abort handled properly in eigensolver, ui improvements + ellipsoidDistance implementation

Use of Geometric Tools Engine for ellipsoidDistance computation

CMakeLists.txt

@@ -21,6 +21,7 @@ if ( PLUGIN_G3POINT )
 		C:/opt/eigen-3.4.0
 		C:/Users/PaulLeroy/miniconda3/envs/env_4_CloudCompare/include
 		C:/opt/open3d-devel-windows-amd64-0.18.0/include
+		C:/opt/GeometricTools/GTE
 	)
 	
 	# Find installed Open3D, which exports Open3D::Open3D

include/ActionA.h

@@ -34,6 +34,7 @@ public:
 	void segmentAndClusterAndClean();
 	void getBorders();
 	int cluster();
+	void fit();
 	bool processNewStacks(std::vector<std::vector<int>>& stacks, int pointCount);
 	bool merge(XXb& condition);
 	bool keep(Xb& condition);

include/G3PointDialog.h

@@ -22,6 +22,14 @@ public:
 	void emitSegmentClusterClean(){emit segmentClusterClean();}
 	void emitGetBorders(){emit getBorders();}
 
+	void emitAllClicked(bool state){emit allClicked(state);}
+	void emitOnlyOneClicked(bool state){emit onlyOneClicked(state);}
+	void emitOnlyOneChanged(int idx){emit onlyOneChanged(idx);}
+	void emitFit(){emit fit();}
+	void emitTransparencyChanged(double transparency){emit transparencyChanged(transparency);}
+
+	void emitSignals();
+
 	double getMaxAngle1();
 	double getMaxAngle2();
 	double getMinFlatness();
@@ -34,6 +42,8 @@ public:
 	void enableCluster(bool state);
 	void enableClean(bool state);
 
+	void setOnlyOneMax(int idx);
+
 signals:
 	void segment();
 	void cluster();
@@ -42,6 +52,13 @@ signals:
 	void segmentClusterClean();
 	void getBorders();
 
+	void allClicked(bool state);
+	void onlyOneClicked(bool state);
+	void onlyOneChanged(int idx);
+	void transparencyChanged(double transparency);
+
+	void fit();
+
 private:
 	Ui::qG3PointDialog *ui;
 };

include/GrainsAsEllipsoids.h

@@ -12,10 +12,14 @@
 #include <ccMainAppInterface.h>
 #include <ccColorTypes.h>
 
+#include <set>
+
 class ccPointCloud;
 
-class GrainsAsEllipsoids : public ccHObject
+class GrainsAsEllipsoids : public QObject, public ccHObject
 {
+	Q_OBJECT
+
 public:
 	typedef Eigen::Array<bool, Eigen::Dynamic, Eigen::Dynamic> Xb;
 
@@ -54,11 +58,13 @@ public:
 	enum Method{
 		DIRECT = 0};
 
+	double ellipsoidDistance(const Eigen::ArrayXd& p, int idx);
+
 	bool explicitToImplicit(const Eigen::Array3f& center, const Eigen::Array3f& radii, const Eigen::Matrix3f &rotationMatrix, Eigen::ArrayXd& parameters);
 
 	bool implicitToExplicit(const Eigen::ArrayXd& parameters, Eigen::Array3f& center, Eigen::Array3f& radii, Eigen::Matrix3f& rotationMatrix);
 
-	Eigen::ArrayXd directFit(const Eigen::ArrayX3d& xyz);
+	bool directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd &parameters);
 
 	bool fitEllipsoidToGrain(const int grainIndex, Eigen::Array3f& center, Eigen::Array3f& radii, Eigen::Matrix3f& rotationMatrix, const Method& method=DIRECT);
 
@@ -71,6 +77,8 @@ public:
 
 	void setUniformValueColor(const ccColor::Rgba &color);
 
+	void drawEllipsoid(CC_DRAW_CONTEXT &context, int idx);
+
 	bool drawEllipsoids(CC_DRAW_CONTEXT &context);
 
 	bool initProgram(QOpenGLContext* context);
@@ -81,6 +89,14 @@ public:
 	// from ccHObject
 	void draw(CC_DRAW_CONTEXT& context);
 
+	void setOnlyOne(int i){m_onlyOne = i;}
+
+	void showOnlyOne(bool state){m_showAll =!state;}
+
+	void showAll(bool state);
+
+	void setTransparency(double transparency){m_transparency = transparency;}
+
 	ccPointCloud* m_cloud;
 	ccMainAppInterface* m_app;
 	Eigen::ArrayXi m_localMaximumIndexes;
@@ -98,6 +114,11 @@ public:
 	std::vector<Eigen::Array3f> m_center;
 	std::vector<Eigen::Array3f> m_radii;
 	std::vector<Eigen::Matrix3f> m_rotationMatrix;
+	std::set<int> m_fitNotOK;
+	double m_transparency = 1.0;
+
+	int m_onlyOne;
+	bool m_showAll{true};
 };
 
