points_selector.hpp

#pragma once
 
#include <spdlog/spdlog.h>
#include <gtsam_points/util/vector3i_hash.hpp>
#include <gtsam_points/segmentation/min_cut.hpp>
#include <gtsam_points/segmentation/region_growing.hpp>
#include <glim/viewer/editor/map_cell.hpp>
 
#include <glk/pointcloud_buffer.hpp>
 
namespace guik {
class ModelControl;
}
 
namespace glim {
 
struct PointsSelector {
public:
  PointsSelector(std::shared_ptr<spdlog::logger> logger);
  ~PointsSelector();
 
  void clear();
  void set_submaps(const std::vector<glim::SubMap::Ptr>& submaps);
 
  void draw_ui();
 
private:
  std::vector<std::uint64_t> collect_neighbor_point_ids(const Eigen::Vector3d& point);
  gtsam_points::PointCloudCPU::Ptr collect_submap_points(const std::vector<std::uint64_t>& point_ids);
 
  void update_cells();
  void remove_selected_points();
 
  void select_points_tool();
  void select_points_radius();
  void select_outlier_points_radius();
  void select_points_segmentation();
 
private:
  // Map data
  std::vector<SubMap::Ptr> submaps;                          
  std::vector<glk::PointCloudBuffer::Ptr> submap_drawables;  
 
  std::unordered_map<SubMap::ConstPtr, std::unordered_set<MapCell::Ptr>> cell_map;          
  std::unordered_map<Eigen::Vector3i, MapCell::Ptr, gtsam_points::Vector3iHash> map_cells;  
 
  // Selection data
  std::vector<std::uint64_t> selected_point_ids;  
 
  Eigen::Vector3d picked_point;                       
  std::unique_ptr<guik::ModelControl> model_control;  
 
  int num_threads;            
  float map_cell_resolution;  
  int cell_selection_window;  
 
  bool show_preferences_window;
 
  bool show_picked_point;
  bool show_selection_radius;
 
  bool show_cells;
  bool show_gizmo;
  int selected_tool;
 
  float select_radius;
  float outlier_radius_offset;
  int outliner_num_neighbors;
  float outlier_stddev_thresh;
 
  bool show_segmentation_radius;
  int segmentation_method;
  gtsam_points::MinCutParams min_cut_params;
  gtsam_points::RegionGrowingParams region_growing_params;
 
  // logging
  std::shared_ptr<spdlog::logger> logger;
};
 
}  // namespace glim