Commit the first conceptual prototype

LiDARToolbox/VERSION

+# OW Version File. This file specifies the version. The line VERSION=X.Y.Z is
+# used and parsed. This file has to be here everytime. The VERSION needs to be
+# set properly or CMake will fail.
+#
+# SYNTAX: The version string always is 1.2.3 with an optional postfix of "+hg1234".
+#         This is useful if building is done by scripts. If you want to automatically
+#         add the correct HG revision, use only +hgX without number.
+#
+# IMPORTANT: If you modify the file, cmake re-creates the version header. But
+#            it is not able to set all library version. Please re-run cmake if
+#            you change something here.
+#
+# NOTE: do not add a space after #. The current CMake script will fail.
+# Examples:
+#VERSION=1.2.0
+#VERSION=1.2.0+hgX  -> replaces the X with the current revision number
+#VERSUIB=1.2.0+hg1234 -> here, revision number was set by the build scripts for example.
+VERSION=0.0.1+hgX

LiDARToolbox/src/CMakeLists.txt

+#---------------------------------------------------------------------------
+#
+# Project: OpenWalnut ( http://www.openwalnut.org )
+#
+# Copyright 2009 OpenWalnut Community, BSV@Uni-Leipzig and CNCF@MPI-CBS
+# For more information see http:#www.openwalnut.org/copying
+#
+# This file is part of OpenWalnut.
+#
+# OpenWalnut is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# OpenWalnut is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with OpenWalnut. If not, see <http:#www.gnu.org/licenses/>.
+#
+#---------------------------------------------------------------------------
+
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+#
+# General CMake Setup
+#
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+PROJECT( LiDARToolbox )
+
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+#
+# Include the OpenWalnut build system.
+#
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+
+# where to find our utils and cmake modules?
+SET( OW_TOOLS_DIR ${PROJECT_SOURCE_DIR}/../tools )
+
+# append search path for FindModules:
+LIST( APPEND CMAKE_MODULE_PATH ${OW_TOOLS_DIR}/cmake )
+
+# These scripts contains all the needed tools to setup the build:
+# * Compiler Setup
+# * Common OpenWalnut Options
+# * Third-party Dependencies Setup
+# * Unit Testing Setup if found
+# * Doxygen Setup if found
+INCLUDE( OpenWalnut )
+
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+#
+# Setup your additional dependencies and tools
+#
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+
+# IMPORTANT: NEVER add any commands bore the line INCLUDE( OpenWalnut ). This might cause problems!
+
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+#
+# Setup all modules
+#
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+
+# Here, you can add your own targets, call ADD_MODULE provided by OpenWalnut or a combination of it. When using ADD_MODULE or SETUP_MODULE, the
+# OpenWalnut CMake scripts manages proper resource handling, test compilation and similar. You should use it whenever possible. More details on
+# how to develop external modules, have a look at http://www.openwalnut.org. You can have a look at OpenWalnut.cmake if you want to modify
+# the default behaviour.
+
+# Please see the documentation of SETUP_MODULE as it shows how to add custom dependencies (third-party libs)
+
+SETUP_MODULE( 
+    ${PROJECT_NAME}   # use project name as module(-toolbox) name
+    "."               # where to find the sources
+    "liblas.so"                # no additonal dependencies
+    ""                # no sources to exclude
+)
+
+# Tell CMake that we want to use the WToolboxVersion header in our Modules. It gets created automatically if you keep this line.
+SETUP_USE_VERSION_HEADER( ${PROJECT_NAME} )
+
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+#
+# Additional Setup
+#
+# ---------------------------------------------------------------------------------------------------------------------------------------------------
+
+# Add the files under ../resources/MyGlobalResources as additional, global resources
+# The first parameter is the directory name, the second parameter is the component name. This is used during installation to identify to which
+# install component this belongs. The name is arbitrary but must be unique.
+#
+# NOTE: The first parameter of SETUP_MODULE is not allowed as component name here because SETUP_MODULE already registers this component. Simply
+# append some string.
+SETUP_GLOBAL_RESOURCES( "MyGlobalResources" ${PROJECT_NAME}_Global )

