LAMPCAE/src/PluginWBFZExchangePlugin/DialogPCLGPMesh.cpp

/**
 * @file DialogPCLGPMesh.cpp
 * @brief None
 * @author 陈增辉 (3045316072@qq.com)
 * @version 2.5.0
 * @date 2024/4/5
 * @copyright Copyright (c) Since 2024 中科卫星应用研究院  All rights reserved.
 */

// You may need to build the project (run Qt uic code generator) to get "ui_DialogPCLGPMesh.h"
// resolved

#include "DialogPCLGPMesh.h"
#include "ui_DialogPCLGPMesh.h"
#include "ModuleBase/ThreadTask.h"
#include "PythonModule/PyAgent.h"
#include "MeshData/meshSingleton.h"
#include "MeshData/meshSet.h"
#include <QMenu>
#include <QDebug>
#include <pcl/filters/statistical_outlier_removal.h>
#include <QtWidgets>
#include <QFileDialog>
#include <QFileInfo>
#include "MeshData/meshKernal.h"
#include "PointCloudOperator/PointCloudCommon.h"
#include "Settings/BusAPI.h"
#include "BaseTool.h"
#include "IO/IOConfig.h"
#include "ModuleBase/ThreadControl.h"
#include "ConfigOptions/ConfigOptions.h"
#include "ConfigOptions/MeshConfig.h"

#include "MeshData/meshSingleton.h"
#include "MeshData/meshKernal.h"
#include <vtkSmartPointer.h>
#include <vtkDataSetReader.h>
#include <vtkDataSet.h>
#include <vtkSTLReader.h>
#include <vtkTecplotReader.h>
#include <vtkMultiBlockDataSet.h>
#include <vtkAppendFilter.h>
#include <vtkUnstructuredGrid.h>
#include <vtkUnstructuredGridWriter.h>
#include <vtkAppendFilter.h>
#include <QFileInfo>
#include <QTextCodec>
#include <vtkSTLWriter.h>
#include "Common/DebugLogger.h"

// auto meshData = MeshData::MeshData::getInstance();

namespace MainWidget {
	DialogPCLGPMesh::DialogPCLGPMesh(GUI::MainWindow* parent)
		: QFDialog(parent)
		, _ui(new Ui::DialogPCLGPMesh)
		, _mw(parent)
		, _selectdlg(new DialogSelectComponents(parent))
	{
		_ui->setupUi(this);
		_ui->geoSelectPoint->setToolTip(tr("Clicked Button Selected Components"));
		setWindowTitle(tr("GP Meshing"));
		_ui->listWidget->setContextMenuPolicy(Qt::CustomContextMenu);

		connect(_ui->geoSelectPoint, &QPushButton::clicked, [=]() {
			_selectdlg->clearSelectItems();
			_selectdlg->exec();
		});
		connect(_selectdlg, SIGNAL(selectedComponentsSig(QList<MeshData::MeshSet*>)), this,
				SLOT(selectedComponentsSlot(QList<MeshData::MeshSet*>)));
		connect(_ui->listWidget, SIGNAL(customContextMenuRequested(const QPoint&)), this,
				SLOT(customContextMenuRequestedSlot(const QPoint&)));
	}

	DialogPCLGPMesh::~DialogPCLGPMesh()
	{
		delete _ui;
		_ui = NULL;
		delete _selectdlg;
		_selectdlg = NULL;
	}

	void DialogPCLGPMesh::accept()
	{
		if(_components.size() == 0)
			return;

		QString componentIds;
		for(auto component : _components)
			componentIds.append(QString(",%1").arg(component->getID()));
		componentIds.remove(0, 1);

		double	SearchRadius			= _ui->SearchRadius->value();
		double	Mu						= _ui->Mu->value();
		int		MaximumNearestNeighbors = _ui->MaximumNearestNeighbors->value();
		double	MaximumSurfaceAngle		= _ui->MaximumSurfaceAngle->value();
		double	MaximumAngle			= _ui->MaximumAngle->value();
		double	MinimumAngle			= _ui->MinimumAngle->value();

		QString outfilename				= "filter";
		for(auto component : _components)
			outfilename.append(QString("_%1").arg(component->getName()));

		// 确定是否保存结果文件
		QMessageBox::StandardButton result =
			QMessageBox::critical(this, "info", "save as result ?");
		QString filepath =
			JoinPath(Setting::BusAPI::instance()->getWorkingDir(), outfilename + "_tmep.pcd");
		QString AbFileName = filepath;
		if(result == QMessageBox::StandardButton::Ok
		   || result == QMessageBox::StandardButton::Yes) {
			DebugInfo("outfilename  ok ok   \n");
			QStringList suffixlist = IO::IOConfigure::getMeshExporters();
			if(suffixlist.isEmpty()) {
				QMessageBox::warning(this, tr("Warning"), tr("The MeshPlugin is not installed !"));
				return;
			}

