File: ccCommandLineCommands.h

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#ifndef COMMAND_LINE_COMMANDS_HEADER
#define COMMAND_LINE_COMMANDS_HEADER

#include "ccCommandLineInterface.h"

//CCLib
#include <AutoSegmentationTools.h>
#include <CCConst.h>
#include <CloudSamplingTools.h>
#include <NormalDistribution.h>
#include <StatisticalTestingTools.h>
#include <WeibullDistribution.h>
#include <MeshSamplingTools.h>

//qCC_db
#include <ccNormalVectors.h>
#include <ccPlane.h>
#include <ccPolyline.h>
#include <ccProgressDialog.h>
#include <ccScalarField.h>
#include <ccVolumeCalcTool.h>

//qCC_io
#include <AsciiFilter.h>
#include <FBXFilter.h>
#include <PlyFilter.h>

//qCC
#include "ccCommon.h"
#include "ccComparisonDlg.h"
#include "ccConsole.h"
#include "ccCropTool.h"
#include "ccLibAlgorithms.h"
#include "ccRegistrationTools.h"
#include "ccScalarFieldArithmeticsDlg.h"

#include <ui_commandLineDlg.h>

//Qt
#include <QDateTime>

//commands
static const char COMMAND_CLOUD_EXPORT_FORMAT[]				= "C_EXPORT_FMT";
static const char COMMAND_EXPORT_EXTENSION[]				= "EXT";
static const char COMMAND_ASCII_EXPORT_PRECISION[]			= "PREC";
static const char COMMAND_ASCII_EXPORT_SEPARATOR[]			= "SEP";
static const char COMMAND_ASCII_EXPORT_ADD_COL_HEADER[]		= "ADD_HEADER";
static const char COMMAND_MESH_EXPORT_FORMAT[]				= "M_EXPORT_FMT";
static const char COMMAND_ASCII_EXPORT_ADD_PTS_COUNT[]		= "ADD_PTS_COUNT";
static const char COMMAND_OPEN[]							= "O";				//+file name
static const char COMMAND_OPEN_SKIP_LINES[]					= "SKIP";			//+number of lines to skip
static const char COMMAND_OPEN_SHIFT_ON_LOAD[]				= "GLOBAL_SHIFT";	//+global shift
static const char COMMAND_OPEN_SHIFT_ON_LOAD_AUTO[]			= "AUTO";			//"AUTO" keyword
static const char COMMAND_SUBSAMPLE[]						= "SS";				//+ method (RANDOM/SPATIAL/OCTREE) + parameter (resp. point count / spatial step / octree level)
static const char COMMAND_EXTRACT_CC[]						= "EXTRACT_CC";
static const char COMMAND_CURVATURE[]						= "CURV";			//+ curvature type (MEAN/GAUSS)
static const char COMMAND_DENSITY[]							= "DENSITY";		//+ sphere radius
static const char COMMAND_DENSITY_TYPE[]					= "TYPE";			//+ density type
static const char COMMAND_APPROX_DENSITY[]					= "APPROX_DENSITY";
static const char COMMAND_SF_GRADIENT[]						= "SF_GRAD";
static const char COMMAND_ROUGHNESS[]						= "ROUGH";
static const char COMMAND_APPLY_TRANSFORMATION[]			= "APPLY_TRANS";
static const char COMMAND_DROP_GLOBAL_SHIFT[]				= "DROP_GLOBAL_SHIFT";
static const char COMMAND_SF_COLOR_SCALE[]					= "SF_COLOR_SCALE";
static const char COMMAND_SF_CONVERT_TO_RGB[]				= "SF_CONVERT_TO_RGB";
static const char COMMAND_FILTER_SF_BY_VALUE[]				= "FILTER_SF";
static const char COMMAND_MERGE_CLOUDS[]					= "MERGE_CLOUDS";
static const char COMMAND_MERGE_MESHES[]                    = "MERGE_MESHES";
static const char COMMAND_SET_ACTIVE_SF[]					= "SET_ACTIVE_SF";
static const char COMMAND_REMOVE_ALL_SFS[]					= "REMOVE_ALL_SFS";
static const char COMMAND_REMOVE_SCAN_GRIDS[]				= "REMOVE_SCAN_GRIDS";
static const char COMMAND_MATCH_BB_CENTERS[]				= "MATCH_CENTERS";
static const char COMMAND_BEST_FIT_PLANE[]					= "BEST_FIT_PLANE";
static const char COMMAND_BEST_FIT_PLANE_MAKE_HORIZ[]		= "MAKE_HORIZ";
static const char COMMAND_BEST_FIT_PLANE_KEEP_LOADED[]		= "KEEP_LOADED";
static const char COMMAND_ORIENT_NORMALS[]					= "ORIENT_NORMS_MST";
static const char COMMAND_SOR_FILTER[]						= "SOR";
static const char COMMAND_SAMPLE_MESH[]						= "SAMPLE_MESH";
static const char COMMAND_CROSS_SECTION[]					= "CROSS_SECTION";
static const char COMMAND_CROP[]							= "CROP";
static const char COMMAND_CROP_OUTSIDE[]					= "OUTSIDE";
static const char COMMAND_CROP_2D[]							= "CROP2D";
static const char COMMAND_COLOR_BANDING[]					= "CBANDING";
static const char COMMAND_C2M_DIST[]						= "C2M_DIST";
static const char COMMAND_C2M_DIST_FLIP_NORMALS[]			= "FLIP_NORMS";
static const char COMMAND_C2C_DIST[]						= "C2C_DIST";
static const char COMMAND_C2C_SPLIT_XYZ[]					= "SPLIT_XYZ";
static const char COMMAND_C2C_LOCAL_MODEL[]					= "MODEL";
static const char COMMAND_C2X_MAX_DISTANCE[]				= "MAX_DIST";
static const char COMMAND_C2X_OCTREE_LEVEL[]				= "OCTREE_LEVEL";
static const char COMMAND_STAT_TEST[]						= "STAT_TEST";
static const char COMMAND_DELAUNAY[]						= "DELAUNAY";
static const char COMMAND_DELAUNAY_AA[]						= "AA";
static const char COMMAND_DELAUNAY_BF[]						= "BEST_FIT";
static const char COMMAND_DELAUNAY_MAX_EDGE_LENGTH[]		= "MAX_EDGE_LENGTH";
static const char COMMAND_SF_ARITHMETIC[]					= "SF_ARITHMETIC";
static const char COMMAND_SF_OP[]							= "SF_OP";
static const char COMMAND_COORD_TO_SF[]						= "COORD_TO_SF";
static const char COMMAND_EXTRACT_VERTICES[]				= "EXTRACT_VERTICES";
static const char COMMAND_ICP[]								= "ICP";
static const char COMMAND_ICP_REFERENCE_IS_FIRST[]			= "REFERENCE_IS_FIRST";
static const char COMMAND_ICP_MIN_ERROR_DIIF[]				= "MIN_ERROR_DIFF";
static const char COMMAND_ICP_ITERATION_COUNT[]				= "ITER";
static const char COMMAND_ICP_OVERLAP[]						= "OVERLAP";
static const char COMMAND_ICP_ADJUST_SCALE[]				= "ADJUST_SCALE";
static const char COMMAND_ICP_RANDOM_SAMPLING_LIMIT[]		= "RANDOM_SAMPLING_LIMIT";
static const char COMMAND_ICP_ENABLE_FARTHEST_REMOVAL[]		= "FARTHEST_REMOVAL";
static const char COMMAND_ICP_USE_MODEL_SF_AS_WEIGHT[]		= "MODEL_SF_AS_WEIGHTS";
static const char COMMAND_ICP_USE_DATA_SF_AS_WEIGHT[]		= "DATA_SF_AS_WEIGHTS";
static const char COMMAND_ICP_ROT[]				= "ROT";
static const char COMMAND_FBX_EXPORT_FORMAT[]				= "FBX_EXPORT_FMT";
static const char COMMAND_PLY_EXPORT_FORMAT[]				= "PLY_EXPORT_FMT";
static const char COMMAND_COMPUTE_GRIDDED_NORMALS[]			= "COMPUTE_NORMALS";
static const char COMMAND_COMPUTE_OCTREE_NORMALS[]			= "OCTREE_NORMALS";
static const char COMMAND_CLEAR_NORMALS[]					= "CLEAR_NORMALS";
static const char COMMAND_MESH_VOLUME[]                     = "MESH_VOLUME";
static const char COMMAND_VOLUME_TO_FILE[]					= "TO_FILE";
static const char COMMAND_SAVE_CLOUDS[]						= "SAVE_CLOUDS";
static const char COMMAND_SAVE_MESHES[]						= "SAVE_MESHES";
static const char COMMAND_AUTO_SAVE[]						= "AUTO_SAVE";
static const char COMMAND_LOG_FILE[]						= "LOG_FILE";
static const char COMMAND_CLEAR[]							= "CLEAR";
static const char COMMAND_CLEAR_CLOUDS[]					= "CLEAR_CLOUDS";
static const char COMMAND_POP_CLOUDS[]						= "POP_CLOUDS";
static const char COMMAND_CLEAR_MESHES[]					= "CLEAR_MESHES";
static const char COMMAND_POP_MESHES[]						= "POP_MESHES";
static const char COMMAND_NO_TIMESTAMP[]					= "NO_TIMESTAMP";

//options / modifiers
static const char COMMAND_MAX_THREAD_COUNT[]				= "MAX_TCOUNT";
static const char OPTION_ALL_AT_ONCE[]						= "ALL_AT_ONCE";
static const char OPTION_ON[]								= "ON";
static const char OPTION_OFF[]								= "OFF";
static const char OPTION_LAST[]								= "LAST";
static const char OPTION_FILE_NAMES[]						= "FILE";

struct CommandChangeOutputFormat : public ccCommandLineInterface::Command
{
	CommandChangeOutputFormat(QString name, QString keyword) : ccCommandLineInterface::Command(name, keyword) {}