 #endif // GRAINSASELLIPSOIDS_H

src/ActionA.cpp

@@ -957,6 +957,27 @@ int G3PointAction::cluster()
 	return 0;
 }
 
+void G3PointAction::fit()
+{
+	// plot display grains as ellipsoids
+	m_grainsAsEllipsoids = new GrainsAsEllipsoids(m_cloud, m_app, m_stacks);
+	m_grainsAsEllipsoids->setLocalMaximumIndexes(m_localMaximumIndexes);
+	m_grainColors.reset(new RGBAColorsTableType(getRandomColors(m_localMaximumIndexes.size())));
+	m_grainsAsEllipsoids->setGrainColorsTable(*m_grainColors);
+	m_grainsAsEllipsoids->setName("grains as ellipsoids");
+
+	// add connections with the dialog
+	connect(m_dlg, &G3PointDialog::onlyOneClicked, m_grainsAsEllipsoids, &GrainsAsEllipsoids::showOnlyOne);
+	connect(m_dlg, &G3PointDialog::allClicked, m_grainsAsEllipsoids, &GrainsAsEllipsoids::showAll);
+	connect(m_dlg, &G3PointDialog::onlyOneChanged, m_grainsAsEllipsoids, &GrainsAsEllipsoids::setOnlyOne);
+	connect(m_dlg, &G3PointDialog::transparencyChanged, m_grainsAsEllipsoids, &GrainsAsEllipsoids::setTransparency);
+
+	m_dlg->setOnlyOneMax(m_stacks.size());
+	m_dlg->emitSignals(); // force to send parameters to m_grainsAsEllipsoids
+
+	m_app->addToDB(m_grainsAsEllipsoids);
+}
+
 bool G3PointAction::cleanLabels()
 {
 	ccLog::Print("[cleanLabels]");
@@ -1640,14 +1661,6 @@ void G3PointAction::segment()
 
 	m_app->dispToConsole( "[G3Point] initial segmentation: " + QString::number(nLabels) + " labels", ccMainAppInterface::STD_CONSOLE_MESSAGE );
 
-	// plot display grains as ellipsoids
-	m_grainsAsEllipsoids = new GrainsAsEllipsoids(m_cloud, m_app, m_stacks);
-	m_grainsAsEllipsoids->setLocalMaximumIndexes(m_localMaximumIndexes);
-	m_grainColors.reset(new RGBAColorsTableType(getRandomColors(m_localMaximumIndexes.size())));
-	m_grainsAsEllipsoids->setGrainColorsTable(*m_grainColors);
-	m_grainsAsEllipsoids->setName("grains as ellipsoids");
-	m_app->addToDB(m_grainsAsEllipsoids);
-
 	m_dlg->enableCluster(true);
 	m_dlg->enableClean(true);
 }
@@ -1735,6 +1748,8 @@ void G3PointAction::showDlg()
 		connect(m_dlg, &G3PointDialog::segmentClusterClean, s_g3PointAction, &G3Point::G3PointAction::segmentAndClusterAndClean);
 		connect(m_dlg, &G3PointDialog::getBorders, s_g3PointAction, &G3Point::G3PointAction::getBorders);
 
+		connect(m_dlg, &G3PointDialog::fit, s_g3PointAction, &G3Point::G3PointAction::fit);
+
 		connect(m_dlg, &QDialog::finished, s_g3PointAction, &G3Point::G3PointAction::clean);
 		connect(m_dlg, &QDialog::finished, s_g3PointAction, &G3Point::G3PointAction::resetDlg); // dialog is defined with Qt::WA_DeleteOnClose
 	}

src/G3PointDialog.cpp

@@ -18,6 +18,13 @@ G3PointDialog::G3PointDialog(QString cloudName, QWidget *parent)
 	connect(this->ui->pushButtonClean, &QPushButton::clicked, this, &G3PointDialog::emitClean);
 	connect(this->ui->pushButtonSegmentClusterClean, &QPushButton::clicked, this, &G3PointDialog::emitSegmentClusterClean);
 	connect(this->ui->pushButtonGetBorders, &QPushButton::clicked, this, &G3PointDialog::emitGetBorders);
+
+	connect(this->ui->radioButtonAll, &QRadioButton::clicked, this, &G3PointDialog::emitAllClicked);
+	connect(this->ui->radioButtonOnlyOne, &QRadioButton::clicked, this, &::G3PointDialog::emitOnlyOneClicked);
+	connect(this->ui->spinBoxOnlyOne, qOverload<int>(&QSpinBox::valueChanged), this, &::G3PointDialog::emitOnlyOneChanged);
+
+	connect(this->ui->pushButtonFit, &QPushButton::clicked, this, &G3PointDialog::emitFit);
+	connect(this->ui->doubleSpinBoxTransparency, qOverload<double>(&QDoubleSpinBox::valueChanged), this, &G3PointDialog::emitTransparencyChanged);
 }
 
