FreeCAD / src /Mod /Points /Gui /Command.cpp

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// SPDX-License-Identifier: LGPL-2.1-or-later

/***************************************************************************
 *   Copyright (c) 2006 Werner Mayer <wmayer[at]users.sourceforge.net>     *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  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 Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

#include <Inventor/events/SoMouseButtonEvent.h>
#include <QInputDialog>
#include <QMessageBox>
#include <algorithm>


#include <App/Application.h>
#include <App/Document.h>
#include <Base/Exception.h>
#include <Base/Interpreter.h>
#include <Base/Tools.h>
#include <Base/UnitsApi.h>
#include <Gui/Application.h>
#include <Gui/Command.h>
#include <Gui/Document.h>
#include <Gui/FileDialog.h>
#include <Gui/MainWindow.h>
#include <Gui/Selection/Selection.h>
#include <Gui/View3DInventor.h>
#include <Gui/View3DInventorViewer.h>
#include <Gui/ViewProviderDocumentObject.h>
#include <Gui/WaitCursor.h>

#include "../App/PointsFeature.h"
#include "../App/Properties.h"
#include "../App/Structured.h"
#include "../App/Tools.h"

#include "DlgPointsReadImp.h"
#include "ViewProvider.h"


//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//===========================================================================
// CmdPointsImport
//===========================================================================
DEF_STD_CMD_A(CmdPointsImport)

CmdPointsImport::CmdPointsImport()
    : Command("Points_Import")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Import Points…");
    sToolTipText = QT_TR_NOOP("Imports a point cloud");
    sWhatsThis = "Points_Import";
    sStatusTip = sToolTipText;
    sPixmap = "Points_Import_Point_cloud";
}

void CmdPointsImport::activated(int iMsg)
{
    Q_UNUSED(iMsg);

    QString fn = Gui::FileDialog::getOpenFileName(
        Gui::getMainWindow(),
        QString(),
        QString(),
        QStringLiteral("%1 (*.asc *.pcd *.ply *.e57);;%2 (*.*)")
            .arg(QObject::tr("Point formats"), QObject::tr("All Files"))
    );
    if (fn.isEmpty()) {
        return;
    }

    if (!fn.isEmpty()) {
        fn = Base::Tools::escapeEncodeFilename(fn);
        App::Document* doc = getActiveDocument();
        openCommand(QT_TRANSLATE_NOOP("Command", "Import points"));
        addModule(Command::App, "Points");
        doCommand(Command::Doc, "Points.insert(\"%s\", \"%s\")", fn.toUtf8().data(), doc->getName());
        commitCommand();

        updateActive();

        /** check if boundbox contains the origin, offer to move it to the origin if not
         *  addresses issue #5808 where an imported points cloud that was far from the
         *  origin had inaccuracies in the relative positioning of the points due to
         *  imprecise floating point variables used in COIN
         **/
        if (auto pcFtr = dynamic_cast<Points::Feature*>(doc->getActiveObject())) {
            auto points = pcFtr->Points.getValue();
            auto bbox = points.getBoundBox();
            auto center = bbox.GetCenter();

            if (!bbox.IsInBox(Base::Vector3d(0, 0, 0))) {
                QMessageBox msgBox(Gui::getMainWindow());
                msgBox.setIcon(QMessageBox::Question);
                msgBox.setWindowTitle(QObject::tr("Points not at Origin"));
                msgBox.setText(
                    QObject::tr(
                        "The bounding box of the imported points does not contain the origin. "
                        "Translate it to the origin?"
                    )
                );
                msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
                msgBox.setDefaultButton(QMessageBox::Yes);
                auto ret = msgBox.exec();

                if (ret == QMessageBox::Yes) {
                    Points::PointKernel* kernel = pcFtr->Points.startEditing();
                    kernel->moveGeometry(-center);
                    pcFtr->Points.finishEditing();
                }
            }
        }
    }
}

bool CmdPointsImport::isActive()
{
    if (getActiveGuiDocument()) {
        return true;
    }
    else {
        return false;
    }
}

DEF_STD_CMD_A(CmdPointsExport)