	QString getFileFormatFilter(ccCommandLineInterface& cmd, QString& defaultExt)
	{
		QString fileFilter;
		defaultExt = QString();

		if (!cmd.arguments().isEmpty())
		{
			//test if the specified format corresponds to a known file type
			QString argument = cmd.arguments().front().toUpper();
			cmd.arguments().pop_front();

			const FileIOFilter::FilterContainer& filters = FileIOFilter::GetFilters();
			for (size_t i = 0; i < filters.size(); ++i)
			{
				if (argument == filters[i]->getDefaultExtension().toUpper())
				{
					//found
					fileFilter = filters[i]->getFileFilters(false).first(); //Take the first 'output' file filter by default (could we be smarter?)
					defaultExt = filters[i]->getDefaultExtension();
					break;
				}
			}

			//haven't found anything?
			if (fileFilter.isEmpty())
			{
				cmd.error(QObject::tr("Unhandled format specifier (%1)").arg(argument));
			}
		}
		else
		{
			cmd.error("Missing file format specifier!");
		}

		return fileFilter;
	}
};

struct CommandChangeCloudOutputFormat : public CommandChangeOutputFormat
{
	CommandChangeCloudOutputFormat() : CommandChangeOutputFormat("Change cloud output format", COMMAND_CLOUD_EXPORT_FORMAT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		QString defaultExt;
		QString fileFilter = getFileFormatFilter(cmd, defaultExt);
		if (fileFilter.isEmpty())
			return false;

		cmd.setCloudExportFormat(fileFilter, defaultExt);
		cmd.print(QObject::tr("Output export format (clouds) set to: %1").arg(defaultExt.toUpper()));

		//default options for ASCII output
		if (fileFilter == AsciiFilter::GetFileFilter())
		{
			AsciiSaveDlg* saveDialog = AsciiFilter::GetSaveDialog();
			assert(saveDialog);
			saveDialog->setCoordsPrecision(cmd.numericalPrecision());
			saveDialog->setSfPrecision(cmd.numericalPrecision());
			saveDialog->setSeparatorIndex(0); //space
			saveDialog->enableSwapColorAndSF(false); //default order: point, color, SF, normal
			saveDialog->enableSaveColumnsNamesHeader(false);
			saveDialog->enableSavePointCountHeader(false);
		}

		//look for additional parameters
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_EXPORT_EXTENSION))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: extension after '%1'").arg(COMMAND_EXPORT_EXTENSION));

				cmd.setCloudExportFormat(cmd.cloudExportFormat(), cmd.arguments().takeFirst());
				cmd.print(QObject::tr("New output extension for clouds: %1").arg(cmd.cloudExportExt()));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ASCII_EXPORT_PRECISION))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: precision value after '%1'").arg(COMMAND_ASCII_EXPORT_PRECISION));
				bool ok;
				int precision = cmd.arguments().takeFirst().toInt(&ok);
				if (!ok || precision < 0)
					return cmd.error(QObject::tr("Invalid value for precision! (%1)").arg(COMMAND_ASCII_EXPORT_PRECISION));

				if (fileFilter != AsciiFilter::GetFileFilter())
					cmd.warning(QObject::tr("Argument '%1' is only applicable to ASCII format!").arg(argument));

				AsciiSaveDlg* saveDialog = AsciiFilter::GetSaveDialog();
				assert(saveDialog);
				if (saveDialog)
				{
					saveDialog->setCoordsPrecision(precision);
					saveDialog->setSfPrecision(precision);
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ASCII_EXPORT_SEPARATOR))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: separator character after '%1'").arg(COMMAND_ASCII_EXPORT_SEPARATOR));

				if (fileFilter != AsciiFilter::GetFileFilter())
					cmd.warning(QObject::tr("Argument '%1' is only applicable to ASCII format!").arg(argument));

				QString separatorStr = cmd.arguments().takeFirst().toUpper();
				//printf("%s\n",qPrintable(separatorStr));
				int index = -1;
				if (separatorStr == "SPACE")
					index = 0;
				else if (separatorStr == "SEMICOLON")
					index = 1;
				else if (separatorStr == "COMMA")
					index = 2;
				else if (separatorStr == "TAB")
					index = 3;
				else
					return cmd.error(QObject::tr("Invalid separator! ('%1')").arg(separatorStr));

				AsciiSaveDlg* saveDialog = AsciiFilter::GetSaveDialog();
				assert(saveDialog);
				if (saveDialog)
				{
					saveDialog->setSeparatorIndex(index);
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ASCII_EXPORT_ADD_COL_HEADER))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (fileFilter != AsciiFilter::GetFileFilter())
					cmd.warning(QObject::tr("Argument '%1' is only applicable to ASCII format!").arg(argument));

				AsciiSaveDlg* saveDialog = AsciiFilter::GetSaveDialog();
				assert(saveDialog);
				if (saveDialog)
				{
					saveDialog->enableSaveColumnsNamesHeader(true);
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ASCII_EXPORT_ADD_PTS_COUNT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (fileFilter != AsciiFilter::GetFileFilter())
					cmd.warning(QObject::tr("Argument '%1' is only applicable to ASCII format!").arg(argument));

				AsciiSaveDlg* saveDialog = AsciiFilter::GetSaveDialog();
				assert(saveDialog);
				if (saveDialog)
				{
					saveDialog->enableSavePointCountHeader(true);
				}
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		return true;
	}
};

struct CommandChangeMeshOutputFormat : public CommandChangeOutputFormat
{
	CommandChangeMeshOutputFormat() : CommandChangeOutputFormat("Change mesh output format", COMMAND_MESH_EXPORT_FORMAT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		QString defaultExt;
		QString fileFilter = getFileFormatFilter(cmd, defaultExt);
		if (fileFilter.isEmpty())
			return false;

		cmd.setMeshExportFormat(fileFilter, defaultExt);
		cmd.print(QObject::tr("Output export format (meshes) set to: %1").arg(defaultExt.toUpper()));

		//look for additional parameters
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();

			if (ccCommandLineInterface::IsCommand(argument, COMMAND_EXPORT_EXTENSION))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: extension after '%1'").arg(COMMAND_EXPORT_EXTENSION));

				cmd.setMeshExportFormat(cmd.meshExportFormat(), cmd.arguments().takeFirst());
				cmd.print(QObject::tr("New output extension for meshes: %1").arg(cmd.meshExportExt()));
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		return true;
	}
};

struct CommandLoad : public ccCommandLineInterface::Command
{
	CommandLoad() : ccCommandLineInterface::Command("Load", COMMAND_OPEN) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[LOADING]");
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: filename after \"-%1\"").arg(COMMAND_OPEN));

		//optional parameters
		int skipLines = 0;
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_OPEN_SKIP_LINES))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
				{
					return cmd.error(QObject::tr("Missing parameter: number of lines after '%1'").arg(COMMAND_OPEN_SKIP_LINES));
				}

				bool ok;
				skipLines = cmd.arguments().takeFirst().toInt(&ok);
				if (!ok)
				{
					return cmd.error(QObject::tr("Invalid parameter: number of lines after '%1'").arg(COMMAND_OPEN_SKIP_LINES));
				}

				cmd.print(QObject::tr("Will skip %1 lines").arg(skipLines));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_OPEN_SHIFT_ON_LOAD))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
				{
					return cmd.error(QObject::tr("Missing parameter: global shift vector or %1 after '%2'").arg(COMMAND_OPEN_SHIFT_ON_LOAD_AUTO, COMMAND_OPEN_SHIFT_ON_LOAD));
				}

				QString firstParam = cmd.arguments().takeFirst();

				ccCommandLineInterface::CLLoadParameters& loadParams = cmd.fileLoadingParams();
				loadParams.shiftHandlingMode = ccGlobalShiftManager::NO_DIALOG;
				loadParams.m_coordinatesShiftEnabled = false;
				loadParams.m_coordinatesShift = CCVector3d(0, 0, 0);

				if (firstParam.toUpper() == COMMAND_OPEN_SHIFT_ON_LOAD_AUTO)
				{
					//let CC handle the global shift automatically
					loadParams.shiftHandlingMode = ccGlobalShiftManager::NO_DIALOG_AUTO_SHIFT;
				}
				else if (cmd.arguments().size() < 2)
				{
					return cmd.error(QObject::tr("Missing parameter: global shift vector after '%1' (3 values expected)").arg(COMMAND_OPEN_SHIFT_ON_LOAD));
				}
				else
				{
					bool ok = true;
					CCVector3d shiftOnLoadVec;
					shiftOnLoadVec.x = firstParam.toDouble(&ok);
					if (!ok)
						return cmd.error(QObject::tr("Invalid parameter: X coordinate of the global shift vector after '%1'").arg(COMMAND_OPEN_SHIFT_ON_LOAD));
					shiftOnLoadVec.y = cmd.arguments().takeFirst().toDouble(&ok);
					if (!ok)
						return cmd.error(QObject::tr("Invalid parameter: Y coordinate of the global shift vector after '%1'").arg(COMMAND_OPEN_SHIFT_ON_LOAD));
					shiftOnLoadVec.z = cmd.arguments().takeFirst().toDouble(&ok);
					if (!ok)
						return cmd.error(QObject::tr("Invalid parameter: Z coordinate of the global shift vector after '%1'").arg(COMMAND_OPEN_SHIFT_ON_LOAD));

					//set the user defined shift vector as default shift information
					ccCommandLineInterface::CLLoadParameters& loadParams = cmd.fileLoadingParams();
					loadParams.m_coordinatesShiftEnabled = true;
					loadParams.m_coordinatesShift = shiftOnLoadVec;
				}
			}
			else
			{
				break;
			}
		}

		if (skipLines > 0)
		{
			AsciiOpenDlg* openDialog = AsciiFilter::GetOpenDialog();
			assert(openDialog);
			openDialog->setSkippedLines(skipLines);
		}