 G3PointDialog::~G3PointDialog()
@@ -74,3 +81,14 @@ void G3PointDialog::enableClean(bool state)
 {
 	this->ui->pushButtonClean->setEnabled(state);
 }
+
+void G3PointDialog::emitSignals()
+{
+	emit allClicked(this->ui->radioButtonAll->isChecked());
+	emit emitOnlyOneChanged(this->ui->spinBoxOnlyOne->value());
+}
+
+void G3PointDialog::setOnlyOneMax(int max)
+{
+	this->ui->spinBoxOnlyOne->setMaximum(max);
+}

src/GrainsAsEllipsoids.cpp

@@ -8,7 +8,10 @@
 #include <iostream>
 #include <random>
 
-std::vector<int> indexes;
+// from GeometricTools/GTE
+#include <Mathematics/DistPointHyperellipsoid.h>
+#include <Mathematics/Vector2.h>
+#include <Mathematics/Vector3.h>
 
 GrainsAsEllipsoids::GrainsAsEllipsoids(ccPointCloud *cloud, ccMainAppInterface *app, const std::vector<std::vector<int> >& stacks)
 	: m_cloud(cloud)
@@ -24,18 +27,16 @@ GrainsAsEllipsoids::GrainsAsEllipsoids(ccPointCloud *cloud, ccMainAppInterface *
 	// fit all ellipsoids
 	std::cout << "[GrainsAsEllipsoids::GrainsAsEllipsoids] fit " << stacks.size() << " ellipsoids" << std::endl;
 
-	indexes.push_back(268);
-	indexes.push_back(351);
-
 	lockVisibility(false);
 
-	for (int idx : indexes)
+	for (int idx = 0; idx < m_stacks.size(); idx++)
 	{
-		fitEllipsoidToGrain(idx, m_center[idx], m_radii[idx], m_rotationMatrix[idx]);
-		std::cout << "grain " << idx << " stack size " << m_stacks[idx].size() << std::endl;
-		std::cout << "center " << std::endl << m_center[idx] << std::endl;
-		std::cout << "radii " << std::endl << m_radii[idx] << std::endl;
-		std::cout << "rotation matrix " << std::endl << m_rotationMatrix[idx] << std::endl;
+		if (!fitEllipsoidToGrain(idx, m_center[idx], m_radii[idx], m_rotationMatrix[idx]))
+		{
+			m_fitNotOK.insert(idx);
+			ccLog::Warning("[GrainsAsEllipsoids::GrainsAsEllipsoids] fit not possible for grain " + QString::number(idx)
+						   + " of size " + QString::number(m_stacks[idx].size()));
+		}
 	}
 }
 
@@ -187,6 +188,67 @@ void GrainsAsEllipsoids::buildInterleavedVertices()
 
 // ELLIPSOID FITTING
 
+double GrainsAsEllipsoids::ellipsoidDistance(const Eigen::ArrayXd& p, int idx)
+{
+	// Compute the mean distance between the points of the grain and the ellipsoid
+
+	// GTE Geometric Tools Engine
+
+	// center
+	gte::Vector3<double> center = {m_center[idx](0), m_center[idx](1), m_center[idx](2)};
+
+	// axis
+	std::array<gte::Vector3<double>, 3> axis;
+	axis[0] = {m_rotationMatrix[idx](0, 0), m_rotationMatrix[idx](1, 0), m_rotationMatrix[idx](2, 0)};
+	axis[1] = {m_rotationMatrix[idx](0, 1), m_rotationMatrix[idx](1, 1), m_rotationMatrix[idx](2, 1)};
+	axis[2] = {m_rotationMatrix[idx](0, 2), m_rotationMatrix[idx](1, 2), m_rotationMatrix[idx](2, 2)};
+
+	// extent
+	gte::Vector3<double> extent = {m_radii[idx](0), m_radii[idx](1), m_radii[idx](2)};
+
+	// create the ellipsoid
+	gte::Ellipsoid3<double> ellipsoid(center, axis, extent);
+
+	gte::DCPQuery<double, gte::Vector3<double>, gte::Ellipsoid3<double>> query;
+
+	std::vector<int> stack = m_stacks[idx];
+	double sum_a = 0; // distances with respect to the ellipsoid
+	double sum_b = 0; // distances with respect to the mean
+
+	//compute gravity center
+	size_t count = m_cloud->size();
+	CCVector3 mean(0, 0, 0);
+	for (int index : m_stacks[idx])
+	{
+		const CCVector3* P = m_cloud->getPoint(index);
+		mean.x += P->x;
+		mean.y += P->y;
+		mean.z += P->z;
+	}
+	mean.x = mean.x / count;
+	mean.y = mean.y / count;
+	mean.z = mean.z / count;
+
+	for (int index : stack)
+	{
+		const CCVector3 *P = m_cloud->getPoint(index);
+		gte::Vector3<double> P_gte = {P->x, P->y, P->z};
+		auto result = query(P_gte, ellipsoid);
+		sum_a = sum_a + pow(result.distance, 2);
+
+		CCVector3 P_minus_min = *P - CCVector3(mean.x, mean.y, mean.z);
+		sum_b = sum_b + P_minus_min.norm2d();
+	}
+
+	double r2 = 1 - sum_a / sum_b;
+
+	// in Matlab
+	// d = (x-xp).^2 + (y-yp).^2 + (z-zp).^2;
+	// r2 = 1 - sum((x-xp).^2 + (y-yp).^2 + (z-zp).^2)./sum((x-mean(x)).^2 + (y-mean(y)).^2 + (z-mean(z)).^2);
+
+	return r2;
+}
+
 bool GrainsAsEllipsoids::explicitToImplicit(const Eigen::Array3f& center,
 													  const Eigen::Array3f& radii,
 													  const Eigen::Matrix3f& rotationMatrix,
@@ -301,7 +363,7 @@ bool GrainsAsEllipsoids::implicitToExplicit(const Eigen::ArrayXd& parameters,
 	Eigen::EigenSolver<Eigen::MatrixXd> eigensolver(s.block(0, 0, 3, 3));
 	if (eigensolver.info() != Eigen::Success)
 	{
-		abort();
+		return false;
 	}
 
