mainwindow.cpp

#include <geos/platform.h>
#include <QListWidgetItem>
#include <cmake-build-debug/ui_mainwindow.h>
#include "mainwindow.h"
#include "pointcloud/nvtkMyCallBack.h"
#include "waveform/listItem.h"
#include <boost/algorithm/string.hpp>
#include <vtkSimplePointsWriter.h>
#include <vtkTransformFilter.h>
#include <vtkIterativeClosestPointTransform.h>
#include <vtkLandmarkTransform.h>
#include <string>
#include "waveform/DivideDialog.h"

using namespace std;
using namespace boost;

QT_CHARTS_USE_NAMESPACE

MainWindow::MainWindow() {
    this->ui = new Ui_MainWindow;
    this->ui->setupUi(this);
    connect(ui->actionOpen, SIGNAL(triggered()), this, SLOT(openLas()));
    connect(ui->actionMove, SIGNAL(triggered()), this, SLOT(showWidght()));
    connect(ui->actionSave, SIGNAL(triggered()), this, SLOT(saveResult()));
    connect(ui->actionICP, SIGNAL(triggered()), this, SLOT(ICP()));
    //显示二维波形图部分
    chart = new Chart();
    chartView = new ChartView(chart->chart);
    chartView->setRenderHint(QPainter::Antialiasing);
    ui->mainChartLayout->addWidget(chartView);
    ui->propertyTable->setItem(0, 0,  new QTableWidgetItem(QString("GPS_Time")));
    ui->propertyTable->setItem(1, 0,  new QTableWidgetItem(QString("X")));
    ui->propertyTable->setItem(2, 0,  new QTableWidgetItem(QString("Y")));
    ui->propertyTable->setItem(3, 0,  new QTableWidgetItem(QString("Z")));
    ui->propertyTable->setItem(4, 0,  new QTableWidgetItem(QString("Intensity")));
    ui->propertyTable->setItem(5, 0,  new QTableWidgetItem(QString("Type")));
    ui->propertyTable->setItem(6, 0,  new QTableWidgetItem(QString("ShotNum")));
    ui->propertyTable->setItem(7, 0,  new QTableWidgetItem(QString("Begian")));
    ui->propertyTable->setItem(8, 0,  new QTableWidgetItem(QString("PeakLoc")));
}

MainWindow::~MainWindow() {
//    delete ui;
}

void MainWindow::slotExit() {
    qApp->exit();
}

void MainWindow::ICP(){
    vtkSmartPointer<vtkActor> source;
    vtkSmartPointer<vtkActor> target;
    int n=0;
    for(int i =0; i < ui->filelist->count(); i++)//遍历所算的ITEM
    {
        QListWidgetItem *sel = ui->filelist->item(i);
        listItem *item = dynamic_cast<listItem*>(ui->filelist->itemWidget(sel));
        if(item->checkBox->isChecked()){
            if(n==0){
                source = item->getActor();
                n++;
            }else{
                target = item->getActor();
            }
        }
    }
    if(n!=1){
        if (QMessageBox::Yes == QMessageBox::warning(this,
                                                      tr("警告"),
                                                      tr("ICP算法需要选中两片点云！"),
                                                      QMessageBox::Yes,
                                                      QMessageBox::Yes)) {
            return;
        }
    }
    vtkSmartPointer<vtkIterativeClosestPointTransform> icp = vtkSmartPointer<vtkIterativeClosestPointTransform>::New();
    icp->SetSource(source->GetMapper()->GetInput());
    icp->SetTarget(target->GetMapper()->GetInput());
    icp->GetLandmarkTransform()->SetModeToRigidBody();
    icp->SetMaximumNumberOfIterations(15);
    icp->Modified();
    icp->Update();
    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
    transform->SetMatrix(icp->GetMatrix());
    source->SetUserTransform(transform);
}