		//open specified file
		QString filename(cmd.arguments().takeFirst());
		return cmd.importFile(filename);
	}
};


struct CommandClearNormals : public ccCommandLineInterface::Command
{
	CommandClearNormals() : ccCommandLineInterface::Command("Clears normals", COMMAND_CLEAR_NORMALS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[CLEAR NORMALS]");
		if (cmd.clouds().empty() && cmd.meshes().empty())
		{
			return cmd.error(QObject::tr("No entity loaded (be sure to open at least one file with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_CLEAR_NORMALS));
		}

		for (const CLCloudDesc& thisCloudDesc : cmd.clouds())
		{
			ccPointCloud* cloud = thisCloudDesc.pc;
			if (cloud)
			{
				cloud->unallocateNorms();
			}
		}

		for (const CLMeshDesc& thisMeshDesc : cmd.meshes())
		{
			ccMesh* mesh = ccHObjectCaster::ToMesh(thisMeshDesc.mesh);
			if (!mesh)
			{
				assert(false);
				continue;
			}

			mesh->clearTriNormals();

			if (mesh->getParent()
				&& (mesh->getParent()->isA(CC_TYPES::MESH)/*|| mesh->getParent()->isKindOf(CC_TYPES::PRIMITIVE)*/) //TODO
				&& ccHObjectCaster::ToMesh(mesh->getParent())->getAssociatedCloud() == mesh->getAssociatedCloud())
			{
				//Can't remove per-vertex normals on a sub mesh!
			}
			else
			{
				//mesh is alone, we can freely remove normals
				if (mesh->getAssociatedCloud() && mesh->getAssociatedCloud()->isA(CC_TYPES::POINT_CLOUD))
				{
					static_cast<ccPointCloud*>(mesh->getAssociatedCloud())->unallocateNorms();
				}
			}
		}

		return true;
	}
};

struct CommandOctreeNormal : public ccCommandLineInterface::Command
{
	CommandOctreeNormal() : ccCommandLineInterface::Command("Compute normals with octree", COMMAND_COMPUTE_OCTREE_NORMALS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[OCTREE NORMALS CALCULATION]");
		if (cmd.clouds().empty())
		{
			return cmd.error(QObject::tr("No point cloud to normal calculation (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_COMPUTE_OCTREE_NORMALS));
		}

		if (cmd.arguments().empty())
		{
			return cmd.error(QObject::tr("Missing parameter: radius after \"-%1\"").arg(COMMAND_COMPUTE_OCTREE_NORMALS));
		}

		bool ok;
		float radius = cmd.arguments().takeFirst().toFloat(&ok);
		if (!ok)
		{
			return cmd.error(QObject::tr("Invalid radius"));
		}

		cmd.print(QObject::tr("\tRadius: %1").arg(radius));

		CC_LOCAL_MODEL_TYPES model = QUADRIC;
		ccNormalVectors::Orientation  orientation = ccNormalVectors::Orientation::UNDEFINED;

		while (!cmd.arguments().isEmpty())
		{
			auto arg = cmd.arguments().front().toUpper();
			if (arg.left(6) == "ORIENT")
			{
				cmd.arguments().takeFirst();
				if (!cmd.arguments().isEmpty())
				{
					QString orient_argument = cmd.arguments().takeFirst().toUpper();
					if (orient_argument == "PLUS_ZERO")
						orientation = ccNormalVectors::Orientation::PLUS_ZERO;
					else if (orient_argument == "MINUS_ZERO")
						orientation = ccNormalVectors::Orientation::MINUS_ZERO;
					else if (orient_argument == "PLUS_BARYCENTER")
						orientation = ccNormalVectors::Orientation::PLUS_BARYCENTER;
					else if (orient_argument == "MINUS_BARYCENTER")
						orientation = ccNormalVectors::Orientation::MINUS_BARYCENTER;
					else if (orient_argument == "PLUS_X")
						orientation = ccNormalVectors::Orientation::PLUS_X;
					else if (orient_argument == "MINUS_X")
						orientation = ccNormalVectors::Orientation::MINUS_X;
					else if (orient_argument == "PLUS_Y")
						orientation = ccNormalVectors::Orientation::PLUS_Y;
					else if (orient_argument == "MINUS_Y")
						orientation = ccNormalVectors::Orientation::MINUS_Y;
					else if (orient_argument == "PLUS_Z")
						orientation = ccNormalVectors::Orientation::PLUS_Z;
					else if (orient_argument == "MINUS_Z")
						orientation = ccNormalVectors::Orientation::MINUS_Z;
					else if (orient_argument == "PREVIOUS")
						orientation = ccNormalVectors::Orientation::PREVIOUS;
					else
						return cmd.error(QObject::tr("Invalid parameter: unknown orientation '%1'").arg(orient_argument));
				}
				else
				{
					return cmd.error(QObject::tr("Missing orientation"));
				}
			}
			else if (arg == "MODEL")
			{
				cmd.arguments().takeFirst();
				if (!cmd.arguments().isEmpty())
				{
					QString model_arg = cmd.arguments().takeFirst().toUpper();
					if (model_arg == "LS")
						model = CC_LOCAL_MODEL_TYPES::LS;
					else if (model_arg == "TRI")
						model = CC_LOCAL_MODEL_TYPES::TRI;
					else if (model_arg == "QUADRIC")
						model = CC_LOCAL_MODEL_TYPES::QUADRIC;
					else
						return cmd.error(QObject::tr("Invalid parameter: unknown model '%1'").arg(model_arg));
				}
				else
				{
					return cmd.error(QObject::tr("Missing model"));
				}
			}
			else
			{
				break;
			}
		}

		for (const CLCloudDesc& thisCloudDesc : cmd.clouds())
		{
			ccPointCloud* cloud = thisCloudDesc.pc;
			cmd.print("computeNormalsWithOctree started...\n");
			bool success = cloud->computeNormalsWithOctree(model, orientation, radius, nullptr);
			if(success)
			{
				cmd.print("computeNormalsWithOctree success");
				cmd.print(QObject::tr("cloud->hasNormals: %1").arg(cloud->hasNormals()));
			}
			else
			{
				return cmd.error("computeNormalsWithOctree failed");
			}
			
			cloud->setName(cloud->getName() + QObject::tr(".OctreeNormal"));
			if (cmd.autoSaveMode())
			{
				CLCloudDesc cloudDesc(cloud, thisCloudDesc.basename, thisCloudDesc.path, thisCloudDesc.indexInFile);
				QString errorStr = cmd.exportEntity(cloudDesc, "OCTREE_NORMALS");
				if (!errorStr.isEmpty())
				{
					return cmd.error(errorStr);
				}
			}
		}

		return true;
	}
};

struct CommandSubsample : public ccCommandLineInterface::Command
{
	CommandSubsample() : ccCommandLineInterface::Command("Subsample", COMMAND_SUBSAMPLE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SUBSAMPLING]");
		if (cmd.clouds().empty())
		{
			return cmd.error(QObject::tr("No point cloud to resample (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_SUBSAMPLE));
		}

		if (cmd.arguments().empty())
		{
			return cmd.error(QObject::tr("Missing parameter: resampling method after \"-%1\"").arg(COMMAND_SUBSAMPLE));
		}

		QString method = cmd.arguments().takeFirst().toUpper();
		cmd.print(QObject::tr("\tMethod: ") + method);
		if (method == "RANDOM")
		{
			if (cmd.arguments().empty())
			{
				return cmd.error(QObject::tr("Missing parameter: number of points after \"-%1 RANDOM\"").arg(COMMAND_SUBSAMPLE));
			}

			bool ok;
			unsigned count = cmd.arguments().takeFirst().toUInt(&ok);
			if (!ok)
			{
				return cmd.error("Invalid number of points for random resampling!");
			}
			cmd.print(QObject::tr("\tOutput points: %1").arg(count));

			for (size_t i = 0; i < cmd.clouds().size(); ++i)
			{
				ccPointCloud* cloud = cmd.clouds()[i].pc;
				cmd.print(QObject::tr("\tProcessing cloud #%1 (%2)").arg(i + 1).arg(!cloud->getName().isEmpty() ? cloud->getName() : "no name"));

				CCLib::ReferenceCloud* refCloud = CCLib::CloudSamplingTools::subsampleCloudRandomly(cloud, count, cmd.progressDialog());
				if (!refCloud)
				{
					return cmd.error("Subsampling process failed!");
				}
				cmd.print(QObject::tr("\tResult: %1 points").arg(refCloud->size()));

				//save output
				ccPointCloud* result = cloud->partialClone(refCloud);
				delete refCloud;
				refCloud = 0;

				if (result)
				{
					result->setName(cmd.clouds()[i].pc->getName() + QObject::tr(".subsampled"));
					if (cmd.autoSaveMode())
					{
						CLCloudDesc cloudDesc(result, cmd.clouds()[i].basename, cmd.clouds()[i].path, cmd.clouds()[i].indexInFile);
						QString errorStr = cmd.exportEntity(cloudDesc, "RANDOM_SUBSAMPLED");
						if (!errorStr.isEmpty())
						{
							delete result;
							return cmd.error(errorStr);
						}
					}
					//replace current cloud by this one
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = result;
					cmd.clouds()[i].basename += QObject::tr("_SUBSAMPLED");
					//delete result;
					//result = 0;
				}
				else
				{
					return cmd.error("Not enough memory!");
				}
			}
		}
		else if (method == "SPATIAL")
		{
			if (cmd.arguments().empty())
			{
				return cmd.error(QObject::tr("Missing parameter: spatial step after \"-%1 SPATIAL\"").arg(COMMAND_SUBSAMPLE));
			}
			bool ok;
			double step = cmd.arguments().takeFirst().toDouble(&ok);
			if (!ok || step <= 0)
			{
				return cmd.error("Invalid step value for spatial resampling!");
			}
			cmd.print(QObject::tr("\tSpatial step: %1").arg(step));

			for (size_t i = 0; i < cmd.clouds().size(); ++i)
			{
				ccPointCloud* cloud = cmd.clouds()[i].pc;
				cmd.print(QObject::tr("\tProcessing cloud #%1 (%2)").arg(i + 1).arg(!cloud->getName().isEmpty() ? cloud->getName() : "no name"));

				CCLib::CloudSamplingTools::SFModulationParams modParams(false);
				CCLib::ReferenceCloud* refCloud = CCLib::CloudSamplingTools::resampleCloudSpatially(cloud, static_cast<PointCoordinateType>(step), modParams, 0, cmd.progressDialog());
				if (!refCloud)
				{
					return cmd.error("Subsampling process failed!");
				}
				cmd.print(QObject::tr("\tResult: %1 points").arg(refCloud->size()));

