src/filters/PointCloudFilters.cpp - master - klischa/AstraScanner2

src/filters/PointCloudFilters.cpp
118 строк4 KB
arena-agent
fix(critical): thread safety, memory leaks, and crash guards
20 июн 2026, 08:19
20 июн 2026, 08:1997d9d92
#include "PointCloudFilters.h"
#include "../services/CloudFiltersService.h"
#include "../services/RegistrationService.h"
#include "../services/ReconstructionService.h"
#include "../services/MeshProcessingService.h"
#include <QDebug>

PointCloudFilters::PointCloudFilters(QObject *parent) : QObject(parent)
{
    m_cloudFiltersService = new CloudFiltersService(this);
    m_registrationService = new RegistrationService(m_cloudFiltersService, this);
    m_reconstructionService = new ReconstructionService(this);
    m_meshProcessingService = new MeshProcessingService(this);

    // Forward signals from services to PointCloudFilters
    // (services emit Qt signals, which we re-emit – no duplicate callbacks)
    connect(m_cloudFiltersService, &CloudFiltersService::progressUpdated,
            this, &PointCloudFilters::progressUpdated);
    connect(m_cloudFiltersService, &CloudFiltersService::filterCompleted,
            this, &PointCloudFilters::filterCompleted);
    connect(m_registrationService, &RegistrationService::progressUpdated,
            this, &PointCloudFilters::progressUpdated);
    connect(m_reconstructionService, &ReconstructionService::progressUpdated,
            this, &PointCloudFilters::progressUpdated);
    connect(m_meshProcessingService, &MeshProcessingService::progressUpdated,
            this, &PointCloudFilters::progressUpdated);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::applyStatisticalOutlierRemoval(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    int meanK, double stddevMulThresh)
{
    return m_cloudFiltersService->applyStatisticalOutlierRemoval(cloud, meanK, stddevMulThresh);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::applyRadiusOutlierRemoval(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    double radius, int minNeighbors)
{
    return m_cloudFiltersService->applyRadiusOutlierRemoval(cloud, radius, minNeighbors);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::applyVoxelGrid(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    float leafSize)
{
    return m_cloudFiltersService->applyVoxelGrid(cloud, leafSize);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::applyMagicWand(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    float leafSize, int meanK, double stddevMulThresh)
{
    return m_cloudFiltersService->applyMagicWand(cloud, leafSize, meanK, stddevMulThresh);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::registerPointCloudsICP(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &source,
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &target,
    double maxCorrespondenceDistance,
    int maximumIterations,
    bool *convergedOut)
{
    return m_registrationService->registerPointCloudsICP(source, target, maxCorrespondenceDistance, maximumIterations, convergedOut);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::mergeScans(
    const std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> &scans,
    const MergeParams &params)
{
    return m_registrationService->mergeScans(scans, params);
}

pcl::PolygonMesh PointCloudFilters::reconstructPoissonMesh(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    const PoissonParams &params)
{
    return m_reconstructionService->reconstructPoissonMesh(cloud, params);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::removeBackgroundPlane(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    float distanceThreshold,
    int maxIterations)
{
    return m_cloudFiltersService->removeBackgroundPlane(cloud, distanceThreshold, maxIterations);
}

pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudFilters::applyRegionGrowingSegmentation(
    const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
    float clusterTolerance,
    int minClusterSize,
    int maxClusterSize)
{
    return m_cloudFiltersService->applyRegionGrowingSegmentation(cloud, clusterTolerance, minClusterSize, maxClusterSize);
}

pcl::PolygonMesh PointCloudFilters::applyMeshSmoothing(
    const pcl::PolygonMesh &mesh,
    int numIterations,
    float convergence)
{
    return m_meshProcessingService->applyMeshSmoothing(mesh, numIterations, convergence);
}

pcl::PolygonMesh PointCloudFilters::simplifyMesh(
    const pcl::PolygonMesh &mesh,
    float targetReduction)
{
    return m_meshProcessingService->simplifyMesh(mesh, targetReduction);
}

pcl::PolygonMesh PointCloudFilters::fillMeshHoles(
    const pcl::PolygonMesh &mesh,
    float maxHoleSize)
{
    return m_meshProcessingService->fillMeshHoles(mesh, maxHoleSize);
}