CmdPointsExport::CmdPointsExport()
    : Command("Points_Export")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Export Points…");
    sToolTipText = QT_TR_NOOP("Exports a point cloud");
    sWhatsThis = "Points_Export";
    sStatusTip = QT_TR_NOOP("Exports a point cloud");
    sPixmap = "Points_Export_Point_cloud";
}

void CmdPointsExport::activated(int iMsg)
{
    Q_UNUSED(iMsg);

    addModule(Command::App, "Points");
    std::vector<App::DocumentObject*> points = getSelection().getObjectsOfType(
        Points::Feature::getClassTypeId()
    );
    for (auto point : points) {
        QString fn = Gui::FileDialog::getSaveFileName(
            Gui::getMainWindow(),
            QString(),
            QString(),
            QStringLiteral("%1 (*.asc *.pcd *.ply);;%2 (*.*)")
                .arg(QObject::tr("Point formats"), QObject::tr("All Files"))
        );
        if (fn.isEmpty()) {
            break;
        }

        if (!fn.isEmpty()) {
            fn = Base::Tools::escapeEncodeFilename(fn);
            doCommand(
                Command::Doc,
                "Points.export([App.ActiveDocument.%s], \"%s\")",
                point->getNameInDocument(),
                fn.toUtf8().data()
            );
        }
    }
}

bool CmdPointsExport::isActive()
{
    return getSelection().countObjectsOfType<Points::Feature>() > 0;
}

DEF_STD_CMD_A(CmdPointsConvert)

CmdPointsConvert::CmdPointsConvert()
    : Command("Points_Convert")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Convert to Points");
    sToolTipText = QT_TR_NOOP("Converts to points");
    sWhatsThis = "Points_Convert";
    sStatusTip = sToolTipText;
    sPixmap = "Points_Convert";
}

void CmdPointsConvert::activated(int iMsg)
{
    Q_UNUSED(iMsg);
    double STD_OCC_TOLERANCE = 1e-6;

    int decimals = Base::UnitsApi::getDecimals();
    double tolerance_from_decimals = pow(10., -decimals);

    double minimal_tolerance = tolerance_from_decimals < STD_OCC_TOLERANCE ? STD_OCC_TOLERANCE
                                                                           : tolerance_from_decimals;

    bool ok;
    double tol = QInputDialog::getDouble(
        Gui::getMainWindow(),
        QObject::tr("Distance"),
        QObject::tr("Enter maximum distance:"),
        0.1,
        minimal_tolerance,
        10.0,
        decimals,
        &ok,
        Qt::MSWindowsFixedSizeDialogHint
    );
    if (!ok) {
        return;
    }

    Gui::WaitCursor wc;
    openCommand(QT_TRANSLATE_NOOP("Command", "Convert to points"));
    std::vector<App::GeoFeature*> geoObject = getSelection().getObjectsOfType<App::GeoFeature>();

    auto run_python = [](const std::vector<App::GeoFeature*>& geoObject, double tol) -> bool {
        Py::List list;
        for (auto it : geoObject) {
            const App::PropertyComplexGeoData* prop = it->getPropertyOfGeometry();
            if (prop) {
                list.append(Py::asObject(it->getPyObject()));
            }
        }

        if (list.size() > 0) {
            PyObject* module = PyImport_ImportModule("pointscommands.commands");
            if (!module) {
                throw Py::Exception();
            }

            Py::Module commands(module, true);
            commands.callMemberFunction("make_points_from_geometry", Py::TupleN(list, Py::Float(tol)));
            return true;
        }

        return false;
    };

    Base::PyGILStateLocker lock;
    try {
        if (run_python(geoObject, tol)) {
            commitCommand();
        }
        else {
            abortCommand();
        }
    }
    catch (const Py::Exception&) {
        abortCommand();
        Base::PyException e;
        e.reportException();
    }
}

bool CmdPointsConvert::isActive()
{
    return getSelection().countObjectsOfType<App::GeoFeature>() > 0;
}

DEF_STD_CMD_A(CmdPointsPolyCut)