				//save output
				ccPointCloud* result = cloud->partialClone(refCloud);
				delete refCloud;
				refCloud = 0;

				if (result)
				{
					result->setName(cmd.clouds()[i].pc->getName() + QObject::tr(".subsampled"));
					if (cmd.autoSaveMode())
					{
						CLCloudDesc cloudDesc(result, cmd.clouds()[i].basename, cmd.clouds()[i].path, cmd.clouds()[i].indexInFile);
						QString errorStr = cmd.exportEntity(cloudDesc, "SPATIAL_SUBSAMPLED");
						if (!errorStr.isEmpty())
						{
							delete result;
							return cmd.error(errorStr);
						}
					}
					//replace current cloud by this one
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = result;
					cmd.clouds()[i].basename += QObject::tr("_SUBSAMPLED");
					//delete result;
					//result = 0;
				}
				else
				{
					return cmd.error("Not enough memory!");
				}
			}
		}
		else if (method == "OCTREE")
		{
			if (cmd.arguments().empty())
			{
				return cmd.error(QObject::tr("Missing parameter: octree level after \"-%1 OCTREE\"").arg(COMMAND_SUBSAMPLE));
			}

			bool ok = false;
			int octreeLevel = cmd.arguments().takeFirst().toInt(&ok);
			if (!ok || octreeLevel < 1 || octreeLevel > CCLib::DgmOctree::MAX_OCTREE_LEVEL)
			{
				return cmd.error("Invalid octree level!");
			}
			cmd.print(QObject::tr("\tOctree level: %1").arg(octreeLevel));

			QScopedPointer<ccProgressDialog> progressDialog(0);
			if (!cmd.silentMode())
			{
				progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
				progressDialog->setAutoClose(false);
			}

			for (size_t i = 0; i < cmd.clouds().size(); ++i)
			{
				ccPointCloud* cloud = cmd.clouds()[i].pc;
				cmd.print(QObject::tr("\tProcessing cloud #%1 (%2)").arg(i + 1).arg(!cloud->getName().isEmpty() ? cloud->getName() : "no name"));

				CCLib::ReferenceCloud* refCloud = CCLib::CloudSamplingTools::subsampleCloudWithOctreeAtLevel(	cloud,
																												static_cast<unsigned char>(octreeLevel),
																												CCLib::CloudSamplingTools::NEAREST_POINT_TO_CELL_CENTER,
																												progressDialog.data());
				if (!refCloud)
				{
					return cmd.error("Subsampling process failed!");
				}
				cmd.print(QObject::tr("\tResult: %1 points").arg(refCloud->size()));

				//save output
				ccPointCloud* result = cloud->partialClone(refCloud);
				delete refCloud;
				refCloud = 0;

				if (result)
				{
					result->setName(cmd.clouds()[i].pc->getName() + QObject::tr(".subsampled"));
					if (cmd.autoSaveMode())
					{
						CLCloudDesc cloudDesc(result, cmd.clouds()[i].basename, cmd.clouds()[i].path, cmd.clouds()[i].indexInFile);
						QString errorStr = cmd.exportEntity(cloudDesc, QObject::tr("OCTREE_LEVEL_%1_SUBSAMPLED").arg(octreeLevel));
						if (!errorStr.isEmpty())
						{
							delete result;
							return cmd.error(errorStr);
						}
					}
					//replace current cloud by this one
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = result;
					cmd.clouds()[i].basename += QObject::tr("_SUBSAMPLED");
					//delete result;
					//result = 0;
				}
				else
				{
					return cmd.error("Not enough memory!");
				}
			}

			if (progressDialog)
			{
				progressDialog->close();
				QCoreApplication::processEvents();
			}
		}
		else
		{
			return cmd.error("Unknown method!");
		}

		return true;
	}
};

struct CommandExtractCCs : public ccCommandLineInterface::Command
{
	CommandExtractCCs() : ccCommandLineInterface::Command("ExtractCCs", COMMAND_EXTRACT_CC) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[CONNECTED COMPONENTS EXTRACTION]");
		if (cmd.clouds().empty())
		{
			return cmd.error(QObject::tr("No point cloud loaded (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_EXTRACT_CC));
		}

		//octree level
		if (cmd.arguments().empty())
		{
			return cmd.error(QObject::tr("Missing parameter: octree level after \"-%1\"").arg(COMMAND_EXTRACT_CC));
		}
		bool ok;
		unsigned char octreeLevel = std::min<unsigned char>(cmd.arguments().takeFirst().toUShort(&ok), CCLib::DgmOctree::MAX_OCTREE_LEVEL);
		if (!ok)
		{
			return cmd.error("Invalid octree level!");
		}
		cmd.print(QObject::tr("\tOctree level: %1").arg(octreeLevel));

		//min number of points
		if (cmd.arguments().empty())
		{
			return cmd.error(QObject::tr("Missing parameter: minimum number of points per component after \"-%1 [octree level]\"").arg(COMMAND_EXTRACT_CC));
		}
		unsigned minPointCount = cmd.arguments().takeFirst().toUInt(&ok);
		if (!ok)
		{
			return cmd.error("Invalid min. number of points!");
		}
		cmd.print(QObject::tr("\tMin number of points per component: %1").arg(minPointCount));

		try
		{
			QScopedPointer<ccProgressDialog> progressDialog(0);
			if (!cmd.silentMode())
			{
				progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
				progressDialog->setAutoClose(false);
			}

			std::vector< CLCloudDesc > inputClouds = cmd.clouds();
			cmd.clouds().resize(0);
			for (size_t i = 0; i < inputClouds.size(); ++i)
			{
				ccPointCloud* cloud = inputClouds[i].pc;
				cmd.print(QObject::tr("\tProcessing cloud #%1 (%2)").arg(i + 1).arg(!cloud->getName().isEmpty() ? cloud->getName() : "no name"));

				//we create/activate CCs label scalar field
				int sfIdx = cloud->getScalarFieldIndexByName(CC_CONNECTED_COMPONENTS_DEFAULT_LABEL_NAME);
				if (sfIdx < 0)
				{
					sfIdx = cloud->addScalarField(CC_CONNECTED_COMPONENTS_DEFAULT_LABEL_NAME);
				}
				if (sfIdx < 0)
				{
					cmd.error("Couldn't allocate a new scalar field for computing CC labels! Try to free some memory ...");
					continue;
				}
				cloud->setCurrentScalarField(sfIdx);

				//try to label all CCs
				int componentCount = CCLib::AutoSegmentationTools::labelConnectedComponents(cloud,
																							static_cast<unsigned char>(octreeLevel),
																							false,
																							progressDialog.data());

				if (componentCount == 0)
				{
					cmd.error("No component found!");
					continue;
				}

				cloud->getCurrentInScalarField()->computeMinAndMax();
				CCLib::ReferenceCloudContainer components;
				bool success = CCLib::AutoSegmentationTools::extractConnectedComponents(cloud, components);
				cloud->deleteScalarField(sfIdx);
				sfIdx = -1;

				if (!success)
				{
					cmd.warning("An error occurred (failed to finish the extraction)");
					continue;
				}

				//we create "real" point clouds for all input components
				int realIndex = 0;
				for (size_t j = 0; j < components.size(); ++j)
				{
					CCLib::ReferenceCloud* compIndexes = components[j];

					//if it has enough points
					if (compIndexes->size() >= minPointCount)
					{
						//we create a new entity
						ccPointCloud* compCloud = cloud->partialClone(compIndexes);
						if (compCloud)
						{
							//'shift on load' information
							compCloud->setGlobalShift(cloud->getGlobalShift());
							compCloud->setGlobalScale(cloud->getGlobalScale());
							compCloud->setName(QString(cloud->getName() + "_CC#%1").arg(j + 1));

							CLCloudDesc cloudDesc(compCloud, inputClouds[i].basename + QObject::tr("_COMPONENT_%1").arg(++realIndex), inputClouds[i].path);
							if (cmd.autoSaveMode())
							{
								QString errorStr = cmd.exportEntity(cloudDesc, QString(), 0, false, true);
								if (!errorStr.isEmpty())
								{
									cmd.error(errorStr);
								}
							}
							//add cloud to the current pool
							cmd.clouds().push_back(cloudDesc);
						}
						else
						{
							cmd.warning(QObject::tr("Failed to create component #%1! (not enough memory)").arg(j + 1));
						}
					}

					delete compIndexes;
					compIndexes = 0;
				}

				components.clear();

				if (cmd.clouds().empty())
				{
					cmd.error("No component was created! Check the minimum size...");
				}
				else
				{
					cmd.print(QObject::tr("%1 component(s) were created").arg(cmd.clouds().size()));
				}
			}

			if (progressDialog)
			{
				progressDialog->close();
				QCoreApplication::processEvents();
			}
		}
		catch (const std::bad_alloc&)
		{
			cmd.error("Not enough memory");
			return false;
		}

		return true;
	}
};

struct CommandCurvature : public ccCommandLineInterface::Command
{
	CommandCurvature() : ccCommandLineInterface::Command("Curvature", COMMAND_CURVATURE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[CURVATURE]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: curvature type after \"-%1\"").arg(COMMAND_CURVATURE));

		QString curvTypeStr = cmd.arguments().takeFirst().toUpper();
		CCLib::Neighbourhood::CurvatureType curvType = CCLib::Neighbourhood::MEAN_CURV;
		if (curvTypeStr == "MEAN")
		{
			//curvType = CCLib::Neighbourhood::MEAN_CURV;
		}
		else if (curvTypeStr == "GAUSS")
		{
			curvType = CCLib::Neighbourhood::GAUSSIAN_CURV;
		}
		else if (curvTypeStr == "NORMAL_CHANGE")
		{
			curvType = CCLib::Neighbourhood::NORMAL_CHANGE_RATE;
		}
		else
		{
			return cmd.error(QObject::tr("Invalid curvature type after \"-%1\". Got '%2' instead of MEAN or GAUSS.").arg(COMMAND_CURVATURE, curvTypeStr));
		}

		if (cmd.arguments().empty())
			return cmd.error("Missing parameter: kernel size after curvature type");

		bool paramOk = false;
		QString kernelStr = cmd.arguments().takeFirst();
		PointCoordinateType kernelSize = static_cast<PointCoordinateType>(kernelStr.toDouble(&paramOk));
		if (!paramOk)
			return cmd.error(QObject::tr("Failed to read a numerical parameter: kernel size (after curvature type). Got '%1' instead.").arg(kernelStr));
		cmd.print(QObject::tr("\tKernel size: %1").arg(kernelSize));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to compute curvature! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_CURVATURE));