 	radii = (-s(3, 3) / eigensolver.eigenvalues().array().real()).sqrt().cast<float>();
@@ -310,10 +372,8 @@ bool GrainsAsEllipsoids::implicitToExplicit(const Eigen::ArrayXd& parameters,
 	return true;
 }
 
-Eigen::ArrayXd GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz)
+bool GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz, Eigen::ArrayXd& parameters)
 {
-	std::cout << "[GrainsAsEllipsoids::directFit]" << std::endl;
-
 	Eigen::MatrixXd d(xyz.rows(), 10);
 
 	d << xyz(Eigen::all, 0).pow(2).matrix()
@@ -345,11 +405,13 @@ Eigen::ArrayXd GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz)
 	Eigen::GeneralizedEigenSolver<Eigen::MatrixXd> eigensolver(s, c);
 	if (eigensolver.info() != Eigen::Success)
 	{
-		abort();
+		return false;
 	}
 
 	Eigen::ArrayXd eigenValues(10);
+	Eigen::VectorXd eigenValuesAsAMatrix(10);
 	eigenValues = eigensolver.eigenvalues().real();
+	eigenValuesAsAMatrix = eigensolver.eigenvalues().real().matrix();
 	Xb condition = (eigenValues > 0) && (!eigenValues.isInf());
 
 	int flt = condition.count();
@@ -381,10 +443,10 @@ Eigen::ArrayXd GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz)
 		break;
 	case 0: // degenerate case
 		// # single positive eigenvalue becomes near-zero negative eigenvalue due to round-off error
-		eigenValue = finiteValues.abs().minCoeff();
+		eigenValue = eigenValues.abs().minCoeff();
 		for (k = 0; k < 10; k++)
 		{
-			if (eigenValues(k) == eigenValue)
+			if (abs(eigenValues(k)) == eigenValue)
 			{
 				v = eigensolver.eigenvectors()(Eigen::all, k).real();
 				break;
@@ -405,14 +467,14 @@ Eigen::ArrayXd GrainsAsEllipsoids::directFit(const Eigen::ArrayX3d& xyz)
 		break;
 	}
 
-	Eigen::ArrayXd p(10);
+	parameters.resize(10);
 
-	p << v(0), v(1), v(2)
+	parameters << v(0), v(1), v(2)
 		, 2 * v(5), 2 * v(4), 2* v(3)
 		, 2 * v(6), 2 * v(7), 2 * v(8)
 		, v(9);
 
-	return p;
+	return true;
 }
 
 bool GrainsAsEllipsoids::fitEllipsoidToGrain(const int grainIndex,
@@ -453,9 +515,15 @@ bool GrainsAsEllipsoids::fitEllipsoidToGrain(const int grainIndex,
 		// The constraint confines the class of ellipsoids to fit to those whose smallest radius is at least half of the
 		// largest radius.
 