CmdPointsPolyCut::CmdPointsPolyCut()
    : Command("Points_PolyCut")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Cut Point Cloud");
    sToolTipText = QT_TR_NOOP("Cuts a point cloud with a selected polygon");
    sWhatsThis = "Points_PolyCut";
    sStatusTip = sToolTipText;
    sPixmap = "PolygonPick";
}

void CmdPointsPolyCut::activated(int iMsg)
{
    Q_UNUSED(iMsg);

    std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
        Points::Feature::getClassTypeId()
    );
    for (std::vector<App::DocumentObject*>::iterator it = docObj.begin(); it != docObj.end(); ++it) {
        if (it == docObj.begin()) {
            Gui::Document* doc = getActiveGuiDocument();
            Gui::MDIView* view = doc->getActiveView();
            if (view->isDerivedFrom<Gui::View3DInventor>()) {
                Gui::View3DInventorViewer* viewer = ((Gui::View3DInventor*)view)->getViewer();
                viewer->setEditing(true);
                viewer->startSelection(Gui::View3DInventorViewer::Lasso);
                viewer->addEventCallback(
                    SoMouseButtonEvent::getClassTypeId(),
                    PointsGui::ViewProviderPoints::clipPointsCallback
                );
            }
            else {
                return;
            }
        }

        Gui::ViewProvider* pVP = getActiveGuiDocument()->getViewProvider(*it);
        pVP->startEditing(Gui::ViewProvider::Cutting);
    }
}

bool CmdPointsPolyCut::isActive()
{
    // Check for the selected mesh feature (all Mesh types)
    return getSelection().countObjectsOfType<Points::Feature>() > 0;
}

DEF_STD_CMD_A(CmdPointsMerge)

CmdPointsMerge::CmdPointsMerge()
    : Command("Points_Merge")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Merge Point Clouds");
    sToolTipText = QT_TR_NOOP("Merges several point clouds into one");
    sWhatsThis = "Points_Merge";
    sStatusTip = sToolTipText;
    sPixmap = "Points_Merge";
}

void CmdPointsMerge::activated(int iMsg)
{
    Q_UNUSED(iMsg);

    App::Document* doc = App::GetApplication().getActiveDocument();
    doc->openTransaction("Merge point clouds");
    Points::Feature* pts = doc->addObject<Points::Feature>("Merged Points");
    Points::PointKernel* kernel = pts->Points.startEditing();

    std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
        Points::Feature::getClassTypeId()
    );
    for (auto it : docObj) {
        const Points::PointKernel& k = static_cast<Points::Feature*>(it)->Points.getValue();
        std::size_t numPts = kernel->size();
        kernel->resize(numPts + k.size());
        for (std::size_t i = 0; i < k.size(); ++i) {
            kernel->setPoint(i + numPts, k.getPoint(i));
        }
    }

    pts->Points.finishEditing();

    // Add properties
    std::string displayMode = "Points";
    if (Points::copyProperty<App::PropertyColorList>(pts, docObj, "Color")) {
        displayMode = "Color";
    }
    if (Points::copyProperty<Points::PropertyNormalList>(pts, docObj, "Normal")) {
        displayMode = "Shaded";
    }
    if (Points::copyProperty<Points::PropertyGreyValueList>(pts, docObj, "Intensity")) {
        displayMode = "Intensity";
    }

    if (auto vp = dynamic_cast<Gui::ViewProviderDocumentObject*>(
            Gui::Application::Instance->getViewProvider(pts)
        )) {
        vp->DisplayMode.setValue(displayMode.c_str());
    }

    doc->commitTransaction();
    updateActive();
}

bool CmdPointsMerge::isActive()
{
    return getSelection().countObjectsOfType<Points::Feature>() > 1;
}

DEF_STD_CMD_A(CmdPointsStructure)

CmdPointsStructure::CmdPointsStructure()
    : Command("Points_Structure")
{
    sAppModule = "Points";
    sGroup = QT_TR_NOOP("Points");
    sMenuText = QT_TR_NOOP("Structured Point Cloud");
    sToolTipText = QT_TR_NOOP("Converts points to a structured point cloud");
    sWhatsThis = "Points_Structure";
    sStatusTip = sToolTipText;
    sPixmap = "Points_Structure";
}

void CmdPointsStructure::activated(int iMsg)
{
    Q_UNUSED(iMsg);