		//Call MainWindow generic method
		ccHObject::Container entities;
		entities.resize(cmd.clouds().size());
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
			entities[i] = cmd.clouds()[i].pc;

		if (ccLibAlgorithms::ComputeGeomCharacteristic(CCLib::GeometricalAnalysisTools::Curvature, curvType, kernelSize, entities, cmd.widgetParent()))
		{
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds(QObject::tr("%1_CURVATURE_KERNEL_%2").arg(curvTypeStr).arg(kernelSize)))
				return false;
		}
		return true;
	}
};

static bool ReadDensityType(ccCommandLineInterface& cmd, CCLib::GeometricalAnalysisTools::Density& density)
{
	if (cmd.arguments().empty())
		return cmd.error(QObject::tr("Missing parameter: density type after \"-%1\" (KNN/SURFACE/VOLUME)").arg(COMMAND_DENSITY_TYPE));
	
	//read option confirmed, we can move on
	QString typeArg = cmd.arguments().takeFirst().toUpper();
	if (typeArg == "KNN")
	{
		density = CCLib::GeometricalAnalysisTools::DENSITY_KNN;
	}
	else if (typeArg == "SURFACE")
	{
		density = CCLib::GeometricalAnalysisTools::DENSITY_2D;
	}
	else if (typeArg == "VOLUME")
	{
		density = CCLib::GeometricalAnalysisTools::DENSITY_3D;
	}
	else
	{
		return cmd.error(QObject::tr("Invalid parameter: density type is expected after \"-%1\" (KNN/SURFACE/VOLUME)").arg(COMMAND_DENSITY_TYPE));
	}

	return true;
}

struct CommandApproxDensity : public ccCommandLineInterface::Command
{
	CommandApproxDensity() : ccCommandLineInterface::Command("ApproxDensity", COMMAND_APPROX_DENSITY) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[APPROX DENSITY]");
		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to compute approx. density! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_APPROX_DENSITY));

		//Call MainWindow generic method
		ccHObject::Container entities;
		entities.resize(cmd.clouds().size());
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
			entities[i] = cmd.clouds()[i].pc;

		//optional parameter: density type
		CCLib::GeometricalAnalysisTools::Density densityType = CCLib::GeometricalAnalysisTools::DENSITY_3D;
		if (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_DENSITY_TYPE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: density type after \"-%1\" (KNN/SURFACE/VOLUME)").arg(COMMAND_DENSITY_TYPE));
				//read option confirmed, we can move on
				if (!ReadDensityType(cmd, densityType))
					return false;
			}
		}

		if (ccLibAlgorithms::ComputeGeomCharacteristic(CCLib::GeometricalAnalysisTools::ApproxLocalDensity, densityType, 0, entities, cmd.widgetParent()))
		{
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds("APPROX_DENSITY"))
				return false;
		}

		return true;
	}
};

struct CommandDensity : public ccCommandLineInterface::Command
{
	CommandDensity() : ccCommandLineInterface::Command("Density", COMMAND_DENSITY) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[DENSITY]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: sphere radius after \"-%1\"").arg(COMMAND_DENSITY));

		bool paramOk = false;
		QString kernelStr = cmd.arguments().takeFirst();
		PointCoordinateType kernelSize = static_cast<PointCoordinateType>(kernelStr.toDouble(&paramOk));
		if (!paramOk)
			return cmd.error(QObject::tr("Failed to read a numerical parameter: sphere radius (after \"-%1\"). Got '%2' instead.").arg(COMMAND_DENSITY).arg(kernelStr));
		cmd.print(QObject::tr("\tSphere radius: %1").arg(kernelSize));

		//optional parameter: density type
		CCLib::GeometricalAnalysisTools::Density densityType = CCLib::GeometricalAnalysisTools::DENSITY_3D;
		if (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_DENSITY_TYPE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: density type after \"-%1\" (KNN/SURFACE/VOLUME)").arg(COMMAND_DENSITY_TYPE));
				//read option confirmed, we can move on
				if (!ReadDensityType(cmd, densityType))
					return false;
			}
		}

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to compute density! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_DENSITY));

		//Call MainWindow generic method
		ccHObject::Container entities;
		entities.resize(cmd.clouds().size());
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
			entities[i] = cmd.clouds()[i].pc;

		if (ccLibAlgorithms::ComputeGeomCharacteristic(CCLib::GeometricalAnalysisTools::LocalDensity, densityType, kernelSize, entities, cmd.widgetParent()))
		{
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds("DENSITY"))
				return false;
		}

		return true;
	}
};

struct CommandSFGradient : public ccCommandLineInterface::Command
{
	CommandSFGradient() : ccCommandLineInterface::Command("SF gradient", COMMAND_SF_GRADIENT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SF GRADIENT]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: boolean (whether SF is euclidean or not) after \"-%1\"").arg(COMMAND_SF_GRADIENT));

		QString euclideanStr = cmd.arguments().takeFirst().toUpper();
		bool euclidean = false;
		if (euclideanStr == "TRUE")
		{
			euclidean = true;
		}
		else if (euclideanStr != "FALSE")
		{
			return cmd.error(QObject::tr("Invalid boolean value after \"-%1\". Got '%2' instead of TRUE or FALSE.").arg(COMMAND_SF_GRADIENT, euclideanStr));
		}

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to compute SF gradient! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_SF_GRADIENT));

		//Call MainWindow generic method
		void* additionalParameters[1] = { &euclidean };
		ccHObject::Container entities;
		entities.reserve(cmd.clouds().size());
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			unsigned sfCount = cmd.clouds()[i].pc->getNumberOfScalarFields();
			if (sfCount == 0)
			{
				cmd.warning(QObject::tr("cmd.warning: cloud '%1' has no scalar field (it will be ignored)").arg(cmd.clouds()[i].pc->getName()));
			}
			else
			{
				if (sfCount > 1)
					cmd.warning(QObject::tr("cmd.warning: cloud '%1' has several scalar fields (the active one will be used by default, or the first one if none is active)").arg(cmd.clouds()[i].pc->getName()));

				int activeSFIndex = cmd.clouds()[i].pc->getCurrentOutScalarFieldIndex();
				if (activeSFIndex < 0)
					activeSFIndex = 0;

				cmd.clouds()[i].pc->setCurrentDisplayedScalarField(activeSFIndex);

				entities.push_back(cmd.clouds()[i].pc);
			}
		}

		if (ccLibAlgorithms::ApplyCCLibAlgorithm(ccLibAlgorithms::CCLIB_ALGO_SF_GRADIENT, entities, cmd.widgetParent(), additionalParameters))
		{
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds(euclidean ? "EUCLIDEAN_SF_GRAD" : "SF_GRAD"))
				return false;
		}

		return true;
	}
};

struct CommandRoughness : public ccCommandLineInterface::Command
{
	CommandRoughness() : ccCommandLineInterface::Command("Roughness", COMMAND_ROUGHNESS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[ROUGHNESS]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: kernel size after \"-%1\"").arg(COMMAND_ROUGHNESS));

		bool paramOk = false;
		QString kernelStr = cmd.arguments().takeFirst();
		PointCoordinateType kernelSize = static_cast<PointCoordinateType>(kernelStr.toDouble(&paramOk));
		if (!paramOk)
			return cmd.error(QObject::tr("Failed to read a numerical parameter: kernel size (after \"-%1\"). Got '%2' instead.").arg(COMMAND_ROUGHNESS, kernelStr));
		cmd.print(QObject::tr("\tKernel size: %1").arg(kernelSize));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to compute roughness! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_ROUGHNESS));

		//Call MainWindow generic method
		ccHObject::Container entities;
		entities.resize(cmd.clouds().size());
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
			entities[i] = cmd.clouds()[i].pc;

		if (ccLibAlgorithms::ComputeGeomCharacteristic(CCLib::GeometricalAnalysisTools::Roughness, 0, kernelSize, entities, cmd.widgetParent()))
		{
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds(QObject::tr("ROUGHNESS_KERNEL_%2").arg(kernelSize)))
				return false;
		}

		return true;
	}
};

struct CommandApplyTransformation : public ccCommandLineInterface::Command
{
	CommandApplyTransformation() : ccCommandLineInterface::Command("Apply Transformation", COMMAND_APPLY_TRANSFORMATION) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[APPLY TRANSFORMATION]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: transformation file after \"-%1\"").arg(COMMAND_APPLY_TRANSFORMATION));

		QString filename = cmd.arguments().takeFirst();
		ccGLMatrix mat;
		if (!mat.fromAsciiFile(filename))
			return cmd.error(QObject::tr("Failed to read transformation matrix file '%1'!").arg(filename));

		cmd.print(QObject::tr("Transformation:\n") + mat.toString(6));

		if (cmd.clouds().empty() && cmd.meshes().empty())
			return cmd.error(QObject::tr("No entity on which to apply the transformation! (be sure to open one with \"-%1 [filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_APPLY_TRANSFORMATION));

		//apply transformation
		if (!cmd.clouds().empty())
		{
			for (const CLCloudDesc& desc : cmd.clouds())
			{
				desc.pc->applyGLTransformation_recursive(&mat);
				desc.pc->setName(desc.pc->getName() + ".transformed");
			}
			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds("TRANSFORMED"))
				return false;
		}
		if (!cmd.meshes().empty())
		{
			for (const CLMeshDesc& desc : cmd.meshes())
			{
				desc.mesh->applyGLTransformation_recursive(&mat);
				desc.mesh->setName(desc.mesh->getName() + ".transformed");
			}
			//save output
			if (cmd.autoSaveMode() && !cmd.saveMeshes("TRANSFORMED"))
				return false;
		}

		return true;
	}
};

struct CommandDropGlobalShift : public ccCommandLineInterface::Command
{
	CommandDropGlobalShift() : ccCommandLineInterface::Command("Drop global shift", COMMAND_DROP_GLOBAL_SHIFT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[DROP GLOBAL SHIFT]");

		if (cmd.clouds().empty() && cmd.meshes().empty())
			return cmd.error(QObject::tr("No loaded entity! (be sure to open one with \"-%1 [filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_DROP_GLOBAL_SHIFT));