-		p = directFit(scale * (grainPoints.cast<double>().rowwise() - means)); // Ellipsoid fit
+		if(!directFit(scale * (grainPoints.cast<double>().rowwise() - means), p)) // Ellipsoid fit
+		{
+			return false;
+		}
 
-		implicitToExplicit(p, center, radii, rotationMatrix); // Get the explicit parameters
+		if (!implicitToExplicit(p, center, radii, rotationMatrix)) // Get the explicit parameters
+		{
+			return false;
+		}
 
 		break;
 	default:
@@ -558,62 +626,27 @@ bool GrainsAsEllipsoids::initProgram(QOpenGLContext* context)
 	return true;
 }
 
-bool GrainsAsEllipsoids::drawEllipsoids(CC_DRAW_CONTEXT& context)
+void GrainsAsEllipsoids::drawEllipsoid(CC_DRAW_CONTEXT& context, int idx)
 {
 	QOpenGLFunctions_2_1* glFunc = context.glFunctions<QOpenGLFunctions_2_1>();
 	assert(glFunc != nullptr);
 
-	CCVector3f color;
-
-	// set uniforms
-	QVector4D lightPosition(0, 0, 1, 0);
-	QVector4D lightAmbient(0.3f, 0.3f, 0.3f, 1); // grey
-	QVector4D lightDiffuse(0.7f, 0.7f, 0.7f, 1); // light grey
-	QVector4D lightSpecular(1.0f, 1.0f, 1.0f, 1); // RGB white
-	//	QVector4D materialAmbient(0.5f, 0.5f, 0.5f, 1);
-	QVector4D materialDiffuse(0.7f, 0.7f, 0.7f, 1);
-	QVector4D materialSpecular(0.4f, 0.4f, 0.4f, 1);
-	QVector4D materialAmbient(color.x, color.y, color.z, 1);
-	//	QVector4D materialDiffuse(color.r / ccColor::MAX, color.g / ccColor::MAX, color.b / ccColor::MAX, 1);
-	//	QVector4D materialSpecular(color.r / ccColor::MAX, color.g / ccColor::MAX, color.b / ccColor::MAX, 1);
-	float materialShininess  = 16;
-
-	m_program->setUniformValue("lightPosition", lightPosition);
-	m_program->setUniformValue("lightAmbient", lightAmbient);
-	m_program->setUniformValue("lightDiffuse", lightDiffuse);
-	m_program->setUniformValue("lightSpecular", lightSpecular);
-	m_program->setUniformValue("materialDiffuse", materialDiffuse);
-	m_program->setUniformValue("materialSpecular", materialSpecular);
-	m_program->setUniformValue("materialShininess", materialShininess);
-
-	m_program->setAttributeArray("vertexPosition", static_cast<GLfloat*>(vertices.data()), 3);
-	m_program->setAttributeArray("vertexNormal", static_cast<GLfloat*>(normals.data()), 3);
-	m_program->setAttributeArray("vertexTexCoord", static_cast<GLfloat*>(texCoords.data()), 2);
-
-	m_program->enableAttributeArray("vertexPosition");
-	m_program->enableAttributeArray("vertexNormal");
-	m_program->enableAttributeArray("vertexTexCoord");
-
-	QMatrix4x4 projection;
-	QMatrix4x4 modelView;
-
-	//generate random colors
-	std::mt19937 gen(42);  // to seed mersenne twister.
-	std::uniform_real_distribution<> dis(0.5, 1.0);
-	std::uniform_real_distribution<> dis2(-1., 1.0);
-
-	for (int idx : indexes)
+	if (!m_fitNotOK.count(idx))
 	{
+		QMatrix4x4 projection;
+		QMatrix4x4 modelView;
 		Eigen::Matrix3f rotation(m_rotationMatrix[idx].transpose());
 		QMatrix4x4 matrixFromFit(rotation(0, 0), rotation(0, 1), rotation(0, 2), m_center[idx](0),
 								 rotation(1, 0), rotation(1, 1), rotation(1, 2), m_center[idx](1),
 								 rotation(2, 0), rotation(2, 1), rotation(2, 2), m_center[idx](2),
 								 0, 0, 0, 1);
 
+		CCVector3f color;
+
 		color = m_grainColors[idx];
 		glFunc->glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-		glFunc->glEnable( GL_BLEND );
-		m_program->setUniformValue("materialAmbient", color.x, color.y, color.z, 0.5);
+		glFunc->glEnable(GL_BLEND);
+		m_program->setUniformValue("materialAmbient", color.x, color.y, color.z, 1.);
 
 		// prepare translation, rotation and scaling
 		glFunc->glPushMatrix(); // save the current matrix
@@ -643,9 +676,61 @@ bool GrainsAsEllipsoids::drawEllipsoids(CC_DRAW_CONTEXT& context)
 