    App::Document* doc = App::GetApplication().getActiveDocument();
    doc->openTransaction("Structure point cloud");

    std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
        Points::Feature::getClassTypeId()
    );
    for (auto it : docObj) {
        std::string name = it->Label.getValue();
        name += " (Structured)";
        Points::Structured* output = doc->addObject<Points::Structured>(name.c_str());
        output->Label.setValue(name);

        // Already sorted, so just make a copy
        if (it->isDerivedFrom<Points::Structured>()) {
            Points::Structured* input = static_cast<Points::Structured*>(it);

            Points::PointKernel* kernel = output->Points.startEditing();
            const Points::PointKernel& k = input->Points.getValue();

            kernel->resize(k.size());
            for (std::size_t i = 0; i < k.size(); ++i) {
                kernel->setPoint(i, k.getPoint(i));
            }
            output->Points.finishEditing();
            output->Width.setValue(input->Width.getValue());
            output->Height.setValue(input->Height.getValue());
        }
        // Sort the points
        else {
            Points::Feature* input = static_cast<Points::Feature*>(it);

            Points::PointKernel* kernel = output->Points.startEditing();
            const Points::PointKernel& k = input->Points.getValue();

            Base::BoundBox3d bbox = input->Points.getBoundingBox();
            double width = bbox.LengthX();
            double height = bbox.LengthY();

            // Count the number of different x or y values to get the size
            std::set<double> countX, countY;
            for (std::size_t i = 0; i < k.size(); ++i) {
                Base::Vector3d pnt = k.getPoint(i);
                countX.insert(pnt.x);
                countY.insert(pnt.y);
            }

            long width_l = long(countX.size());
            long height_l = long(countY.size());

            double dx = width / (width_l - 1);
            double dy = height / (height_l - 1);

            // Pre-fill the vector with <nan, nan, nan> points and afterwards replace them
            // with valid point coordinates
            double nan = std::numeric_limits<double>::quiet_NaN();
            std::vector<Base::Vector3d> sortedPoints(width_l * height_l, Base::Vector3d(nan, nan, nan));

            for (std::size_t i = 0; i < k.size(); ++i) {
                Base::Vector3d pnt = k.getPoint(i);
                double xi = (pnt.x - bbox.MinX) / dx;
                double yi = (pnt.y - bbox.MinY) / dy;

                double xx = std::fabs(xi - std::round(xi));
                double yy = std::fabs(yi - std::round(yi));
                if (xx < 0.01 && yy < 0.01) {
                    xi = std::round(xi);
                    yi = std::round(yi);
                    long index = long(yi * width_l + xi);
                    sortedPoints[index] = pnt;
                }
            }

            kernel->resize(sortedPoints.size());
            for (std::size_t index = 0; index < sortedPoints.size(); index++) {
                kernel->setPoint(index, sortedPoints[index]);
            }

            output->Points.finishEditing();
            output->Width.setValue(width_l);
            output->Height.setValue(height_l);
        }
    }

    doc->commitTransaction();
    updateActive();
}

bool CmdPointsStructure::isActive()
{
    return getSelection().countObjectsOfType<Points::Feature>() == 1;
}

void CreatePointsCommands()
{
    Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
    rcCmdMgr.addCommand(new CmdPointsImport());
    rcCmdMgr.addCommand(new CmdPointsExport());
    rcCmdMgr.addCommand(new CmdPointsConvert());
    rcCmdMgr.addCommand(new CmdPointsPolyCut());
    rcCmdMgr.addCommand(new CmdPointsMerge());
    rcCmdMgr.addCommand(new CmdPointsStructure());
}

	// SPDX-License-Identifier: LGPL-2.1-or-later

	/***************************************************************************
	* Copyright (c) 2006 Werner Mayer <wmayer[at]users.sourceforge.net> *
	* *
	* This file is part of the FreeCAD CAx development system. *
	* *
	* This library is free software; you can redistribute it and/or *
	* modify it under the terms of the GNU Library General Public *
	* License as published by the Free Software Foundation; either *
	* version 2 of the License, or (at your option) any later version. *
	* *
	* This library 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 Library General Public License for more details. *
	* *
	* You should have received a copy of the GNU Library General Public *
	* License along with this library; see the file COPYING.LIB. If not, *
	* write to the Free Software Foundation, Inc., 59 Temple Place, *
	* Suite 330, Boston, MA 02111-1307, USA *
	* *
	***************************************************************************/

