e9ef8d2cc9
refactor(参数): 简化孔洞检测和过滤参数结构 新增线段端点对检测回调函数和可视化方法，用于显示检测到的线段对。同时简化了孔洞检测参数结构，移除了不常用的聚类参数和半径过滤参数，使接口更加简洁。 修改了线段端点对结构体名称从SPeakValleyPair改为更准确的SSegmentPair，并更新了相关代码。添加了.gitignore文件忽略.ace-tool目录。
273 lines
8.6 KiB
C++
273 lines
8.6 KiB
C++
#ifndef HOLE_DETECTION_VISUALIZER_H
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#define HOLE_DETECTION_VISUALIZER_H
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#include "HoleDetection.h"
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#include "../include/VZNL_Types.h"
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#include <vector>
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#include <string>
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/**
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* @brief Visualizer for hole detection algorithm using VTK
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*
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* This class provides visualization capabilities for each step of the
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* hole detection pipeline:
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* 1. Original point cloud
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* 2. Detected boundary points
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* 3. Clustered boundary points
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* 4. Fitted ellipses and planes
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* 5. Final detected holes
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*/
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class HoleDetectionVisualizer {
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public:
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HoleDetectionVisualizer();
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~HoleDetectionVisualizer();
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/**
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* @brief Visualize original point cloud
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*
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* @param points Input point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param title Window title
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*/
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void VisualizePointCloud(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::string& title = "Original Point Cloud"
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);
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/**
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* @brief Visualize boundary points on top of original cloud
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param boundaryPoints Detected boundary points
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* @param title Window title
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*/
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void VisualizeBoundaryPoints(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleBoundaryPoint>& boundaryPoints,
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const std::string& title = "Detected Boundary Points"
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);
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/**
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* @brief Visualize segment endpoint pairs with different colors
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param segmentPairs Detected segment pairs
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* @param title Window title
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*/
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void VisualizeSegmentPairs(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SSegmentPair>& segmentPairs,
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const std::string& title = "Detected Segment Pairs"
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);
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/**
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* @brief Visualize clustered boundary points with different colors
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param boundaryPoints All boundary points
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* @param clusters Cluster indices
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* @param title Window title
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*/
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void VisualizeClusters(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleBoundaryPoint>& boundaryPoints,
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const std::vector<std::vector<int>>& clusters,
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const std::string& title = "Clustered Boundary Points"
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);
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/**
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* @brief Visualize extreme points extracted from clusters
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param boundaryPoints All boundary points
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* @param allExtremePoints Extreme points for each cluster
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* @param title Window title
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*/
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void VisualizeExtremePoints(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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std::vector<SHoleBoundaryPoint>& extremePoints,
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const std::string& title = "Extreme Points from Clusters"
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);
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/**
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* @brief Visualize expanded region points used for plane fitting
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param clusterPoints Cluster boundary points (shown in red)
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* @param expandedRegionPoints Expanded region points for plane fitting (shown in green)
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* @param title Window title
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*/
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void VisualizeExpandedRegion(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleBoundaryPoint>& clusterPoints,
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const std::vector<SHoleBoundaryPoint>& expandedRegionPoints,
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const std::string& title = "Expanded Region for Plane Fitting"
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);
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/**
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* @brief Visualize a single line evaluation result
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param startIdx Starting index of the line
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* @param step Step size (1 for row, cols for column)
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* @param count Number of points in the line
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* @param newBoundaryPoints Boundary points detected in this line
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* @param lineType "Row" or "Column"
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* @param lineIndex Row or column index
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*/
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void VisualizeLineEvaluation(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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int startIdx,
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int step,
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int count,
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const std::vector<SHoleBoundaryPoint>& newBoundaryPoints,
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const std::string& lineType,
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int lineIndex
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);
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/**
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* @brief Visualize final detected holes with ellipses and planes
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param result Detection result
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* @param title Window title
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*/
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void VisualizeDetectedHoles(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const SMultiHoleResult& result,
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const std::string& title = "Detected Holes"
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);
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/**
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* @brief Visualize candidate holes from ellipse fitting (before filtering)
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param candidateHoles All candidate holes from ellipse fitting
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* @param title Window title
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*/
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void VisualizeCandidateHoles(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleResult>& candidateHoles,
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const std::string& title = "Candidate Holes (Before Filtering)"
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);
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/**
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* @brief Visualize filter comparison showing which holes were filtered
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param candidateHoles All candidate holes
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* @param filteredHoles Holes that passed filtering
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* @param title Window title
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*/
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void VisualizeFilterComparison(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleResult>& candidateHoles,
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const std::vector<SHoleResult>& filteredHoles,
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const std::string& title = "Filter Comparison"
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);
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/**
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* @brief Visualize sorted holes with rank indicators
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*
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* @param points Original point cloud
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* @param rows Number of rows
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* @param cols Number of columns
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* @param sortedHoles Sorted holes
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* @param sortMode Sort mode used
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* @param title Window title
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*/
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void VisualizeSortedHoles(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const std::vector<SHoleResult>& sortedHoles,
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ESortMode sortMode,
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const std::string& title = "Sorted Holes"
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);
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/**
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* @brief Set whether to show interactive window (default: true)
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* If false, saves screenshots instead
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*/
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void SetInteractive(bool interactive);
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/**
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* @brief Set output directory for screenshots
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*/
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void SetOutputDirectory(const std::string& dir);
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private:
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bool m_interactive;
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std::string m_outputDir;
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// Helper methods
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void SaveScreenshot(void* renderer, const std::string& filename);
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void* CreatePointCloudActor(const SVzNLPointXYZ* points, int count,
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double r, double g, double b, double pointSize);
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void* CreateEllipseActor(const SHoleResult& hole, double r, double g, double b);
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void* CreatePlaneActor(const SHoleResult& hole, double size, double r, double g, double b);
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};
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/**
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* @brief Load extreme points from CSV and verify via FitHoleFromExtremePoints
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*
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* @param [in] csvPath Path to CSV file saved by VisualizeDetectionPipeline
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* @param [in] points Original point cloud (grid format, needed for plane fitting)
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* @param [in] rows Number of rows
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* @param [in] cols Number of columns
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* @param [in] detectionParams Detection parameters
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* @param [in] filterParams Filter parameters
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* @param [out] outHole Fitted hole result if successful
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* @return true on success, false on failure
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*/
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bool VerifyExtremePointsFromFile(
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const std::string& csvPath,
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const SHoleDetectionParams& detectionParams,
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const SHoleFilterParams& filterParams,
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SHoleResult& outHole
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);
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#endif // HOLE_DETECTION_VISUALIZER_H
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