LiDARToolbox/src/WToolkit.cpp

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2009 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+// This file's purpose is to provide a list of modules and additional extensions as entry point for OpenWalnut's module loader.
+// Both functAdd your modules here. If you miss this step, OpenWalnut will not be able to load your modules/extensions.
+
+
+#include <boost/shared_ptr.hpp>
+
+#include <core/kernel/WModule.h>
+
+#include "buildingsDetection/WMBuildingsDetection.h"
+#include "readLAS/WMReadLAS.h"
+
+// #include "WToolkit.h"
+
+/**
+ * This function is called by OpenWalnut, when loading your library to learn about the modules you provide. The function is called with a given
+ * list reference, where you add all of your modules. Modules which are not registered this way, cannot be used in OpenWalnut. As this is called
+ * before loading any project file or running any module, it is ensured that you can rely on the modules provided here in your project files and
+ * other modules.
+ *
+ * \note this function is optional. You can remove it if you do not need it.
+ *
+ * \param m the list of modules. Add you module instances into this list.
+ */
+extern "C" void WLoadModule( WModuleList& m ) // NOLINT
+{
+    m.push_back( boost::shared_ptr< WModule >( new WMBuildingsDetection ) );
+    m.push_back( boost::shared_ptr< WModule >( new WMReadLAS ) );
+}
+
+/**
+ * This function is called by OpenWalnut, when loading your module to allow registration of additional classes and implementations that are not
+ * WModule classes. At this point, OW is completely initialized, thus allowing you to register nearly everything to the sub-systems supporting
+ * this. A typical example is the postprocessing meachnism in OpenWalnut. It allows you to register your own postprocessors easily. As this
+ * function is called on start-up, before loading project files, you can rely on additional functionality in your project files and modules.
+ *
+ * \note this function is optional. You can remove it if you do not need it.
+ *
+ * \param localPath this is the path to the toolkit. Our build system ensures, that your resources and shaders get placed there.
+ */
+extern "C" void WRegisterArbitrary( const boost::filesystem::path& localPath )
+{
+    // Example for registering your own postprocessor:
+    // WGEPostprocessor::addPostprocessor( WGEPostprocessor::SPtr( new MyStylishPostprocessing( localPath ) ) );
+    wlog::info( "LiDARToolbox - Toolkit for building acquisition of LiDAR data." ) << "My resource path is: " << localPath.string();
+}
+

LiDARToolbox/src/WToolkit.h

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2009 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+#ifndef WTOOLKIT_H
+#define WTOOLKIT_H
+
+// nothing to do here. Have a look at WToolkit.cpp for registration of all the modules inside the toolbox.
+
+#endif  // WTOOLKIT_H
+