		//process clouds
		for (const CLCloudDesc& desc : cmd.clouds())
		{
			desc.pc->setGlobalShift(0, 0, 0);
		}

		for (const CLMeshDesc& desc : cmd.meshes())
		{
			bool isLocked = false;
			ccShiftedObject* shifted = ccHObjectCaster::ToShifted(desc.mesh, &isLocked);
			if (shifted && !isLocked)
			{
				shifted->setGlobalShift(0, 0, 0);
			}
		}

		return true;
	}
};

struct CommandSFColorScale : public ccCommandLineInterface::Command
{
	CommandSFColorScale() : ccCommandLineInterface::Command("SF color scale", COMMAND_SF_COLOR_SCALE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SF COLOR SCALE]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: color scale file after \"-%1\"").arg(COMMAND_SF_COLOR_SCALE));

		QString filename = cmd.arguments().takeFirst();

		ccColorScale::Shared scale = ccColorScale::LoadFromXML(filename);

		if (!scale)
			return cmd.error(QObject::tr("Failed to read color scale file '%1'!").arg(filename));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to change the SF color scale! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_SF_COLOR_SCALE));

		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccScalarField* sf = static_cast<ccScalarField*>(cmd.clouds()[i].pc->getCurrentOutScalarField());
			if (sf)
			{
				sf->setColorScale(scale);
			}
		}

		if (cmd.autoSaveMode() && !cmd.saveClouds("COLOR_SCALE"))
			return false;

		return true;
	}
};

struct CommandSFConvertToRGB : public ccCommandLineInterface::Command
{
	CommandSFConvertToRGB() : ccCommandLineInterface::Command("SF convert to RGB", COMMAND_SF_CONVERT_TO_RGB) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SF CONVERT TO RGB]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: boolean (whether to mix with existing colors or not) after \"-%1\"").arg(COMMAND_SF_CONVERT_TO_RGB));

		QString mixWithExistingColorsStr = cmd.arguments().takeFirst().toUpper();
		bool mixWithExistingColors = false;
		if (mixWithExistingColorsStr == "TRUE")
		{
			mixWithExistingColors = true;
		}
		else if (mixWithExistingColorsStr != "FALSE")
		{
			return cmd.error(QObject::tr("Invalid boolean value after \"-%1\". Got '%2' instead of TRUE or FALSE.").arg(COMMAND_SF_CONVERT_TO_RGB, mixWithExistingColorsStr));
		}

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to convert SF to RGB! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_SF_CONVERT_TO_RGB));

		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* pc = cmd.clouds()[i].pc;
			unsigned sfCount = pc->getNumberOfScalarFields();
			int activeSFIndex = pc->getCurrentOutScalarFieldIndex();

			if (sfCount == 0)
			{
				cmd.warning(QObject::tr("cmd.warning: cloud '%1' has no scalar field (it will be ignored)").arg(pc->getName()));
			}
			else if (activeSFIndex < 0)
			{
				cmd.warning(QObject::tr("cmd.warning: cloud '%1' has no active scalar field (it will be ignored)").arg(pc->getName()));
			}
			else
			{
				int displaySFIndex = pc->getCurrentDisplayedScalarFieldIndex();
				pc->setCurrentDisplayedScalarField(activeSFIndex);

				if (pc->setRGBColorWithCurrentScalarField(mixWithExistingColors))
				{
					pc->showColors(true);
					pc->showSF(false);
				}
				else
				{
					cmd.warning(QObject::tr("cmd.warning: cloud '%1' failed to convert SF to RGB").arg(pc->getName()));
				}

				pc->setCurrentDisplayedScalarField(displaySFIndex);
			}
		}

		if (cmd.autoSaveMode() && !cmd.saveClouds("SF_CONVERT_TO_RGB"))
			return false;

		return true;
	}
};

struct CommandFilterBySFValue : public ccCommandLineInterface::Command
{
	CommandFilterBySFValue() : ccCommandLineInterface::Command("Filter by SF value", COMMAND_FILTER_SF_BY_VALUE) {}

	//special SF values that can be used instead of explicit ones
	enum USE_SPECIAL_SF_VALUE
	{
		USE_NONE,
		USE_MIN,
		USE_DISP_MIN,
		USE_SAT_MIN,
		USE_MAX,
		USE_DISP_MAX,
		USE_SAT_MAX
	};

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[FILTER BY VALUE]");

		USE_SPECIAL_SF_VALUE useValForMin = USE_NONE;
		ScalarType minVal = 0;
		QString minValStr;
		{
			if (cmd.arguments().empty())
				return cmd.error(QObject::tr("Missing parameter: min value after \"-%1\"").arg(COMMAND_FILTER_SF_BY_VALUE));

			bool paramOk = false;
			minValStr = cmd.arguments().takeFirst();
			if (minValStr.toUpper() == "MIN")
			{
				useValForMin = USE_MIN;
			}
			else if (minValStr.toUpper() == "DISP_MIN")
			{
				useValForMin = USE_DISP_MIN;
			}
			else if (minValStr.toUpper() == "SAT_MIN")
			{
				useValForMin = USE_SAT_MIN;
			}
			else
			{
				minVal = static_cast<ScalarType>(minValStr.toDouble(&paramOk));
				if (!paramOk)
					return cmd.error(QObject::tr("Failed to read a numerical parameter: min value (after \"-%1\"). Got '%2' instead.").arg(COMMAND_FILTER_SF_BY_VALUE).arg(minValStr));
			}
		}

		USE_SPECIAL_SF_VALUE useValForMax = USE_NONE;
		ScalarType maxVal = 0;
		QString maxValStr;
		{
			if (cmd.arguments().empty())
				return cmd.error(QObject::tr("Missing parameter: max value after \"-%1\" {min}").arg(COMMAND_FILTER_SF_BY_VALUE));

			bool paramOk = false;
			maxValStr = cmd.arguments().takeFirst();
			if (maxValStr.toUpper() == "MAX")
			{
				useValForMax = USE_MAX;
			}
			else if (maxValStr.toUpper() == "DISP_MAX")
			{
				useValForMax = USE_DISP_MAX;
			}
			else if (maxValStr.toUpper() == "SAT_MAX")
			{
				useValForMax = USE_SAT_MAX;
			}
			else
			{
				maxVal = static_cast<ScalarType>(maxValStr.toDouble(&paramOk));
				if (!paramOk)
					return cmd.error(QObject::tr("Failed to read a numerical parameter: max value (after min value). Got '%1' instead.").arg(COMMAND_FILTER_SF_BY_VALUE, maxValStr));
			}
		}

		cmd.print(QObject::tr("\tInterval: [%1 - %2]").arg(minValStr, maxValStr));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud on which to filter SF! (be sure to open one or generate one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_FILTER_SF_BY_VALUE));


		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			CCLib::ScalarField* sf = cmd.clouds()[i].pc->getCurrentOutScalarField();
			if (sf)
			{
				ScalarType thisMinVal = minVal;
				{
					switch (useValForMin)
					{
					case USE_MIN:
						thisMinVal = sf->getMin();
						break;
					case USE_DISP_MIN:
						thisMinVal = static_cast<ccScalarField*>(sf)->displayRange().start();
						break;
					case USE_SAT_MIN:
						thisMinVal = static_cast<ccScalarField*>(sf)->saturationRange().start();
						break;
					default:
						//nothing to do
						break;
					}
				}

				ScalarType thisMaxVal = maxVal;
				{
					switch (useValForMax)
					{
					case USE_MAX:
						thisMaxVal = sf->getMax();
						break;
					case USE_DISP_MAX:
						thisMaxVal = static_cast<ccScalarField*>(sf)->displayRange().stop();
						break;
					case USE_SAT_MAX:
						thisMaxVal = static_cast<ccScalarField*>(sf)->saturationRange().stop();
						break;
					default:
						//nothing to do
						break;
					}
				}

				ccPointCloud* fitleredCloud = cmd.clouds()[i].pc->filterPointsByScalarValue(thisMinVal, thisMaxVal);
				if (fitleredCloud)
				{
					cmd.print(QObject::tr("\t\tCloud '%1' --> %2/%3 points remaining").arg(cmd.clouds()[i].pc->getName()).arg(fitleredCloud->size()).arg(cmd.clouds()[i].pc->size()));

					CLCloudDesc resultDesc(fitleredCloud, cmd.clouds()[i].basename, cmd.clouds()[i].path, cmd.clouds()[i].indexInFile);
					//replace current cloud by this one
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = fitleredCloud;
					cmd.clouds()[i].basename += QObject::tr("_FILTERED_[%1_%2]").arg(thisMinVal).arg(thisMaxVal);
					if (cmd.autoSaveMode())
					{
						QString errorStr = cmd.exportEntity(resultDesc);
						if (!errorStr.isEmpty())
						{
							delete fitleredCloud;
							return cmd.error(errorStr);
						}
					}
				}
			}
		}

		return true;
	}
};

struct CommandComputeMeshVolume : public ccCommandLineInterface::Command
{
	CommandComputeMeshVolume() : ccCommandLineInterface::Command("Compute mesh volume", COMMAND_MESH_VOLUME) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[COMPUTE MESH VOLUME]");

		if (cmd.meshes().empty())
		{
			cmd.warning("No mesh loaded! Nothing to do...");
			return true;
		}

		//optional parameters
		QString outputFilename;
		if (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_VOLUME_TO_FILE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (!cmd.arguments().empty())
				{
					outputFilename = cmd.arguments().front();
					cmd.arguments().pop_front();
					cmd.print("Volume report file: " + outputFilename);
				}
				else
				{
					return cmd.error(QObject::tr("Missing argument: filename after '%1'").arg(COMMAND_VOLUME_TO_FILE));
				}
			}
		}

		QFile outFile;
		QTextStream outStream(&outFile);
		if (!outputFilename.isEmpty())
		{
			outFile.setFileName(outputFilename);
			if (!outFile.open(QFile::WriteOnly | QFile::Text))
			{
				return cmd.error("Failed to create/open volume report file");
			}
		}