	#include <Inventor/events/SoMouseButtonEvent.h>
	#include <QInputDialog>
	#include <QMessageBox>
	#include <algorithm>


	#include <App/Application.h>
	#include <App/Document.h>
	#include <Base/Exception.h>
	#include <Base/Interpreter.h>
	#include <Base/Tools.h>
	#include <Base/UnitsApi.h>
	#include <Gui/Application.h>
	#include <Gui/Command.h>
	#include <Gui/Document.h>
	#include <Gui/FileDialog.h>
	#include <Gui/MainWindow.h>
	#include <Gui/Selection/Selection.h>
	#include <Gui/View3DInventor.h>
	#include <Gui/View3DInventorViewer.h>
	#include <Gui/ViewProviderDocumentObject.h>
	#include <Gui/WaitCursor.h>

	#include "../App/PointsFeature.h"
	#include "../App/Properties.h"
	#include "../App/Structured.h"
	#include "../App/Tools.h"

	#include "DlgPointsReadImp.h"
	#include "ViewProvider.h"


	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

	//===========================================================================
	// CmdPointsImport
	//===========================================================================
	DEF_STD_CMD_A(CmdPointsImport)

	CmdPointsImport::CmdPointsImport()
	: Command("Points_Import")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Import Points…");
	sToolTipText = QT_TR_NOOP("Imports a point cloud");
	sWhatsThis = "Points_Import";
	sStatusTip = sToolTipText;
	sPixmap = "Points_Import_Point_cloud";
	}

	void CmdPointsImport::activated(int iMsg)
	{
	Q_UNUSED(iMsg);

	QString fn = Gui::FileDialog::getOpenFileName(
	Gui::getMainWindow(),
	QString(),
	QString(),
	QStringLiteral("%1 (.asc .pcd .ply .e57);;%2 (.)")
	.arg(QObject::tr("Point formats"), QObject::tr("All Files"))
	);
	if (fn.isEmpty()) {
	return;
	}

	if (!fn.isEmpty()) {
	fn = Base::Tools::escapeEncodeFilename(fn);
	App::Document* doc = getActiveDocument();
	openCommand(QT_TRANSLATE_NOOP("Command", "Import points"));
	addModule(Command::App, "Points");
	doCommand(Command::Doc, "Points.insert(\"%s\", \"%s\")", fn.toUtf8().data(), doc->getName());
	commitCommand();

	updateActive();

	/** check if boundbox contains the origin, offer to move it to the origin if not
	* addresses issue #5808 where an imported points cloud that was far from the
	* origin had inaccuracies in the relative positioning of the points due to
	* imprecise floating point variables used in COIN
	**/
	if (auto pcFtr = dynamic_cast<Points::Feature*>(doc->getActiveObject())) {
	auto points = pcFtr->Points.getValue();
	auto bbox = points.getBoundBox();
	auto center = bbox.GetCenter();

	if (!bbox.IsInBox(Base::Vector3d(0, 0, 0))) {
	QMessageBox msgBox(Gui::getMainWindow());
	msgBox.setIcon(QMessageBox::Question);
	msgBox.setWindowTitle(QObject::tr("Points not at Origin"));
	msgBox.setText(
	QObject::tr(
	"The bounding box of the imported points does not contain the origin. "
	"Translate it to the origin?"
	)
	);
	msgBox.setStandardButtons(QMessageBox::Yes \| QMessageBox::No);
	msgBox.setDefaultButton(QMessageBox::Yes);
	auto ret = msgBox.exec();

	if (ret == QMessageBox::Yes) {
	Points::PointKernel* kernel = pcFtr->Points.startEditing();
	kernel->moveGeometry(-center);
	pcFtr->Points.finishEditing();
	}
	}
	}
	}
	}

	bool CmdPointsImport::isActive()
	{
	if (getActiveGuiDocument()) {
	return true;
	}
	else {
	return false;
	}
	}