			QStringList meshsuffix = ConfigOption::ConfigOption::getInstance()
										 ->getMeshConfig()
										 ->getExportSuffix(ConfigOption::MeshDataType::vtkMesh)
										 .split(";");
			QStringList list;

			for(QString s : meshsuffix) {
				for(int i = 0; i < suffixlist.size(); i++) {
					QString suffix = suffixlist.at(i);
					if(suffix.contains(s))
						list.append(suffix);
				}
			}

			std::sort(list.begin(), list.end());
			QString		suffixes = list.join(";;");
			QString		workDir	 = Setting::BusAPI::instance()->getWorkingDir();

			QFileDialog dlg(this, tr("Export mesh"), workDir, suffixes);
			dlg.setAcceptMode(QFileDialog::AcceptSave);
			if(dlg.exec() != QFileDialog::FileName)
				return;

			QString aSuffix	  = dlg.selectedNameFilter();
			QString aFileName = dlg.selectedFiles().join(",");
			if(!(aFileName.isEmpty())) {
				filepath = aFileName;

			} else {
			}

			AbFileName = filepath;

		} else { // 不保存成点云数据
		}
		DebugInfo("outfilename  %s  \n", AbFileName.toStdString().c_str());
		// 启动线程
		auto pclremesh =
			new WBFZ::PCLGPMesh(AbFileName, WBFZ::PointCloudOperation::POINTCLOUD_MESH, _mainWindow,
								componentIds, SearchRadius, Mu, MaximumNearestNeighbors,
								MaximumSurfaceAngle, MaximumAngle, MinimumAngle);
		ModuleBase::ThreadControl* tc = new ModuleBase::ThreadControl(pclremesh);
		emit					   tc->threadStart(); // emit MSHwriter->start();

		QFDialog::accept();
	}

	void DialogPCLGPMesh::selectedComponentsSlot(QList<MeshData::MeshSet*> components)
	{
		for(MeshData::MeshSet* set : components) {
			if(_components.contains(set))
				continue;
			_components.append(set);
			_ui->listWidget->addItem(set->getName());
		}
	}

	void DialogPCLGPMesh::customContextMenuRequestedSlot(const QPoint& point)
	{
		QListWidgetItem* curItem = _ui->listWidget->itemAt(point);
		if(!curItem)
			return;

		QMenu*	 menu		= new QMenu(this);
		QAction* deleteItem = new QAction(tr("delete this item"));
		menu->addAction(deleteItem);
		connect(menu, &QMenu::triggered, [=]() { removeCurrentItem(curItem); });
		menu->exec(QCursor::pos());
	}

	void DialogPCLGPMesh::removeCurrentItem(QListWidgetItem* curItem)
	{
		auto meshData = MeshData::MeshData::getInstance();
		auto meshSet  = meshData->getMeshSetByName(curItem->text());
		if(!meshSet)
			return;
		_components.removeOne(meshSet);
		_ui->listWidget->removeItemWidget(curItem);
		delete curItem;
	}

} // namespace MainWidget

namespace WBFZ {
	PCLGPMesh::PCLGPMesh(const QString& fileName, WBFZ::PointCloudOperation operation,
						 GUI::MainWindow* mw, QString componentIds, double SearchRadius, double Mu,
						 int MaximumNearestNeighbors, double MaximumSurfaceAngle,
						 double MaximumAngle, double MinimumAngle)
		: ModuleBase::ThreadTask(mw)
		, _operation(operation)
		, _fileName(fileName)
		, _componentIds(componentIds)
		, _SearchRadius(SearchRadius)
		, _Mu(Mu)
		, _MaximumNearestNeighbors(MaximumNearestNeighbors)
		, _MaximumSurfaceAngle(MaximumSurfaceAngle)
		, _MaximumAngle(MaximumAngle)
		, _MinimumAngle(MinimumAngle)
	{
	}