		//for each meshe
		for (CLMeshDesc& meshDesc : cmd.meshes())
		{
			//we compute the mesh volume
			double V = CCLib::MeshSamplingTools::computeMeshVolume(meshDesc.mesh);

			QString titleStr = QObject::tr("Mesh '%1'").arg(meshDesc.basename);
			if (meshDesc.indexInFile >= 0)
			{
				titleStr += QObject::tr(" (#%2)").arg(meshDesc.indexInFile);
			}
			cmd.print(titleStr);
			QString volumeStr = QObject::tr("V = %2").arg(V, 0, 'f', 8);
			cmd.print(volumeStr);

			if (outFile.isOpen())
			{
				outStream << titleStr << endl;
				outStream << volumeStr << endl;
			}
		}

		return true;
	}
};

struct CommandMergeMeshes : public ccCommandLineInterface::Command
{
	CommandMergeMeshes() : ccCommandLineInterface::Command("Merge meshes", COMMAND_MERGE_MESHES) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[MERGE MESHES]");

		if (cmd.meshes().size() < 2)
		{
			cmd.warning("Less than 2 meshes are loaded! Nothing to do...");
			return true;
		}

		CLMeshDesc mergedMeshDesc;
		bool firstValidMesh = true;

		//create the destination mesh
		ccPointCloud* vertices = new ccPointCloud("vertices");
		QScopedPointer<ccMesh> mergedMesh(new ccMesh(vertices));
		mergedMesh->setName("Merged mesh");
		mergedMesh->addChild(vertices);
		vertices->setEnabled(false);

		//merge meshes
		for (CLMeshDesc& meshDesc : cmd.meshes())
		{
			//get the mesh
			ccMesh* mesh = dynamic_cast<ccMesh*>(meshDesc.mesh);
			if (!mesh)
			{
				ccLog::Error(QObject::tr("Can't merge mesh '%1' (unhandled type)").arg(meshDesc.basename));
			}
			
			if (mergedMesh->merge(mesh, true)) //merge it
			{
				if (firstValidMesh)
				{
					//copy the first valid mesh description
					mergedMeshDesc = meshDesc;
					mergedMeshDesc.mesh = nullptr;
					firstValidMesh = false;
				}
			}
			else
			{
				return cmd.error("Merge operation failed");
			}

			delete meshDesc.mesh;
			meshDesc.mesh = nullptr;
		}

		if (mergedMesh->size() == 0)
		{
			return cmd.error("Result is empty");
		}

		//clean the 'cmd.meshes()' vector
		cmd.removeMeshes();
		//add the new mesh
		mergedMeshDesc.basename += QObject::tr("_MERGED");
		mergedMeshDesc.mesh = mergedMesh.take();
		cmd.meshes().push_back(mergedMeshDesc);

		if (cmd.autoSaveMode())
		{
			QString errorStr = cmd.exportEntity(mergedMeshDesc);
			if (!errorStr.isEmpty())
				return cmd.error(errorStr);
		}

		return true;
	}
};

struct CommandMergeClouds : public ccCommandLineInterface::Command
{
	CommandMergeClouds() : ccCommandLineInterface::Command("Merge clouds", COMMAND_MERGE_CLOUDS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[MERGE CLOUDS]");

		if (cmd.clouds().size() < 2)
		{
			cmd.warning("Less than 2 clouds are loaded! Nothing to do...");
			return true;
		}

		//merge clouds
		{
			for (size_t i = 1; i < cmd.clouds().size(); ++i)
			{
				unsigned beforePts = cmd.clouds().front().pc->size();
				unsigned newPts = cmd.clouds()[i].pc->size();
				*cmd.clouds().front().pc += cmd.clouds()[i].pc;

				//success?
				if (cmd.clouds().front().pc->size() == beforePts + newPts)
				{
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = nullptr;
				}
				else
				{
					return cmd.error("Fusion failed! (not enough memory?)");
				}
			}
		}

		//clean the 'cmd.clouds()' vector
		cmd.clouds().resize(1);
		//update the first one
		cmd.clouds().front().basename += QObject::tr("_MERGED");
		if (cmd.autoSaveMode())
		{
			QString errorStr = cmd.exportEntity(cmd.clouds().front());
			if (!errorStr.isEmpty())
				return cmd.error(errorStr);
		}
		return true;
	}
};

struct CommandSetActiveSF : public ccCommandLineInterface::Command
{
	CommandSetActiveSF() : ccCommandLineInterface::Command("Set active SF", COMMAND_SET_ACTIVE_SF) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: scalar field index after \"-%1\"").arg(COMMAND_SET_ACTIVE_SF));

		bool paramOk = false;
		QString sfIndexStr = cmd.arguments().takeFirst();
		int sfIndex = sfIndexStr.toInt(&paramOk);
		if (!paramOk)
			return cmd.error(QObject::tr("Failed to read a numerical parameter: S.F. index (after \"-%1\"). Got '%2' instead.").arg(COMMAND_SET_ACTIVE_SF, sfIndexStr));
		cmd.print(QObject::tr("Set active S.F. index: %1").arg(sfIndex));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud loaded! (be sure to open one with \"-%1 [cloud filename]\" before \"-%2\")").arg(COMMAND_OPEN, COMMAND_SET_ACTIVE_SF));

		for (size_t i = 0; i<cmd.clouds().size(); ++i)
		{
			if (cmd.clouds()[i].pc && cmd.clouds()[i].pc->hasScalarFields())
			{
				if (static_cast<int>(cmd.clouds()[i].pc->getNumberOfScalarFields()) > sfIndex)
					cmd.clouds()[i].pc->setCurrentScalarField(sfIndex);
				else
					cmd.warning(QObject::tr("Cloud '%1' has less scalar fields than the index to select!").arg(cmd.clouds()[i].pc->getName()));
			}
		}

		return true;
	}
};

struct CommandRemoveAllSF : public ccCommandLineInterface::Command
{
	CommandRemoveAllSF() : ccCommandLineInterface::Command("Remove all SF", COMMAND_REMOVE_ALL_SFS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		//no argument required
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			if (cmd.clouds()[i].pc/* && cmd.clouds()[i].pc->hasScalarFields()*/)
			{
				cmd.clouds()[i].pc->deleteAllScalarFields();
				cmd.clouds()[i].pc->showSF(false);
			}
		}

		for (size_t i = 0; i < cmd.meshes().size(); ++i)
		{
			if (cmd.meshes()[i].mesh)
			{
				ccGenericPointCloud* cloud = cmd.meshes()[i].mesh->getAssociatedCloud();
				if (cloud->isA(CC_TYPES::POINT_CLOUD))
				{
					static_cast<ccPointCloud*>(cloud)->deleteAllScalarFields();
					cloud->showSF(false);
				}
			}
		}

		return true;
	}
};

struct CommandRemoveScanGrids : public ccCommandLineInterface::Command
{
	CommandRemoveScanGrids() : ccCommandLineInterface::Command("Remove scan grids", COMMAND_REMOVE_SCAN_GRIDS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		//no argument required
		for (CLCloudDesc& cloudDesc : cmd.clouds())
		{
			if (cloudDesc.pc)
			{
				cloudDesc.pc->removeGrids();
			}
		}

		for (CLMeshDesc& meshDesc : cmd.meshes())
		{
			if (meshDesc.mesh)
			{
				ccGenericPointCloud* cloud = meshDesc.mesh->getAssociatedCloud();
				if (cloud->isA(CC_TYPES::POINT_CLOUD))
				{
					static_cast<ccPointCloud*>(cloud)->removeGrids();
				}
			}
		}

		return true;
	}
}; 

struct CommandMatchBBCenters : public ccCommandLineInterface::Command
{
	CommandMatchBBCenters() : ccCommandLineInterface::Command("Match B.B. centers", COMMAND_MATCH_BB_CENTERS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[MATCH B.B. CENTERS]");

		std::vector<CLEntityDesc*> entities;
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
			entities.push_back(&cmd.clouds()[i]);
		for (size_t j = 0; j < cmd.meshes().size(); ++j)
			entities.push_back(&cmd.meshes()[j]);

		if (entities.empty())
		{
			return cmd.error("No entity loaded!");
		}
		else if (entities.size() == 1)
		{
			cmd.warning("Nothing to do: only one entity currently loaded!");
			return true;
		}

		CCVector3 firstCenter = entities.front()->getEntity()->getOwnBB().getCenter();
		for (size_t i = 1; i < entities.size(); ++i)
		{
			ccHObject* ent = entities[i]->getEntity();
			CCVector3 center = ent->getOwnBB().getCenter();
			CCVector3 T = firstCenter - center;

			//transformation (used only for translation)
			ccGLMatrix glTrans;
			glTrans += T;

			//apply translation matrix
			ent->applyGLTransformation_recursive(&glTrans);
			cmd.print(QObject::tr("Entity '%1' has been translated: (%2,%3,%4)").arg(ent->getName()).arg(T.x).arg(T.y).arg(T.z));
			if (cmd.autoSaveMode())
			{
				QString errorStr = cmd.exportEntity(*entities[i]);
				if (!errorStr.isEmpty())
					return cmd.error(errorStr);
			}
		}

		return true;
	}
};

struct CommandMatchBestFitPlane : public ccCommandLineInterface::Command
{
	CommandMatchBestFitPlane() : ccCommandLineInterface::Command("Match best fit plane", COMMAND_BEST_FIT_PLANE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[COMPUTE BEST FIT PLANE]");

		//look for local options
		bool makeCloudsHoriz = false;
		bool keepLoaded = false;

		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_BEST_FIT_PLANE_MAKE_HORIZ))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				makeCloudsHoriz = true;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_BEST_FIT_PLANE_KEEP_LOADED))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				keepLoaded = true;
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No cloud available. Be sure to open one first!"));

		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* pc = cmd.clouds()[i].pc;

			//try to fit plane
			double rms = 0.0;
			ccPlane* pPlane = ccPlane::Fit(pc, &rms);
			if (pPlane)
			{
				cmd.print(QObject::tr("Plane successfully fitted: rms = %1").arg(rms));

