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VisionX/gui-plugins/UserAssistedSegmenterGui/ui_UserAssistedSegmenterGuiWidget.h>
#include "UserAssistedSegmenterConfigDialog.h"
 
#include <Eigen/Dense>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PointIndices.h>
 
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
 
#include <RobotAPI/libraries/core/visualization/DebugDrawerTopic.h>
 
#include <VisionX/interface/components/UserAssistedSegmenter.h>
 
#include "widgets/PointCloudSegmentsTable.h"
 
 
namespace visionx
{
    class UserAssistedSegmenterConfigDialog;
 
    class ARMARXCOMPONENT_IMPORT_EXPORT
        UserAssistedSegmenterGuiWidgetController :
        public armarx::ArmarXComponentWidgetControllerTemplate<UserAssistedSegmenterGuiWidgetController>,
        public visionx::UserAssistedSegmenterListener
    {
        Q_OBJECT
 
        using PointT = pcl::PointXYZRGBL;
        using PointCloudT = pcl::PointCloud<PointT>;
 
 
    public:
 
        explicit UserAssistedSegmenterGuiWidgetController();
 
        virtual ~UserAssistedSegmenterGuiWidgetController() override;
 
 
        virtual void loadSettings(QSettings* settings) override;
 
        virtual void saveSettings(QSettings* settings) override;
 
 
        virtual QPointer<QDialog> getConfigDialog(QWidget* parent) override;
 
        virtual void configured() override;
 
 
        static QString GetWidgetName();
 
 
        virtual void onInitComponent() override;
 
        virtual void onConnectComponent() override;
 
 
        // UserAssistedSegmenterListener interface
        virtual void reportSegmentation(const visionx::ColoredLabeledPointCloud& pointCloud, const Ice::Current&) override;
 
 
    public slots:
        /* QT slot declarations */
 
        void onNewSourcePointCloud();
 
        // Filters
        void onFilterSmallSegmentsNumEdited();
        void updateFilters();
 
        // Visualization
        void onRadioButtonShowInputToggled(bool checked);
        void onRadioButtonShowResultToggle(bool checked);
 
        // IDs
        void onShowIDsToggled(bool checked);
        void updateSegmentIDs();
 
        void clearVisualization();
 
        // Grouping
        void updateUserGroupingRows(int numRows);
        void onUserGroupingChanged(uint32_t groupID, std::vector<uint32_t> segmentIDs);
        void onTableGroupingCellChanged(int row, int col);
 
        void publishSegmentation();
 
 
    signals:
        /* QT signal declarations */
        void newSourcePointCloud();
 
 
    private:
 
        static std::vector<armarx::DrawColor> makeColorList();
 
 
    private:
 
        void applyFilters(PointCloudT& pointCloud,
                          std::map<uint32_t, pcl::PointIndices>& segmentIndex);
 
        void updatePointCloud(const PointCloudT& pointCloud,
                              const std::map<uint32_t, pcl::PointIndices>& segmentIndex);
 
        void computeSegmentIndex(const PointCloudT& pointCloud);
        void computeCenters(const PointCloudT& pointCloud,
                            const std::map<uint32_t, pcl::PointIndices>& segmentIndex);
 
        void updateTableOverview();
        void drawSegmentIDs(bool onlyIfChecked = false);
        void drawInputPointCloud(bool onlyIfChecked = false);
        void drawResultPointCloud(bool onlyIfChecked = false);
 
        armarx::DrawColor dcolor(std::size_t id) const;
        QColor qcolor(std::size_t id) const;
 
 
    private:
 
        Ui::UserAssistedSegmenterGuiWidget widget;
        QPointer<UserAssistedSegmenterConfigDialog> configDialog;
 
        PointCloudSegmentsTable* segmentsOverviewTable;
 
 
        std::string userAssistedSegmenterProxyName = "UserAssistedSegmenter";
        std::string userAssistedSegmenterTopicName = "UserAssistedSegmenterUpdates";
 
 
        armarx::DebugDrawerTopic drawer;
        visionx::UserAssistedSegmenterInterfacePrx segmenterProxy;
 
 
        PointCloudT sourcePointCloud;
        PointCloudT pointCloud;
 
        std::map<uint32_t, pcl::PointIndices> segmentIndex;
        std::map<uint32_t, Eigen::Vector3f> centers;
 
 
        std::vector<std::vector<std::uint32_t>> userGrouping;
 
        std::string layerPointCloud = "UserAssistedSegmenter_PointCloud";
        std::string layerSegmentIDs = "UserAssistedSegmenter_SegmentIDs";
 
    };
}