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.cpp

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2013 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+//Brings me at least very few forward: http://osgeo-org.1560.x6.nabble.com/Liblas-devel-c-liblas-problem-td4919064.html
+
+#include <string>
+
+#include <fstream>  // std::ifstream
+#include <iostream> // std::cout
+
+#include <osg/Geometry>
+#include "core/kernel/WModule.h"
+
+#include "core/dataHandler/WDataSetScalar.h"
+#include "core/graphicsEngine/callbacks/WGELinearTranslationCallback.h"
+#include "core/graphicsEngine/shaders/WGEPropertyUniform.h"
+#include "core/graphicsEngine/shaders/WGEShader.h"
+#include "core/graphicsEngine/WGEGeodeUtils.h"
+#include "core/graphicsEngine/WGEManagedGroupNode.h"
+#include "core/kernel/WKernel.h"
+#include "core/kernel/WModuleInputData.h"
+#include "WMBuildingsDetection.xpm"
+#include "WMBuildingsDetection.h"
+
+// This line is needed by the module loader to actually find your module.
+//W_LOADABLE_MODULE( WMBuildingsDetection )
+
+WMBuildingsDetection::WMBuildingsDetection():
+    WModule(),
+    m_propCondition( new WCondition() )
+{
+}
+
+WMBuildingsDetection::~WMBuildingsDetection()
+{
+}
+
+boost::shared_ptr< WModule > WMBuildingsDetection::factory() const
+{
+    return boost::shared_ptr< WModule >( new WMBuildingsDetection() );
+}
+
+const char** WMBuildingsDetection::getXPMIcon() const
+{
+    return WMBuildingsDetection_xpm;
+}
+const std::string WMBuildingsDetection::getName() const
+{
+    return "[ALPHA] Buildings Detection hahahahah";
+}
+
+const std::string WMBuildingsDetection::getDescription() const
+{
+    return "Should draw values above some threshold.";
+}
+
+void WMBuildingsDetection::connectors()
+{
+	m_input = WModuleInputData< WDataSetPoints >::createAndAdd( shared_from_this(), "input", "The mesh to display" );
+
+	m_output = boost::shared_ptr< WModuleOutputData< WTriangleMesh > >(
+                new WModuleOutputData< WTriangleMesh >( shared_from_this(), "output", "The loaded mesh." ) );
+
+    addConnector( m_output );
+    WModule::connectors();
+}
+
+void WMBuildingsDetection::properties()
+{
+    // ---> Put the code for your properties here. See "src/modules/template/" for an extensively documented example.
+	m_stubSize = m_properties->addProperty( "Cutoff threshold: ",
+                        "Value that will be replaced with a dummy value.", 2.0, m_propCondition );
+	m_stubSize->setMin( 0.0 );
+	m_stubSize->setMax( 3.0 );
+    WModule::properties();
+}
+
+void WMBuildingsDetection::requirements()
+{
+}
+
+void WMBuildingsDetection::moduleMain()
+{
+    infoLog() << "Thrsholding example main routine started";
+
+    // get notified about data changes
+    m_moduleState.setResetable( true, true );
+    m_moduleState.add( m_input->getDataChangedCondition() );
+    m_moduleState.add( m_propCondition );
+
+    ready();
+
+    // graphics setup
+    m_rootNode = osg::ref_ptr< WGEManagedGroupNode >( new WGEManagedGroupNode( m_active ) );
+    WKernel::getRunningKernel()->getGraphicsEngine()->getScene()->insert( m_rootNode );
+
+    // main loop
+    while( !m_shutdownFlag() )
+    {
+        //infoLog() << "Waiting ...";
+        m_moduleState.wait();
+
+		boost::shared_ptr< WDataSetPoints > points = m_input->getData();
+		std::cout << "Execute cycle\r\n";
+        if  ( points )
+        {
+        	WDataSetPoints::VertexArray verts = points->getVertices();
+        	size_t count = verts->size()/3;
+
+            boost::shared_ptr< WTriangleMesh > tmpMesh( new WTriangleMesh( 0, 0 ) );
+            float a = m_stubSize->get();
+            setProgressSettings( count );
+            for  ( size_t i=0; i<count; i++)
+			{
+            	float x = verts->at(i*3);
+            	float y = verts->at(i*3+1);
+            	float z = verts->at(i*3+2);
+//            	std::cout << "Point at\t" << x << "\t" << y << "\t" << z << "\r\n";
+				tmpMesh->addVertex(0+x, 0+y, 0+z);
+				tmpMesh->addVertex(a+x, 0+y, 0+z);
+				tmpMesh->addVertex(0+x, a+y, 0+z);
+				tmpMesh->addVertex(0+x, 0+y, a+z);
+				size_t o = i*4;
+				tmpMesh->addTriangle(0+o, 2+o, 1+o);
+				tmpMesh->addTriangle(0+o, 1+o, 3+o);
+				tmpMesh->addTriangle(0+o, 3+o, 2+o);
+				tmpMesh->addTriangle(1+o, 2+o, 3+o);
+				m_progressStatus->increment( 1 );
+            }
+			m_output->updateData(tmpMesh);
+			m_progressStatus->finish();
+        }
+
+        // woke up since the module is requested to finish?
+        if  ( m_shutdownFlag() )
+        {
+            break;
+        }
+
+        boost::shared_ptr< WDataSetPoints > points2 = m_input->getData();
+        if  ( !points2 )
+        {
+            continue;
+        }
+
+        // ---> Insert code doing the real stuff here
+    }
+
+    WKernel::getRunningKernel()->getGraphicsEngine()->getScene()->remove( m_rootNode );
+}
+void WMBuildingsDetection::setProgressSettings( size_t steps )
+{
+	m_progress->removeSubProgress( m_progressStatus );
+    std::string headerText = "Loading data";
+    m_progressStatus = boost::shared_ptr< WProgress >( new WProgress( headerText, steps ) );
+    m_progress->addSubProgress( m_progressStatus );
+}

