qTransformsPlugin.cpp

//##########################################################################
//#                                                                        #
//#                       CLOUDCOMPARE PLUGIN: qDummy                      #
//#                                                                        #
//#  This program is free software; you can redistribute it and/or modify  #
//#  it under the terms of the GNU General Public License as published by  #
//#  the Free Software Foundation; version 2 of the License.               #
//#                                                                        #
//#  This program 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.                          #
//#                                                                        #
//#                             COPYRIGHT: Sören Schwertfeg                #
//#                                                                        #
//##########################################################################

//First: replace all occurrences of 'qDummyPlugin' by your own plugin class name in this file!
#include "qTransformsPlugin.h"

//Qt
#include <QtGui>

#include "sttl.h"

//Default constructor: should mainly be used to initialize
//actions (pointers) and other members
qTransformsPlugin::qTransformsPlugin(QObject* parent/*=0*/)
	: QObject(parent)
	, m_action(0)
{
}

//This method should enable or disable each plugin action
//depending on the currently selected entities ('selectedEntities').
//For example: if none of the selected entities is a cloud, and your
//plugin deals only with clouds, call 'm_action->setEnabled(false)'
void qTransformsPlugin::onNewSelection(const ccHObject::Container& selectedEntities)
{
	//if (m_action)
	//	m_action->setEnabled(!selectedEntities.empty());
}

//This method returns all 'actions' of your plugin.
//It will be called only once, when plugin is loaded.
void qTransformsPlugin::getActions(QActionGroup& group)
{
	//default action (if it has not been already created, it's the moment to do it)
	if (!m_action)
	{
		//here we use the default plugin name, description and icon,
		//but each action can have its own!
		m_action = new QAction(getName(),this);
		m_action->setToolTip(getDescription());
		m_action->setIcon(getIcon());
		//connect appropriate signal
		connect(m_action, SIGNAL(triggered()), this, SLOT(doAction()));
	}

	group.addAction(m_action);
}



void qTransformsPlugin::recTravTree(ccHObject * obj, QString spaces){
	QString num("Name: %1 Children %2 PointCloud %3");
	num = num.arg(obj->getName());
	num = num.arg(obj->getChildrenNumber());
	num = num.arg(obj->getClassID() == CC_TYPES::POINT_CLOUD);
	m_app->dispToConsole(spaces+num,ccMainAppInterface::WRN_CONSOLE_MESSAGE); //an error message is displayed in the console AND an error box will pop-up!

	const QVariantMap& meta = obj->metaData();
    for(QVariantMap::const_iterator iter = meta.begin(); iter != meta.end(); ++iter) {
  		m_app->dispToConsole(spaces+iter.key()+"  "+iter.value().toString(),ccMainAppInterface::STD_CONSOLE_MESSAGE); //an error message is displayed in the console AND an error box will pop-up!
    }
    const ccGLMatrix& transf = obj->getGLTransformationHistory();
	m_app->dispToConsole(spaces+"  "+transf.toString(),ccMainAppInterface::WRN_CONSOLE_MESSAGE); //an error message is displayed in the console AND an error box will pop-up!



	spaces = spaces + QString("  ");
	for(int i=0; i<obj->getChildrenNumber(); ++i){
		recTravTree(obj->getChild(i), spaces);
	}

}

void qTransformsPlugin::recTravTree(ccHObject * obj, sttl::Frame * parent){
	sttl::Frame * current = parent;
	if(obj->getClassID() == CC_TYPES::POINT_CLOUD){
		// this is a point cloud - will be a new parent...
		sttl::Frame frame;
		frame.name = obj->getName().toStdString();
		const ccGLMatrix& transf = obj->getGLTransformationHistory();
		Eigen::Transform<double,3,Eigen::Affine> globalT;
		for(int i = 0; i<16; ++i){
			globalT.data()[i] = transf.data()[i];
		}
		// ToDo: properly compute the transform of this frame wrt the parent... - I think this is correct...
		Eigen::Transform<double,3,Eigen::Affine> result = globalT * parent->transform.inverse();
		frame.transform = result;


		frame.referenceFrameName = parent->name;

		frame.referenceFrame = parent;
		m_frames.push_back(frame);
		current = &m_frames.back();
	}

	// recursively call the children...
	for(int i=0; i<obj->getChildrenNumber(); ++i){
		recTravTree(obj->getChild(i), current);
	}

}

//This is an example of an action's slot called when the corresponding action
//is triggered (i.e. the corresponding icon or menu entry is clicked in CC's
//main interface). You can access to most of CC components (database,
//3D views, console, etc.) via the 'm_app' attribute (ccMainAppInterface
//object).
void qTransformsPlugin::doAction()
{
	//m_app should have already been initialized by CC when plugin is loaded!
	//(--> pure internal check)
	assert(m_app);
	if (!m_app)
		return;


	//This is how you can output messages
	m_app->dispToConsole("[qTransformsPlugin] Hello world!",ccMainAppInterface::STD_CONSOLE_MESSAGE); //a standard message is displayed in the console
	m_app->dispToConsole("[qTransformsPlugin] Warning: dummy plugin shouldn't be used as is!",ccMainAppInterface::WRN_CONSOLE_MESSAGE); //a warning message is displayed in the console
	//	m_app->dispToConsole("Transforms plugin shouldn't be used as is!",ccMainAppInterface::ERR_CONSOLE_MESSAGE); //an error message is displayed in the console AND an error box will pop-up!


	ccHObject * root = getMainAppInterface()->dbRootObject();
	recTravTree(root, QString(""));

	m_frames.clear();
	sttl::Frame rootFrame;
	rootFrame.name = "root";
	rootFrame.transform = Eigen::Transform<double,3,Eigen::Affine>::Identity();
	rootFrame.referenceFrameName = "";
	rootFrame.byUser = "Schwerti";

	m_frames.push_back(rootFrame);
	recTravTree(root, &m_frames.front());
	sttl::saveList(m_frames);

}

//This method should return the plugin icon (it will be used mainly
//if your plugin as several actions in which case CC will create a
//dedicated sub-menu entry with this icon.
QIcon qTransformsPlugin::getIcon() const
{
	//open qDummyPlugin.qrc (text file), update the "prefix" and the
	//icon(s) filename(s). Then save it with the right name (yourPlugin.qrc).
	//(eventually, remove the original qDummyPlugin.qrc file!)
	return QIcon(":/CC/plugin/qTransforms/icon.png");
}