	DEF_STD_CMD_A(CmdPointsExport)

	CmdPointsExport::CmdPointsExport()
	: Command("Points_Export")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Export Points…");
	sToolTipText = QT_TR_NOOP("Exports a point cloud");
	sWhatsThis = "Points_Export";
	sStatusTip = QT_TR_NOOP("Exports a point cloud");
	sPixmap = "Points_Export_Point_cloud";
	}

	void CmdPointsExport::activated(int iMsg)
	{
	Q_UNUSED(iMsg);

	addModule(Command::App, "Points");
	std::vector<App::DocumentObject*> points = getSelection().getObjectsOfType(
	Points::Feature::getClassTypeId()
	);
	for (auto point : points) {
	QString fn = Gui::FileDialog::getSaveFileName(
	Gui::getMainWindow(),
	QString(),
	QString(),
	QStringLiteral("%1 (.asc .pcd .ply);;%2 (.*)")
	.arg(QObject::tr("Point formats"), QObject::tr("All Files"))
	);
	if (fn.isEmpty()) {
	break;
	}

	if (!fn.isEmpty()) {
	fn = Base::Tools::escapeEncodeFilename(fn);
	doCommand(
	Command::Doc,
	"Points.export([App.ActiveDocument.%s], \"%s\")",
	point->getNameInDocument(),
	fn.toUtf8().data()
	);
	}
	}
	}

	bool CmdPointsExport::isActive()
	{
	return getSelection().countObjectsOfType<Points::Feature>() > 0;
	}

	DEF_STD_CMD_A(CmdPointsConvert)

	CmdPointsConvert::CmdPointsConvert()
	: Command("Points_Convert")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Convert to Points");
	sToolTipText = QT_TR_NOOP("Converts to points");
	sWhatsThis = "Points_Convert";
	sStatusTip = sToolTipText;
	sPixmap = "Points_Convert";
	}

	void CmdPointsConvert::activated(int iMsg)
	{
	Q_UNUSED(iMsg);
	double STD_OCC_TOLERANCE = 1e-6;

	int decimals = Base::UnitsApi::getDecimals();
	double tolerance_from_decimals = pow(10., -decimals);

	double minimal_tolerance = tolerance_from_decimals < STD_OCC_TOLERANCE ? STD_OCC_TOLERANCE
	: tolerance_from_decimals;

	bool ok;
	double tol = QInputDialog::getDouble(
	Gui::getMainWindow(),
	QObject::tr("Distance"),
	QObject::tr("Enter maximum distance:"),
	0.1,
	minimal_tolerance,
	10.0,
	decimals,
	&ok,
	Qt::MSWindowsFixedSizeDialogHint
	);
	if (!ok) {
	return;
	}

	Gui::WaitCursor wc;
	openCommand(QT_TRANSLATE_NOOP("Command", "Convert to points"));
	std::vector<App::GeoFeature*> geoObject = getSelection().getObjectsOfType<App::GeoFeature>();

	auto run_python = [](const std::vector<App::GeoFeature*>& geoObject, double tol) -> bool {
	Py::List list;
	for (auto it : geoObject) {
	const App::PropertyComplexGeoData* prop = it->getPropertyOfGeometry();
	if (prop) {
	list.append(Py::asObject(it->getPyObject()));
	}
	}

	if (list.size() > 0) {
	PyObject* module = PyImport_ImportModule("pointscommands.commands");
	if (!module) {
	throw Py::Exception();
	}

	Py::Module commands(module, true);
	commands.callMemberFunction("make_points_from_geometry", Py::TupleN(list, Py::Float(tol)));
	return true;
	}

	return false;
	};

	Base::PyGILStateLocker lock;
	try {
	if (run_python(geoObject, tol)) {
	commitCommand();
	}
	else {
	abortCommand();
	}
	}
	catch (const Py::Exception&) {
	abortCommand();
	Base::PyException e;
	e.reportException();
	}
	}

	bool CmdPointsConvert::isActive()
	{
	return getSelection().countObjectsOfType<App::GeoFeature>() > 0;
	}