 		glFunc->glPopMatrix();
 	}
+}
 
-	if (false)
-	{ // Matlab 22.36920946,  17.15421478, -11.2193826
+bool GrainsAsEllipsoids::drawEllipsoids(CC_DRAW_CONTEXT& context)
+{
+	QOpenGLFunctions_2_1* glFunc = context.glFunctions<QOpenGLFunctions_2_1>();
+	assert(glFunc != nullptr);
+
+	CCVector3f color;
+
+	// set uniforms
+	QVector4D lightPosition(0, 0, 1, 0);
+	QVector4D lightAmbient(0.3f, 0.3f, 0.3f, 1); // grey
+	QVector4D lightDiffuse(0.7f, 0.7f, 0.7f, 1); // light grey
+	QVector4D lightSpecular(1.0f, 1.0f, 1.0f, 1); // RGB white
+	//	QVector4D materialAmbient(0.5f, 0.5f, 0.5f, 1);
+	QVector4D materialDiffuse(0.7f, 0.7f, 0.7f, m_transparency);
+	QVector4D materialSpecular(0.4f, 0.4f, 0.4f, 1);
+	QVector4D materialAmbient(color.x, color.y, color.z, 1);
+	//	QVector4D materialDiffuse(color.r / ccColor::MAX, color.g / ccColor::MAX, color.b / ccColor::MAX, 1);
+	//	QVector4D materialSpecular(color.r / ccColor::MAX, color.g / ccColor::MAX, color.b / ccColor::MAX, 1);
+	float materialShininess  = 16;
+
+	m_program->setUniformValue("lightPosition", lightPosition);
+	m_program->setUniformValue("lightAmbient", lightAmbient);
+	m_program->setUniformValue("lightDiffuse", lightDiffuse);
+	m_program->setUniformValue("lightSpecular", lightSpecular);
+	m_program->setUniformValue("materialDiffuse", materialDiffuse);
+	m_program->setUniformValue("materialSpecular", materialSpecular);
+	m_program->setUniformValue("materialShininess", materialShininess);
+
+	m_program->setAttributeArray("vertexPosition", static_cast<GLfloat*>(vertices.data()), 3);
+	m_program->setAttributeArray("vertexNormal", static_cast<GLfloat*>(normals.data()), 3);
+	m_program->setAttributeArray("vertexTexCoord", static_cast<GLfloat*>(texCoords.data()), 2);
+
+	m_program->enableAttributeArray("vertexPosition");
+	m_program->enableAttributeArray("vertexNormal");
+	m_program->enableAttributeArray("vertexTexCoord");
+
+	QMatrix4x4 projection;
+	QMatrix4x4 modelView;
+
+	if (m_showAll)
+	{
+		for (int idx = 0; idx < m_stacks.size(); idx++)
+		{
+			drawEllipsoid(context, idx);
+		}
+	}
+	else
+	{
+		drawEllipsoid(context, m_onlyOne);
+	}
+
+	if (false) // Matlab fit of grain 351
+	{
 		Eigen::Matrix3f rotation;
 		rotation << -0.1424, -0.8175, -0.5580,
 			-0.9102, -0.1133,  0.3983,
@@ -690,44 +775,6 @@ bool GrainsAsEllipsoids::drawEllipsoids(CC_DRAW_CONTEXT& context)
 		glFunc->glPopMatrix();
 	}
 
-//	for (int k = 1; k < m_localMaximumIndexes.size(); k++)
-//	{
-//		if (k==indexOfGrainToFit)
-//			continue;
-
-//		const CCVector3f* center = m_cloud->getPoint(m_localMaximumIndexes[k]);
-//		CCVector3f color = m_grainColors[k];
-//		m_program->setUniformValue("materialAmbient", color.x, color.y, color.z, 1);
-
-//		// prepare translation, rotation and scaling
-//		glFunc->glPushMatrix(); // save the current matrix
-//		// translate
-//		glFunc->glTranslatef(center->x, center->y, center->z);
-//		// rotate
-//		glFunc->glRotatef(90, static_cast<float>(dis2(gen)), static_cast<float>(dis2(gen)), static_cast<float>(dis2(gen)));
-//		// scale
-//		glFunc->glScalef(static_cast<float>(dis(gen)), static_cast<float>(dis(gen)), static_cast<float>(dis(gen)));
-//		// get matrices
-//		glFunc->glGetFloatv(GL_PROJECTION_MATRIX, projection.data());
-//		glFunc->glGetFloatv(GL_MODELVIEW_MATRIX, modelView.data());
-//		m_program->setUniformValue("modelViewProjectionMatrix", projection * modelView);
-
-//		// draw triangles
-//		m_program->setUniformValue("drawLines", 0);
-//		glFunc->glEnable(GL_POLYGON_OFFSET_FILL);
-//		glFunc->glPolygonOffset(1.0, 1.0f); // move polygon backward
-//		glFunc->glDrawElements(GL_TRIANGLES, (unsigned int)indices.size(), GL_UNSIGNED_INT, indices.data());
-//		glFunc->glDisable(GL_POLYGON_OFFSET_FILL);
-
-//		// draw lines
-//		m_program->setUniformValue("drawLines", 1);
-//		glFunc->glDisable(GL_LIGHTING);
-//		glFunc->glDisable(GL_TEXTURE_2D);
-//		glFunc->glDrawElements(GL_LINES, (unsigned int)lineIndices.size(), GL_UNSIGNED_INT, lineIndices.data());
-
-//		glFunc->glPopMatrix();
-//	}
-
 	m_program->disableAttributeArray("vertexPosition");
 	m_program->disableAttributeArray("vertexNormal");
 	m_program->disableAttributeArray("vertexTexCoord");
@@ -756,18 +803,18 @@ void GrainsAsEllipsoids::drawGrains(CC_DRAW_CONTEXT& context)
 	// set uniforms
 	m_program->setUniformValue("modelViewProjectionMatrix", projectionModelView);
 