//保存处理结果
void MainWindow::saveResult() {
    for(int i =0; i < ui->filelist->count(); i++)//遍历所算的ITEM
    {
        QListWidgetItem *sel = ui->filelist->item(i);
        listItem *item = dynamic_cast<listItem*>(ui->filelist->itemWidget(sel));
//        int number = item->getActor()->GetMapper()->GetInput()->GetNumberOfPoints();
//      更新原始数据的坐标
        vtkTransform *t = vtkTransform::New();
        t->SetMatrix(item->getActor()->GetMatrix());
        vtkTransformFilter *tf = vtkTransformFilter::New();
        tf->SetTransform(t);
        tf->SetInputDataObject(item->getActor()->GetMapper()->GetInput());
        tf->Update();
//      写入新的文件
        vtkSmartPointer<vtkSimplePointsWriter> writer =
                vtkSmartPointer<vtkSimplePointsWriter>::New();
        string filename = "cloud";
        filename = filename+to_string(i)+".txt";
        writer->SetFileName(filename.c_str());
        writer->SetInputConnection(tf->GetOutputPort());
        writer->Write();
    }
}

//展示每个cloud的widget
void MainWindow::showWidght() {
    for(int i =0; i < ui->filelist->count(); i++)//遍历所算的ITEM
    {
        QListWidgetItem *sel = ui->filelist->item(i);
        listItem *item = dynamic_cast<listItem*>(ui->filelist->itemWidget(sel));
        if(item->checkBox->isChecked()){
            boxs[i]->On();
        }else{
            boxs[i]->Off();
        }
    }
}

//打开资源管理器选择文件
void MainWindow::openLas() {
//    选择文件
    QString path=QFileDialog::getOpenFileName(this,"选择文件",".","txt(*.txt);;las(*.las)");
    if(path.isEmpty()&& path.isNull()){
        return;
    }
    std::string filepath = path.toLocal8Bit().constData();
//  若是txt文件则选择分割符
    char separater=',';
    if(filepath.find(".txt")!=string::npos){
        DivideDialog dialog;
        dialog.exec();
        separater=dialog.result();
    }
//    string filepath = "/Users/arlex/Downloads/111.las";
//    string filepath = "/Users/arlex/Documents/课程/激光点云/2015_12_15_07_31_01_117.txt";
//    cout<<"separater is "<<separater<<endl;
    vtkSmartPointer<nvtkDataReader> reader = vtkSmartPointer<nvtkDataReader>::New();
    reader->SetFileName(filepath.c_str());
    reader->SetSeparater(separater);

    vtkSmartPointer<nvtkDataSimplify> processing = vtkSmartPointer<nvtkDataSimplify>::New();
    processing->SetInputConnection(reader->GetOutputPort());
    processing->Update();

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();

    mapper->SetInputData(processing->GetOutput());
    //设置点的颜色
    mapper->SetScalarModeToUsePointFieldData();
    mapper->SelectColorArray("Colors");

    // Actor in scene
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);

    // VTK Renderer
    vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New();

    //如果已有点云的话，在原来的基础上增加点云
    if(ui->Map->GetRenderWindow()== NULL){
        // Add Actor to renderer
        ren->AddActor(actor);
        ren->SetBackground(0,0,0);

        // VTK/Qt wedded
        vtkSmartPointer<vtkGenericOpenGLRenderWindow> renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
        ui->Map->SetRenderWindow(renderWindow);
        ui->Map->GetRenderWindow()->AddRenderer(ren);
//    增加交互
        vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor = ui->Map->GetInteractor();
        renderWindowInteractor->SetRenderWindow(renderWindow);

        vtkSmartPointer<nvtkPointPickerInteractorStyle> style = vtkSmartPointer<nvtkPointPickerInteractorStyle>::New();
        style->SetFileName(filepath);
        style->table = ui->propertyTable;
        renderWindowInteractor->SetInteractorStyle(style);