	PCLGPMesh::~PCLGPMesh() {}

	void PCLGPMesh::defaultMeshFinished()
	{
		if(_threadRuning) {
			QString				information{};
			ModuleBase::Message msg;
			if(_operation == POINTCLOUD_FILTER || _operation == POINTCLOUD_MESH) {
				if(_success) {
					emit _mainwindow->updateMeshTreeSig();
					emit _mainwindow->updateSetTreeSig();
					emit _mainwindow->updateActionStatesSig();
					//					emit _mainwindow->updateActionsStatesSig();
					emit _mainwindow->getSubWindowManager()->openPreWindowSig();
					emit _mainwindow->updatePreMeshActorSig();
					information = QString("Successful Import Mesh From \"%1\"").arg(_fileName);
					msg.type	= Common::Message::Normal;
					msg.message = information;
					auto	  meshdata = MeshData::MeshData::getInstance();
					//					meshdata->generateDisplayDataSet();
					const int nk	   = meshdata->getKernalCount();
					if(nk <= 0)
						return;
					auto k = meshdata->getKernalAt(nk - 1);
					if(k != nullptr)
						k->setPath(_fileName);
				} else {
					information = QString("Failed Filter  From \"%1\"").arg(_fileName);
					msg.type	= Common::Message::Error;
					msg.message = information;
				}
			} else {
			}
		}
		// 		emit showInformation(information);
		// 		emit _mainwindow->printMessageToMessageWindow(msg);
		ModuleBase::ThreadTask::threadTaskFinished();
		Py::PythonAgent::getInstance()->unLock();
	}
	void PCLGPMesh::setThreadRunState(bool flag)
	{
		_success = flag;
	}

	void PCLGPMesh::run()
	{
		ModuleBase::ThreadTask::run();
		bool result = false;
		switch(_operation) {
			case POINTCLOUD_MESH:
				emit showInformation(tr("POINTCLOUD_MESH From \"%1\"").arg(_fileName));
				result = remeshtaskProcess();
				setThreadRunState(result);
				break;
			default:
				break;
		}
		DebugInfo("run ok _success %d _threadRuning %d \n", _success, _threadRuning);
		defaultMeshFinished();
	}

	bool PCLGPMesh::remeshtaskProcess()
	{
		QString				  componentIds			  = _componentIds;
		double				  SearchRadius			  = _SearchRadius;
		double				  Mu					  = _Mu;
		int					  MaximumNearestNeighbors = _MaximumNearestNeighbors;
		double				  MaximumSurfaceAngle	  = _MaximumSurfaceAngle;
		double				  MaximumAngle			  = _MaximumAngle;
		double				  MinimumAngle			  = _MinimumAngle;

		emit				  _mainwindow->printMessage(Common::Message::Normal, "PCLGPMeshAlg");
		// 获取vtdataset
		QStringList			  qCompontIds = QString(componentIds).split(',');

		MeshData::MeshSet*	  meshSet	  = NULL;
		MeshData::MeshKernal* meshKernal  = NULL;
		MeshData::MeshData*	  meshData	  = MeshData::MeshData::getInstance();
		QString				  kernalName, transformedName, setType, ids;

		// 筛选其中的点云数据
		// 创建 vtkCellDataToPointData 过滤器
		vtkSmartPointer<vtkGeometryFilter> cellToPointFilter =
			vtkSmartPointer<vtkGeometryFilter>::New();

		QString outfilename;
		for(QString compontId : qCompontIds) {
			meshSet = meshData->getMeshSetByID(compontId.toInt());
			DebugInfo("point count %d : %d \n", compontId.toInt(), meshSet == nullptr);
			if(!meshSet)
				continue;
			outfilename = meshSet->getName();
			vtkPolyData* temppolyData =
				PointCloudOperator::PointCloudCommon::meshSetToVtkDataset(meshSet);
			cellToPointFilter->SetInputData(temppolyData);
			DebugInfo("point count %d : %d \n", compontId.toInt(), temppolyData == nullptr);
		}

		// 执行过滤操作
		cellToPointFilter->Update();
		DebugInfo("cellToPointFilter \n");
		// 获取过滤后的 vtkPolyData
		vtkPolyData* outpolyData = cellToPointFilter->GetOutput();
		DebugInfo("outpolyData ");

		pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_with_rgba(
			new pcl::PointCloud<pcl::PointXYZRGBA>);
		pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered(
			new pcl::PointCloud<pcl::PointXYZRGBA>);
		pcl::io::vtkPolyDataToPointCloud(outpolyData, *cloud_with_rgba);
		// 创建滤波器对象

		// 计算点云滤波结果
		pcl::PointCloud<pcl::PointXYZRGBA>::Ptr output(
			new pcl::PointCloud<pcl::PointXYZRGBA>); // 输出结果
		pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(
			new pcl::PointCloud<pcl::PointNormal>);
		pcl::PolygonMesh* mesh = new pcl::PolygonMesh;

		// 估计法线
		PointCloudOperator::PointCloudCommon::NormalEstimation(cloud_with_rgba, cloud_with_normals);