-	// get the coordinates of the local maxima
-	std::vector<CCVector3> semiAxisLengths(m_localMaximumIndexes.size(), CCVector3(1, 1, 1));
-	std::vector<CCVector3f> centers(m_localMaximumIndexes.size());
-
-	// initialize the vector containing the centers of the grains
-	for (int index = 0; index < m_localMaximumIndexes.size(); index++)
-	{
-		centers[index] = *m_cloud->getPoint(m_localMaximumIndexes[index]);
-	}
-
 	if (false)
 	{
+		// get the coordinates of the local maxima
+		std::vector<CCVector3> semiAxisLengths(m_localMaximumIndexes.size(), CCVector3(1, 1, 1));
+		std::vector<CCVector3f> centers(m_localMaximumIndexes.size());
+
+		// initialize the vector containing the centers of the grains
+		for (int index = 0; index < m_localMaximumIndexes.size(); index++)
+		{
+			centers[index] = *m_cloud->getPoint(m_localMaximumIndexes[index]);
+		}
+
 		m_program->setAttributeArray("vertexIn", static_cast<GLfloat*>(vertices.data()), 3);
 		m_program->setAttributeArray("semiAxisLengths", static_cast<GLfloat*>(semiAxisLengths.front().u), 3);
 
@@ -801,3 +848,12 @@ void GrainsAsEllipsoids::draw(CC_DRAW_CONTEXT& context)
 {
 	drawGrains(context);
 }
+
+void GrainsAsEllipsoids::showAll(bool state)
+{
+	m_showAll = state;
+	ccLog::Warning("[GrainsAsEllipsoids::showAll] changed " + QString::number(m_showAll));
+}
+
+
+