	DEF_STD_CMD_A(CmdPointsPolyCut)

	CmdPointsPolyCut::CmdPointsPolyCut()
	: Command("Points_PolyCut")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Cut Point Cloud");
	sToolTipText = QT_TR_NOOP("Cuts a point cloud with a selected polygon");
	sWhatsThis = "Points_PolyCut";
	sStatusTip = sToolTipText;
	sPixmap = "PolygonPick";
	}

	void CmdPointsPolyCut::activated(int iMsg)
	{
	Q_UNUSED(iMsg);

	std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
	Points::Feature::getClassTypeId()
	);
	for (std::vector<App::DocumentObject*>::iterator it = docObj.begin(); it != docObj.end(); ++it) {
	if (it == docObj.begin()) {
	Gui::Document* doc = getActiveGuiDocument();
	Gui::MDIView* view = doc->getActiveView();
	if (view->isDerivedFrom<Gui::View3DInventor>()) {
	Gui::View3DInventorViewer* viewer = ((Gui::View3DInventor*)view)->getViewer();
	viewer->setEditing(true);
	viewer->startSelection(Gui::View3DInventorViewer::Lasso);
	viewer->addEventCallback(
	SoMouseButtonEvent::getClassTypeId(),
	PointsGui::ViewProviderPoints::clipPointsCallback
	);
	}
	else {
	return;
	}
	}

	Gui::ViewProvider* pVP = getActiveGuiDocument()->getViewProvider(*it);
	pVP->startEditing(Gui::ViewProvider::Cutting);
	}
	}

	bool CmdPointsPolyCut::isActive()
	{
	// Check for the selected mesh feature (all Mesh types)
	return getSelection().countObjectsOfType<Points::Feature>() > 0;
	}

	DEF_STD_CMD_A(CmdPointsMerge)

	CmdPointsMerge::CmdPointsMerge()
	: Command("Points_Merge")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Merge Point Clouds");
	sToolTipText = QT_TR_NOOP("Merges several point clouds into one");
	sWhatsThis = "Points_Merge";
	sStatusTip = sToolTipText;
	sPixmap = "Points_Merge";
	}

	void CmdPointsMerge::activated(int iMsg)
	{
	Q_UNUSED(iMsg);

	App::Document* doc = App::GetApplication().getActiveDocument();
	doc->openTransaction("Merge point clouds");
	Points::Feature* pts = doc->addObject<Points::Feature>("Merged Points");
	Points::PointKernel* kernel = pts->Points.startEditing();

	std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
	Points::Feature::getClassTypeId()
	);
	for (auto it : docObj) {
	const Points::PointKernel& k = static_cast<Points::Feature*>(it)->Points.getValue();
	std::size_t numPts = kernel->size();
	kernel->resize(numPts + k.size());
	for (std::size_t i = 0; i < k.size(); ++i) {
	kernel->setPoint(i + numPts, k.getPoint(i));
	}
	}

	pts->Points.finishEditing();

	// Add properties
	std::string displayMode = "Points";
	if (Points::copyProperty<App::PropertyColorList>(pts, docObj, "Color")) {
	displayMode = "Color";
	}
	if (Points::copyProperty<Points::PropertyNormalList>(pts, docObj, "Normal")) {
	displayMode = "Shaded";
	}
	if (Points::copyProperty<Points::PropertyGreyValueList>(pts, docObj, "Intensity")) {
	displayMode = "Intensity";
	}

	if (auto vp = dynamic_cast<Gui::ViewProviderDocumentObject*>(
	Gui::Application::Instance->getViewProvider(pts)
	)) {
	vp->DisplayMode.setValue(displayMode.c_str());
	}

	doc->commitTransaction();
	updateActive();
	}

	bool CmdPointsMerge::isActive()
	{
	return getSelection().countObjectsOfType<Points::Feature>() > 1;
	}

	DEF_STD_CMD_A(CmdPointsStructure)