		//------------------定义搜索树对象------------------------
		pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
		tree2->setInputCloud(cloud_with_normals);
		pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3; // 定义三角化对象

		gp3.setSearchRadius(SearchRadius); // 设置连接点之间的最大距离（即三角形的最大边长）
		gp3.setMu(Mu); // 设置被样本点搜索其临近点的最远距离，为了适应点云密度的变化
		gp3.setMaximumNearestNeighbors(MaximumNearestNeighbors); // 设置样本点可搜索的邻域个数
		gp3.setMaximumSurfaceAngle(
			MaximumSurfaceAngle); // 设置某点法线方向偏离样本点法线方向的最大角度
		gp3.setMinimumAngle(MinimumAngle); // 设置三角化后得到三角形内角的最小角度
		gp3.setMaximumAngle(MaximumAngle); // 设置三角化后得到三角形内角的最大角度
		gp3.setNormalConsistency(false);   // 设置该参数保证法线朝向一致
		// qDebug() << "[GP] start reconstruct :" << cloud_in->points.size();
		//  Get result
		DebugInfo("setInputCloud  point count : %d \n", cloud_with_normals->size());
		gp3.setInputCloud(cloud_with_normals); // 设置输入点云为有向点云
		gp3.setSearchMethod(tree2);			   // 设置搜索方式
		gp3.reconstruct(*mesh);				   // 重建提取三角化
		emit _mainwindow->printMessageToMessageWindow(
			QString("edge count %1 ").arg(QString::number(mesh->polygons.size())));
		DebugInfo("remesh over ,conver init  %d \n", mesh->polygons.size());
		// 转换处理结果
		vtkPolyData* polydata	= vtkPolyData::New(); // 创建新的指针，智能指针会释放
		size_t		 pointcount = PointCloudOperator::PointCloudCommon::mesh2vtk(*mesh, polydata);
		DebugInfo("remesh over ,conver over polydata  %d  , pointcount %d\n", polydata == nullptr,
				  pointcount);
		vtkDataSet* dataset =
			vtkDataSet::SafeDownCast(polydata); // 默认完成 vtkpolydata --> vtkdataset
		// outpolyData->Delete();					// 释放指针 ,
		// 千万不能释放这个指针，不然程序回调时，会直接内存崩溃
		DebugInfo("PCLGPMeshAlg successfully!!  wait for writing file  \n");

		//	vtkDataSet*
		// dataset=PCLGPMeshAlg(_componentIds,_SearchRadius,_Mu,_MaximumNearestNeighbors,_MaximumSurfaceAngle,_MaximumAngle,_MinimumAngle);
		DebugInfo("remesh \n");
		QString		filepath = _fileName;

		// 加载文件
		QFileInfo	info(filepath);
		QString		name		= info.fileName();
		QString		path		= info.filePath();
		QString		suffix		= info.suffix().toLower();
		QTextCodec* codec		= QTextCodec::codecForName("GB18030");
		QByteArray	ba			= codec->fromUnicode(filepath);

		std::string outFileName = ba.data();
		DebugInfo("writing %s  suffix %s !!  \n", ba.data(), suffix.toStdString().c_str());
		if(suffix == "vtk") {
			vtkSmartPointer<vtkUnstructuredGridWriter> writer =
				vtkSmartPointer<vtkUnstructuredGridWriter>::New();
			writer->SetInputData(dataset);
			writer->SetFileTypeToBinary();
			writer->SetFileName(ba);
			writer->Write();
			DebugInfo("writing vtk !!  \n");
		} else if(suffix == "stl") {
			QTextCodec*					  codec	 = QTextCodec::codecForName("GB18030");
			QByteArray					  ba	 = codec->fromUnicode(_fileName);

			vtkSmartPointer<vtkSTLWriter> writer = vtkSmartPointer<vtkSTLWriter>::New();
			writer->SetInputData(dataset);
			writer->SetFileTypeToBinary();
			writer->SetFileName(ba);
			writer->Write();
			DebugInfo("writing stl !!  \n");
		} else {
		}

		DebugInfo("writing finish !!  %d \n", dataset == nullptr);

		// 回调函数
		DebugInfo("remeshtaskProcess   !!  %d \n", dataset == nullptr);

		//	QFileInfo info(_fileName);
		//	QString name = info.fileName();
		//	QString path = info.filePath();
		//	QString suffix = info.suffix().toLower();
		DebugInfo("dataset %d _fileName %s \n", dataset == nullptr,
				  _fileName.toStdString().c_str());
		// 保存流程文件
		if(dataset != nullptr) {
			DebugInfo("load result in meshKernal \n");
			auto* k = new MeshData::MeshKernal;
			k->setName(name);
			k->setPath(path);
			auto meshData = MeshData::MeshData::getInstance();
			int	 nKernal  = meshData->getKernalCount();
			for(int iKernal = 0; iKernal < nKernal; ++iKernal) {
				MeshData::MeshKernal* temp = meshData->getKernalAt(iKernal);
				if(temp->getPath() == path) { ///< MG same file update
					meshData->removeKernalAt(iKernal);
					break;
				}
			}

			k->setMeshData(dataset);
			meshData->appendMeshKernal(k);
			DebugInfo("load result in meshKernal \n");

			return true;
		} else {
			return false;
		}

		return false;
	}
} // namespace WBFZ