//    设置方位轴
//    vtkSmartPointer<vtkAxesActor> Axes = vtkSmartPointer<vtkAxesActor>::New();
//    vtkSmartPointer<vtkOrientationMarkerWidget> widget = vtkSmartPointer<vtkOrientationMarkerWidget>::New();
//    widget->SetInteractor(renderWindowInteractor);
//    widget->SetOrientationMarker(Axes);
//    widget->SetOutlineColor(1, 1, 1);
//    widget->SetViewport(0, 0, 0.2, 0.2);
//    widget->SetEnabled(1);
//    widget->InteractiveOn();

        renderWindow->Render();
        renderWindowInteractor->Initialize();
        renderWindowInteractor->Start();
    }else{
        ren = ui->Map->GetRenderWindow()->GetRenderers()->GetFirstRenderer();
        ren->AddActor(actor);
    }

    vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor = ui->Map->GetInteractor();
    vtkBoxWidget *boxWidget = vtkBoxWidget::New();
    boxWidget->SetInteractor(renderWindowInteractor);
    boxWidget->SetPlaceFactor(1.25);

    //
    // Place the interactor initially. The input to a 3D widget is used to
    // initially position and scale the widget. The EndInteractionEvent is
    // observed which invokes the SelectPolygons callback.
    //
    boxWidget->SetProp3D(actor);
    boxWidget->PlaceWidget();
    nvtkMyCallBack *callback = nvtkMyCallBack::New();
    boxWidget->AddObserver(vtkCommand::InteractionEvent, callback);
    //
    // Normally the user presses the "i" key to bring a 3D widget to life. Here
    // we will manually enable it so it appears with the cone.
    //
//        boxWidget->On();
    boxs.push_back(boxWidget);

//  若打开了文件，则把该文件的名称展示在左边的view之中
    listItem *item = new listItem(NULL);
    vector<string> paths;
    split(paths,filepath,is_any_of("/"));
    string name = paths[paths.size()-1];
    item->setFileName(name);
//    cout<<filepath<<endl;
    item->setActor(actor);
    QListWidgetItem* pListWidgetItem = new QListWidgetItem();
    QSize size = pListWidgetItem->sizeHint();
    pListWidgetItem->setSizeHint(QSize(size.width(),30));
//    ui->filelist->addItem(QString::fromLocal8Bit(name.c_str()));
    ui->filelist->addItem(pListWidgetItem);
    item->setSizeIncrement(size.width(),30);
    ui->filelist->setItemWidget(pListWidgetItem,item);
    ui->Map->update();
//    double p[3];
//    actor->GetMapper()->GetInput()->GetPoint(1,p);
//    cout<<p[0]<<" "<<p[1]<<" "<<p[2]<<endl;
};

void MainWindow::onDrawChanged(DrawData info) {

    chart->newFrame(info);

    chartView->getToZoomLevel();

}


void MainWindow::on_actionOceanStart_triggered() {

    if (chart->isPlay) {
        drawChartThread->requestInterruption();
        QIcon icon;
        icon.addFile(tr(":/images/images/play.png"));
        ui->actionOceanStart->setIcon(icon);

    } else {
        QIcon icon;
        icon.addFile(tr(":/images/images/pause.png"));
        ui->actionOceanStart->setIcon(icon);
        drawChartThread = new DrawChartThread;
        drawChartThread->chart = chart;
        chart->chartType = 1;
        drawChartThread->i = chart->offset;
        connect(drawChartThread, SIGNAL(draw(DrawData)),
                SLOT(onDrawChanged(DrawData)));
        connect(drawChartThread, SIGNAL(finished()),
                drawChartThread, SLOT(deleteLater()));
        drawChartThread->start();
    }
    chart->isPlay = !chart->isPlay;


}

void MainWindow::on_actionOpenOceanFile_triggered() {

    QString fileName = QFileDialog::getOpenFileName(
            this, tr("open  file"),
            "./", tr("Ocean files(*.ocean);;All files (*.*)"));

    if (fileName.isEmpty()) {
        QMessageBox mesg;
        mesg.warning(this, "警告", "打开文件失败!");
        return;
    }
    chart->filename = fileName;

}

void MainWindow::on_showWave_clicked()
{
    if(chart->isPlay){
        drawChartThread->requestInterruption();
        QIcon icon;
        icon.addFile(tr(":/images/images/play.png"));
        ui->actionOceanStart->setIcon(icon);
        chart->isPlay = !chart->isPlay;
    }

    string filename = chart->filename.toStdString();
    FILE *fp;
    fp = fopen(filename.c_str(), "rb");

    int x1 = 0;
    int x2 = 0;
    int x3 = 0;
    int x4 = 0;
    DrawData *drawData = new DrawData;



