src/services/CloudFiltersService.h - master - klischa/AstraScanner2

src/services/CloudFiltersService.h

65 строк2 KB

klischa

refactor: сервисы → поддержка std::function callback (обратная совместимость)

19 июн 2026, 22:17

19 июн 2026, 22:1788e3a45

#ifndef CLOUDFILTERSSERVICE_H
#define CLOUDFILTERSSERVICE_H

#include <QObject>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <functional>

class PointCloudFiltersCUDA;

class CloudFiltersService : public QObject
{
    Q_OBJECT
public:
    using ProgressCb = std::function<void(int)>;
    using FilterCompletedCb = std::function<void(const QString&, int, int)>;

    explicit CloudFiltersService(QObject *parent = nullptr);

    void setProgressCallback(ProgressCb cb) { m_progressCb = std::move(cb); }
    void setFilterCompletedCallback(FilterCompletedCb cb) { m_filterCompletedCb = std::move(cb); }

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr applyStatisticalOutlierRemoval(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        int meanK = 50, double stddevMulThresh = 1.0);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr applyRadiusOutlierRemoval(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        double radius = 0.02, int minNeighbors = 10);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr applyVoxelGrid(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        float leafSize = 0.005f);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr applyMagicWand(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        float leafSize = 0.005f, int meanK = 50, double stddevMulThresh = 1.0);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr removeBackgroundPlane(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        float distanceThreshold = 0.01f,
        int maxIterations = 1000);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr applyRegionGrowingSegmentation(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        float clusterTolerance = 0.02f,
        int minClusterSize = 100,
        int maxClusterSize = 250000);

    // Оценка нормалей (автоматическая диспетчеризация GPU/CPU)
    pcl::PointCloud<pcl::Normal>::Ptr estimateNormals(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
        float searchRadius);

signals:
    void progressUpdated(int percentage);
    void filterCompleted(const QString &filterName, int pointsBefore, int pointsAfter);

private:
    PointCloudFiltersCUDA* m_cudaFilters = nullptr;
    ProgressCb m_progressCb;
    FilterCompletedCb m_filterCompletedCb;
};

#endif // CLOUDFILTERSSERVICE_H