ui/qG3PointDialog.ui

@@ -6,206 +6,335 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>281</width>
-    <height>459</height>
+    <width>303</width>
+    <height>509</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <item row="16" column="0" colspan="2">
-    <widget class="QLabel" name="labelCloud">
-     <property name="text">
-      <string>-</string>
-     </property>
-    </widget>
-   </item>
-   <item row="12" column="1">
-    <widget class="QPushButton" name="pushButtonSegmentCluster">
-     <property name="text">
-      <string>Segment + Cluster</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="0">
-    <widget class="QLabel" name="label_6">
-     <property name="text">
-      <string>Min points per grain</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="0">
-    <widget class="QLabel" name="label_3">
-     <property name="text">
-      <string>Point size</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="0">
-    <widget class="QLabel" name="label_7">
-     <property name="text">
-      <string>Min flatness</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="label_2">
-     <property name="text">
-      <string>Max angle 1</string>
-     </property>
-    </widget>
-   </item>
-   <item row="15" column="0">
-    <widget class="QRadioButton" name="radioButtonG3Point">
-     <property name="text">
-      <string>G3Point</string>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="1">
-    <widget class="QSpinBox" name="spinBoxPointSize">
-     <property name="minimum">
-      <number>1</number>
-     </property>
-     <property name="value">
-      <number>3</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>Radius factor</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QSpinBox" name="spinBoxkNN">
-     <property name="minimum">
-      <number>1</number>
-     </property>
-     <property name="maximum">
-      <number>100000</number>
-     </property>
-     <property name="value">
-      <number>20</number>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="1">
-    <widget class="QSpinBox" name="spinBoxNMin">
-     <property name="maximum">
-      <number>1000000000</number>
-     </property>
-     <property name="value">
-      <number>50</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="1">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxRadiusFactor">
-     <property name="value">
-      <double>0.600000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="11" column="1">
-    <widget class="QPushButton" name="pushButtonClean">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="text">
-      <string>Clean</string>
-     </property>
-    </widget>
-   </item>
-   <item row="9" column="1">
-    <widget class="QPushButton" name="pushButtonCluster">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="text">
-      <string>Cluster</string>
-     </property>
-    </widget>
-   </item>
-   <item row="5" column="1">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxMinFlatness">
-     <property name="singleStep">
-      <double>0.100000000000000</double>
-     </property>
-     <property name="value">
-      <double>0.100000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAngle1">
-     <property name="frame">
-      <bool>true</bool>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::UpDownArrows</enum>
-     </property>
-     <property name="maximum">
-      <double>360.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>60.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="15" column="1">
-    <widget class="QRadioButton" name="radioButtonSteepestSlope">
-     <property name="text">
-      <string>steepest slope</string>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>kNN</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QLabel" name="label_5">
-     <property name="text">
-      <string>Max angle 2</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="1">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAngle2">
-     <property name="value">
-      <double>10.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="13" column="1">
-    <widget class="QPushButton" name="pushButtonSegmentClusterClean">
-     <property name="text">
-      <string>Segment + Cluster + Clean</string>
-     </property>
-    </widget>
-   </item>
-   <item row="8" column="1">
-    <widget class="QPushButton" name="pushButtonSegment">
-     <property name="text">
-      <string>Segment</string>
-     </property>
-    </widget>
-   </item>
-   <item row="14" column="1">
-    <widget class="QPushButton" name="pushButtonGetBorders">
-     <property name="text">
-      <string>Get borders</string>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>1</number>
      </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Segmentation</string>
+      </attribute>
+      <layout class="QFormLayout" name="formLayout">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>kNN</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QSpinBox" name="spinBoxkNN">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="maximum">
+          <number>100000</number>
+         </property>
+         <property name="value">
+          <number>20</number>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QLabel" name="label_4">
+         <property name="text">
+          <string>Radius factor</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBoxRadiusFactor">
+         <property name="value">
+          <double>0.600000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Max angle 1</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAngle1">
+         <property name="frame">
+          <bool>true</bool>
+         </property>
+         <property name="buttonSymbols">
+          <enum>QAbstractSpinBox::UpDownArrows</enum>
+         </property>
+         <property name="maximum">
+          <double>360.000000000000000</double>
+         </property>
+         <property name="value">
+          <double>60.000000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_5">
+         <property name="text">
+          <string>Max angle 2</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAngle2">
+         <property name="value">
+          <double>10.000000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>Min points per grain</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QSpinBox" name="spinBoxNMin">
+         <property name="maximum">
+          <number>1000000000</number>
+         </property>
+         <property name="value">
+          <number>50</number>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string>Min flatness</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QDoubleSpinBox" name="doubleSpinBoxMinFlatness">
+         <property name="singleStep">
+          <double>0.100000000000000</double>
+         </property>
+         <property name="value">
+          <double>0.100000000000000</double>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="0">
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Point size</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QSpinBox" name="spinBoxPointSize">
+         <property name="minimum">
+          <number>1</number>
+         </property>
+         <property name="value">
+          <number>3</number>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="1">
+        <widget class="QPushButton" name="pushButtonSegment">
+         <property name="text">
+          <string>Segment</string>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="1">
+        <widget class="QPushButton" name="pushButtonCluster">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="text">
+          <string>Cluster</string>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="1">
+        <widget class="QPushButton" name="pushButtonClean">
+         <property name="enabled">
+          <bool>false</bool>
+         </property>
+         <property name="text">
+          <string>Clean</string>
+         </property>
+        </widget>
+       </item>
+       <item row="10" column="1">
+        <widget class="QPushButton" name="pushButtonSegmentCluster">
+         <property name="text">
+          <string>Segment + Cluster</string>
+         </property>
+        </widget>
+       </item>
+       <item row="11" column="1">
+        <widget class="QPushButton" name="pushButtonSegmentClusterClean">
+         <property name="text">
+          <string>Segment + Cluster + Clean</string>
+         </property>
+        </widget>
+       </item>
+       <item row="12" column="1">
+        <widget class="QPushButton" name="pushButtonGetBorders">
+         <property name="text">
+          <string>Get borders</string>
+         </property>
+        </widget>
+       </item>
+       <item row="13" column="0">
+        <widget class="QRadioButton" name="radioButtonG3Point">
+         <property name="text">
+          <string>G3Point</string>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="13" column="1">
+        <widget class="QRadioButton" name="radioButtonSteepestSlope">
+         <property name="text">
+          <string>steepest slope</string>
+         </property>
+        </widget>
+       </item>
+       <item row="14" column="0">
+        <widget class="QLabel" name="labelCloud">
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Fitting</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QGroupBox" name="groupBox_2">
+         <property name="title">
+          <string>Fit ellipsoids</string>
+         </property>
+         <layout class="QFormLayout" name="formLayout_2">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="pushButtonFit">
+            <property name="text">
+             <string>Run</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QRadioButton" name="radioButtonDirect">
+            <property name="text">
+             <string>Direct</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>Show</string>
+         </property>
+         <layout class="QFormLayout" name="formLayout_3">
+          <item row="0" column="0">
+           <widget class="QRadioButton" name="radioButtonAll">
+            <property name="text">
+             <string>All</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QRadioButton" name="radioButtonOnlyOne">
+            <property name="text">
+             <string>Only one</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="spinBoxOnlyOne"/>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_8">
+            <property name="text">
+             <string>Transparency</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBoxTransparency">
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.050000000000000</double>
+            </property>
+            <property name="value">
+             <double>1.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0" colspan="2">
+           <widget class="QCheckBox" name="checkBoxWireframes">
+            <property name="text">
+             <string>Wireframes</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QCheckBox" name="checkBoxSurfaces">
+            <property name="text">
+             <string>Surfaces</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
   </layout>