	CmdPointsStructure::CmdPointsStructure()
	: Command("Points_Structure")
	{
	sAppModule = "Points";
	sGroup = QT_TR_NOOP("Points");
	sMenuText = QT_TR_NOOP("Structured Point Cloud");
	sToolTipText = QT_TR_NOOP("Converts points to a structured point cloud");
	sWhatsThis = "Points_Structure";
	sStatusTip = sToolTipText;
	sPixmap = "Points_Structure";
	}

	void CmdPointsStructure::activated(int iMsg)
	{
	Q_UNUSED(iMsg);

	App::Document* doc = App::GetApplication().getActiveDocument();
	doc->openTransaction("Structure point cloud");

	std::vector<App::DocumentObject*> docObj = Gui::Selection().getObjectsOfType(
	Points::Feature::getClassTypeId()
	);
	for (auto it : docObj) {
	std::string name = it->Label.getValue();
	name += " (Structured)";
	Points::Structured* output = doc->addObject<Points::Structured>(name.c_str());
	output->Label.setValue(name);

	// Already sorted, so just make a copy
	if (it->isDerivedFrom<Points::Structured>()) {
	Points::Structured* input = static_cast<Points::Structured*>(it);

	Points::PointKernel* kernel = output->Points.startEditing();
	const Points::PointKernel& k = input->Points.getValue();

	kernel->resize(k.size());
	for (std::size_t i = 0; i < k.size(); ++i) {
	kernel->setPoint(i, k.getPoint(i));
	}
	output->Points.finishEditing();
	output->Width.setValue(input->Width.getValue());
	output->Height.setValue(input->Height.getValue());
	}
	// Sort the points
	else {
	Points::Feature* input = static_cast<Points::Feature*>(it);

	Points::PointKernel* kernel = output->Points.startEditing();
	const Points::PointKernel& k = input->Points.getValue();

	Base::BoundBox3d bbox = input->Points.getBoundingBox();
	double width = bbox.LengthX();
	double height = bbox.LengthY();

	// Count the number of different x or y values to get the size
	std::set<double> countX, countY;
	for (std::size_t i = 0; i < k.size(); ++i) {
	Base::Vector3d pnt = k.getPoint(i);
	countX.insert(pnt.x);
	countY.insert(pnt.y);
	}

	long width_l = long(countX.size());
	long height_l = long(countY.size());

	double dx = width / (width_l - 1);
	double dy = height / (height_l - 1);

	// Pre-fill the vector with <nan, nan, nan> points and afterwards replace them
	// with valid point coordinates
	double nan = std::numeric_limits<double>::quiet_NaN();
	std::vector<Base::Vector3d> sortedPoints(width_l * height_l, Base::Vector3d(nan, nan, nan));

	for (std::size_t i = 0; i < k.size(); ++i) {
	Base::Vector3d pnt = k.getPoint(i);
	double xi = (pnt.x - bbox.MinX) / dx;
	double yi = (pnt.y - bbox.MinY) / dy;

	double xx = std::fabs(xi - std::round(xi));
	double yy = std::fabs(yi - std::round(yi));
	if (xx < 0.01 && yy < 0.01) {
	xi = std::round(xi);
	yi = std::round(yi);
	long index = long(yi * width_l + xi);
	sortedPoints[index] = pnt;
	}
	}

	kernel->resize(sortedPoints.size());
	for (std::size_t index = 0; index < sortedPoints.size(); index++) {
	kernel->setPoint(index, sortedPoints[index]);
	}

	output->Points.finishEditing();
	output->Width.setValue(width_l);
	output->Height.setValue(height_l);
	}
	}

	doc->commitTransaction();
	updateActive();
	}

	bool CmdPointsStructure::isActive()
	{
	return getSelection().countObjectsOfType<Points::Feature>() == 1;
	}

	void CreatePointsCommands()
	{
	Gui::CommandManager& rcCmdMgr = Gui::Application::Instance->commandManager();
	rcCmdMgr.addCommand(new CmdPointsImport());
	rcCmdMgr.addCommand(new CmdPointsExport());
	rcCmdMgr.addCommand(new CmdPointsConvert());
	rcCmdMgr.addCommand(new CmdPointsPolyCut());
	rcCmdMgr.addCommand(new CmdPointsMerge());
	rcCmdMgr.addCommand(new CmdPointsStructure());
	}