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.h

+//---------------------------------------------------------------------------
+//
+// Project: OpenWalnut ( http://www.openwalnut.org )
+//
+// Copyright 2013 OpenWalnut Community, BSV-Leipzig and CNCF-CBS
+// For more information see http://www.openwalnut.org/copying
+//
+// This file is part of OpenWalnut.
+//
+// OpenWalnut is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// OpenWalnut is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
+//
+//---------------------------------------------------------------------------
+
+#ifndef WMBUILDINGSDETECTION_H
+#define WMBUILDINGSDETECTION_H
+
+
+#include <liblas/liblas.hpp>
+#include <string>
+
+#include <fstream>  // std::ifstream
+#include <iostream> // std::cout
+
+#include "core/kernel/WModule.h"
+
+#include "core/graphicsEngine/WGEManagedGroupNode.h"
+#include "core/graphicsEngine/shaders/WGEShader.h"
+#include "core/graphicsEngine/WTriangleMesh.h"
+#include "core/kernel/WModule.h"
+
+#include <osg/ShapeDrawable>
+#include <osg/Geode>
+#include "core/dataHandler/WDataSetPoints.h"
+
+
+
+
+
+//!.Unnecessary imports
+#include "core/common/WItemSelection.h"
+#include "core/common/WItemSelector.h"
+
+#include "core/kernel/WModuleOutputData.h"
+
+#include <osg/Group>
+#include <osg/Material>
+#include <osg/StateAttribute>
+
+#include "core/kernel/WKernel.h"
+#include "core/common/exceptions/WFileNotFound.h"
+#include "core/common/WColor.h"
+#include "core/common/WPathHelper.h"
+#include "core/common/WPropertyHelper.h"
+#include "core/common/WItemSelectionItem.h"
+#include "core/common/WItemSelectionItemTyped.h"
+#include "core/graphicsEngine/WGEUtils.h"
+#include "core/graphicsEngine/WGERequirement.h"
+
+// forward declarations to reduce compile dependencies
+template< class T > class WModuleInputData;
+class WDataSetScalar;
+class WGEManagedGroupNode;
+
+/**Draws cubes where a value is at least as big as the preset ISO value
+ * \ingroup modules*/
+class WMBuildingsDetection: public WModule
+{
+public:
+    /**Creates the module for drawing contour lines.*/
+    WMBuildingsDetection();
+
+    /**Destroys this module.*/
+    virtual ~WMBuildingsDetection();
+
+    /**Gives back the name of this module.
+     * \return the module's name.*/
+    virtual const std::string getName() const;
+
+    /**Gives back a description of this module.
+     * \return description to module.*/
+    virtual const std::string getDescription() const;
+
+    /**Due to the prototype design pattern used to build modules, this method returns a new instance of this method. NOTE: it
+     * should never be initialized or modified in some other way. A simple new instance is required.
+     * \return the prototype used to create every module in OpenWalnut.*/
+    virtual boost::shared_ptr< WModule > factory() const;
+
+    /**Get the icon for this module in XPM format.
+     * \return The icon.*/
+    virtual const char** getXPMIcon() const;
+
+protected:
+    /**Entry point after loading the module. Runs in separate thread.*/
+    virtual void moduleMain();
+
+    /**Initialize the connectors this module is using.*/
+    virtual void connectors();
+
+    /**Initialize the properties for this module.*/
+    virtual void properties();
+
+    /**Initialize requirements for this module.*/
+    virtual void requirements();
+
+private:
+    void setProgressSettings( size_t steps );
+
+    boost::shared_ptr< WModuleInputData< WDataSetPoints > > m_input;
+
+    boost::shared_ptr< WModuleOutputData< WTriangleMesh > > m_output;  //!< Output connector provided by this module.
+
+    /**The OSG root node for this module. All other geodes or OSG nodes will be attached on this single node.*/
+    osg::ref_ptr< WGEManagedGroupNode > m_rootNode;
+
+    /**Needed for recreating the geometry, incase when resolution changes.*/
+    boost::shared_ptr< WCondition > m_propCondition;
+
+    /**Shader unit for drawing. */
+    WGEShader::RefPtr m_shader;
+
+    /**Below that ISO value vertices should be count off */
+    WPropInt      m_cutoffThreshold;
+
+    /**Voxel count that is cut off and kept regarding the ISO value. */
+    WPropDouble m_stubSize;
+
+    /**Instance for applying drawable geoms. */
+    osg::ref_ptr< osg::Geode > m_geode;
+
+
+    boost::shared_ptr< WProgress > m_progressStatus;
+
+
+
+    /**Drawing color. */
+    WPropColor m_aColor;
+};
+
+#endif  // WMBUILDINGSDETECTION_H