    //读取4个波段数据

    //每帧数据长6500
    int nLen = 6500;
    short *sData_CH0 = new short [nLen];
    short *sData_CH1 = new short [nLen];
    short *sData_CH2 = new short [nLen];
    short *sData_CH3 = new short [nLen];
    memset(sData_CH0, 0, sizeof(short)*nLen);
    memset(sData_CH1, 0, sizeof(short)*nLen);
    memset(sData_CH2, 0, sizeof(short)*nLen);
    memset(sData_CH3, 0, sizeof(short)*nLen);

    //LADM2-激光数据头大小，固定值
    static const int nLen_Header = 160;



    //每个Binshot长度是固定的
    double dLen_Binshot = 2*4*nLen;

    int nTragetShot = ui->propertyTable->item(6,1)->text().toInt();

    //指针跳的长度 nTragetShot是想要读取的帧号
    int64 nSeekL = nLen_Header + dLen_Binshot*nTragetShot;

    //常规fseek第二个参数为long 最大值为2147483647, 激光数据的字节更大，这里用_fseeki64
    fseek(fp, nSeekL, SEEK_SET);

    fread(sData_CH0, sizeof(short), nLen, fp);
    fread(sData_CH1, sizeof(short), nLen, fp);
    fread(sData_CH2, sizeof(short), nLen, fp);
    fread(sData_CH3, sizeof(short), nLen, fp);



    drawData->maxY = 0;
    drawData->minY = 0;


    drawData->size1 = nLen;
    drawData->size2 = nLen;
    drawData->size3 = nLen;
    drawData->size4 = nLen;

    for (int j=0;j < nLen;j++) {
        if(sData_CH0[j]<(-2000)){
            sData_CH0[j]=0;
        }
        if(sData_CH0[j]<(-2000)){
            sData_CH0[j]=0;
        }
        if(sData_CH0[j]<drawData->minY){
            drawData->minY= sData_CH0[j];
        }
        if(sData_CH1[j]>drawData->maxY){
            drawData->maxY= sData_CH0[j];
        }
        drawData->line2[j]= sData_CH0[j];
        x1++;
    }
    for (int j=0;j < nLen;j++) {
        if(sData_CH1[j]<(-2000)){
            sData_CH1[j]=0;
        }
        if(sData_CH1[j]<(-2000)){
            sData_CH1[j]=0;
        }
        if(sData_CH1[j]<drawData->minY){
            drawData->minY= sData_CH1[j];
        }
        if(sData_CH1[j]>drawData->maxY){
            drawData->maxY= sData_CH1[j];
        }
        drawData->line2[j]= sData_CH1[j];
        x2++;
    }

    for (int j=0;j < nLen;j++) {
        if(sData_CH2[j]<(-2000)){
            sData_CH2[j]=0;
        }
        if(sData_CH2[j]<(-2000)){
            sData_CH2[j]=0;
        }
        if(sData_CH2[j]<drawData->minY){
            drawData-> minY= sData_CH1[j];
        }
        if(sData_CH2[j]>drawData->maxY){
            drawData->maxY= sData_CH2[j];
        }
        drawData->line3[j]= sData_CH2[j];
        x3++;
    }

    for (int j=0;j < nLen;j++) {
        if(sData_CH3[j]<(-2000)){
            sData_CH3[j]=0;
        }
        if(sData_CH3[j]<(-2000)){
            sData_CH3[j]=0;
        }
        if(sData_CH3[j]<drawData->minY){
            drawData->minY= sData_CH1[j];
        }
        if(sData_CH3[j]>drawData->maxY){
            drawData->maxY= sData_CH3[j];
        }
        drawData->line4[j]= sData_CH3[j];
        x4++;
    }

    drawData->x1 = x1;
    drawData->x2 = x2;
    drawData->x3 = x3;
    drawData->x4 = x4;
    nTragetShot++;
    drawData->i = nTragetShot;
    drawChartThread->i = nTragetShot;
    chart->newFrame(*drawData);
    fclose(fp);
}