LiDARToolbox/src/buildingsDetection/WMBuildingsDetection.xpm

+/* XPM */
+static const char * WMBuildingsDetection_xpm[] = {
+"32 32 312 2",
+"  	c None",
+". 	c #FCAF60",
+"+ 	c #F8A859",
+"@ 	c #F6A555",
+"# 	c #F5A351",
+"$ 	c #F4A14E",
+"% 	c #F29F4C",
+"& 	c #F19E4B",
+"* 	c #F09C48",
+"= 	c #F09C47",
+"- 	c #EF9A46",
+"; 	c #EE9945",
+"> 	c #EE9843",
+", 	c #ED9742",
+"' 	c #ED9741",
+") 	c #ED9640",
+"! 	c #EC9640",
+"~ 	c #EB953F",
+"{ 	c #EC953F",
+"] 	c #EC953E",
+"^ 	c #EB953E",
+"/ 	c #EB953D",
+"( 	c #EA943D",
+"_ 	c #EB943D",
+": 	c #EB933D",
+"< 	c #EA923C",
+"[ 	c #E8923C",
+"} 	c #E7913C",
+"| 	c #F8A959",
+"1 	c #0000FF",
+"2 	c #F3A14F",
+"3 	c #F3A04D",
+"4 	c #F19E4A",
+"5 	c #F09C49",
+"6 	c #F09B47",
+"7 	c #EF9A44",
+"8 	c #ED9843",
+"9 	c #EC9741",
+"0 	c #EC9641",
+"a 	c #EC963F",
+"b 	c #EA943E",
+"c 	c #EA933D",
+"d 	c #E5903C",
+"e 	c #F29F4D",
+"f 	c #F29E4B",
+"g 	c #0604F8",
+"h 	c #2417E0",
+"i 	c #7B4D99",
+"j 	c #E8923F",
+"k 	c #EB943E",
+"l 	c #E9933D",
+"m 	c #E8923D",
+"n 	c #E5913B",
+"o 	c #E38F3B",
+"p 	c #F39F4C",
+"q 	c #F29E4A",
+"r 	c #F19D49",
+"s 	c #EE9944",
+"t 	c #E29045",
+"u 	c #B77369",
+"v 	c #2E1DD8",
+"w 	c #7D4E97",
+"x 	c #E7923C",
+"y 	c #E28F3B",
+"z 	c #E08D3A",
+"A 	c #F4A14F",
+"B 	c #EF9C47",
+"C 	c #EF9944",
+"D 	c #ED9944",
+"E 	c #BE7861",
+"F 	c #2316E0",
+"G 	c #E8933D",
+"H 	c #E08D3B",
+"I 	c #DD8B3A",
+"J 	c #F09D49",
+"K 	c #EF9C48",
+"L 	c #EF9B46",
+"M 	c #E18F44",
+"N 	c #0805F7",
+"O 	c #E5913C",
+"P 	c #DE8C3A",
+"Q 	c #DB8A39",
+"R 	c #EF9B48",