				CCVector3 N = pPlane->getNormal();
				CCVector3 C = *CCLib::Neighbourhood(pc).getGravityCenter();

				CLMeshDesc planeDesc;
				planeDesc.mesh = pPlane;
				planeDesc.basename = cmd.clouds()[i].basename;
				planeDesc.path = cmd.clouds()[i].path;

				//save plane as a BIN file
				QString outputFilename;
				QString errorStr = cmd.exportEntity(planeDesc, "BEST_FIT_PLANE", &outputFilename);
				if (!errorStr.isEmpty())
					cmd.warning(errorStr);

				//open text file to save plane related information
				QString txtFilename = QObject::tr("%1/%2_BEST_FIT_PLANE_INFO").arg(cmd.clouds()[i].path, cmd.clouds()[i].basename);
				if (cmd.addTimestamp())
					txtFilename += QObject::tr("_%1").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd_hh'h'mm"));
				txtFilename += QObject::tr(".txt");
				QFile txtFile(txtFilename);
				txtFile.open(QIODevice::WriteOnly | QIODevice::Text);
				QTextStream txtStream(&txtFile);

				txtStream << QObject::tr("Filename: %1").arg(outputFilename) << endl;
				txtStream << QObject::tr("Fitting RMS: %1").arg(rms) << endl;

				//We always consider the normal with a positive 'Z' by default!
				if (N.z < 0.0)
					N *= -1.0;

				int precision = cmd.numericalPrecision();
				txtStream << QObject::tr("Normal: (%1,%2,%3)").arg(N.x, 0, 'f', precision).arg(N.y, 0, 'f', precision).arg(N.z, 0, 'f', precision) << endl;

				//we compute strike & dip by the way
				{
					PointCoordinateType dip = 0, dipDir = 0;
					ccNormalVectors::ConvertNormalToDipAndDipDir(N, dip, dipDir);
					txtStream << ccNormalVectors::ConvertDipAndDipDirToString(dip, dipDir) << endl;
				}

				//compute the transformation matrix that would make this normal points towards +Z
				ccGLMatrix makeZPosMatrix = ccGLMatrix::FromToRotation(N, CCVector3(0, 0, PC_ONE));
				CCVector3 Gt = C;
				makeZPosMatrix.applyRotation(Gt);
				makeZPosMatrix.setTranslation(C - Gt);

				txtStream << "Orientation matrix:" << endl;
				txtStream << makeZPosMatrix.toString(precision, ' ') << endl;

				//close the text file
				txtFile.close();

				if (keepLoaded)
				{
					//add the resulting plane (mesh) to the main set
					cmd.meshes().push_back(planeDesc);
				}

				if (makeCloudsHoriz)
				{
					//apply 'horizontal' matrix
					pc->applyGLTransformation_recursive(&makeZPosMatrix);
					cmd.print(QObject::tr("Cloud '%1' has been transformed with the above matrix").arg(pc->getName()));
					cmd.clouds()[i].basename += QObject::tr("_HORIZ");
					if (cmd.autoSaveMode())
					{
						QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
						if (!errorStr.isEmpty())
							cmd.warning(errorStr);
					}
				}
			}
			else
			{
				cmd.warning(QObject::tr("Failed to compute best fit plane for cloud '%1'").arg(cmd.clouds()[i].pc->getName()));
			}
		}

		return true;
	}
};

struct CommandOrientNormalsMST : public ccCommandLineInterface::Command
{
	CommandOrientNormalsMST() : ccCommandLineInterface::Command("Orient normals", COMMAND_ORIENT_NORMALS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[ORIENT NORMALS (MST)]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: number of neighbors after \"-%1\"").arg(COMMAND_ORIENT_NORMALS));

		QString knnStr = cmd.arguments().takeFirst();
		bool ok;
		int knn = knnStr.toInt(&ok);
		if (!ok || knn <= 0)
			return cmd.error(QObject::tr("Invalid parameter: number of neighbors (%1)").arg(knnStr));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No cloud available. Be sure to open one first!"));

		QScopedPointer<ccProgressDialog> progressDialog(0);
		if (!cmd.silentMode())
		{
			progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
			progressDialog->setAutoClose(false);
		}

		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* cloud = cmd.clouds()[i].pc;
			assert(cloud);

			if (!cloud->hasNormals())
			{
				continue;
			}

			//computation
			if (cloud->orientNormalsWithMST(knn, progressDialog.data()))
			{
				cmd.clouds()[i].basename += QObject::tr("_NORMS_REORIENTED");
				if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
					if (!errorStr.isEmpty())
						cmd.warning(errorStr);
				}
			}
			else
			{
				return cmd.error(QObject::tr("Failed to orient the normals of cloud '%1'!").arg(cloud->getName()));
			}
		}

		if (progressDialog)
		{
			progressDialog->close();
			QCoreApplication::processEvents();
		}

		return true;
	}
};

struct CommandSORFilter : public ccCommandLineInterface::Command
{
	CommandSORFilter() : ccCommandLineInterface::Command("S.O.R. filter", COMMAND_SOR_FILTER) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SOR FILTER]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: number of neighbors mode after \"-%1\"").arg(COMMAND_SOR_FILTER));

		QString knnStr = cmd.arguments().takeFirst();
		bool ok;
		int knn = knnStr.toInt(&ok);
		if (!ok || knn <= 0)
			return cmd.error(QObject::tr("Invalid parameter: number of neighbors (%1)").arg(knnStr));

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: sigma multiplier after number of neighbors (SOR)"));
		QString sigmaStr = cmd.arguments().takeFirst();
		double nSigma = sigmaStr.toDouble(&ok);
		if (!ok || nSigma < 0)
			return cmd.error(QObject::tr("Invalid parameter: sigma multiplier (%1)").arg(nSigma));

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No cloud available. Be sure to open one first!"));

		QScopedPointer<ccProgressDialog> progressDialog(0);
		if (!cmd.silentMode())
		{
			progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
			progressDialog->setAutoClose(false);
		}
		
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* cloud = cmd.clouds()[i].pc;
			assert(cloud);

			//computation
			CCLib::ReferenceCloud* selection = CCLib::CloudSamplingTools::sorFilter(cloud,
																					knn,
																					nSigma,
																					0,
																					progressDialog.data());

			if (selection)
			{
				ccPointCloud* cleanCloud = cloud->partialClone(selection);
				if (cleanCloud)
				{
					cleanCloud->setName(cloud->getName() + QObject::tr(".clean"));
					if (cmd.autoSaveMode())
					{
						CLCloudDesc cloudDesc(cleanCloud, cmd.clouds()[i].basename, cmd.clouds()[i].path, cmd.clouds()[i].indexInFile);
						QString errorStr = cmd.exportEntity(cloudDesc, "SOR");
						if (!errorStr.isEmpty())
						{
							delete cleanCloud;
							return cmd.error(errorStr);
						}
					}
					//replace current cloud by this one
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = cleanCloud;
					cmd.clouds()[i].basename += QObject::tr("_SOR");
					//delete cleanCloud;
					//cleanCloud = 0;
				}
				else
				{
					return cmd.error(QObject::tr("Not enough memory to create a clean version of cloud '%1'!").arg(cloud->getName()));
				}

				delete selection;
				selection = 0;
			}
			else
			{
				//no points fall inside selection!
				return cmd.error(QObject::tr("Failed to apply SOR filter on cloud '%1'! (not enough memory?)").arg(cloud->getName()));
			}
		}

		if (progressDialog)
		{
			progressDialog->close();
			QCoreApplication::processEvents();
		}

		return true;
	}
};

struct CommandExtractVertices : public ccCommandLineInterface::Command
{
	CommandExtractVertices() : ccCommandLineInterface::Command("Extract vertices (as a standalone 'cloud')", COMMAND_EXTRACT_VERTICES) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[EXTRACT VERTICES]");

		if (cmd.meshes().empty())
		{
			cmd.warning(QObject::tr("No mesh available. Be sure to open one first!"));
			return false;
		}

		for (size_t i = 0; i < cmd.meshes().size(); ++i)
		{
			ccGenericPointCloud* cloud = cmd.meshes()[i].mesh->getAssociatedCloud();
			ccPointCloud* pc = ccHObjectCaster::ToPointCloud(cloud);
			if (!pc)
			{
				assert(false);
				continue;
			}

			//add the resulting cloud to the main set
			cmd.clouds().emplace_back(pc, cmd.meshes()[i].basename + QObject::tr(".vertices"), cmd.meshes()[i].path);

			//save it as well
			if (cmd.autoSaveMode())
			{
				QString errorStr = cmd.exportEntity(cmd.clouds().back());
				if (!errorStr.isEmpty())
				{
					return cmd.error(errorStr);
				}
			}
		}

		cmd.removeMeshes(false);

		return true;
	}
};

struct CommandSampleMesh : public ccCommandLineInterface::Command
{
	CommandSampleMesh() : ccCommandLineInterface::Command("Sample mesh", COMMAND_SAMPLE_MESH) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SAMPLE POINTS ON MESH]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: sampling mode after \"-%1\" (POINTS/DENSITY)").arg(COMMAND_SAMPLE_MESH));

		bool useDensity = false;
		double parameter = 0;

		QString sampleMode = cmd.arguments().takeFirst().toUpper();
		if (sampleMode == "POINTS")
			useDensity = false;
		else if (sampleMode == "DENSITY")
			useDensity = true;
		else
			return cmd.error(QObject::tr("Invalid parameter: unknown sampling mode \"%1\"").arg(sampleMode));

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: value after sampling mode"));
		bool conversionOk = false;
		parameter = cmd.arguments().takeFirst().toDouble(&conversionOk);
		if (!conversionOk)
			return cmd.error(QObject::tr("Invalid parameter: value after sampling mode"));

		if (cmd.meshes().empty())
			return cmd.error(QObject::tr("No mesh available. Be sure to open one first!"));

		QScopedPointer<ccProgressDialog> progressDialog(0);
		if (!cmd.silentMode())
		{
			progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
			progressDialog->setAutoClose(false);
		}

		for (size_t i = 0; i < cmd.meshes().size(); ++i)
		{
			ccPointCloud* cloud = cmd.meshes()[i].mesh->samplePoints(useDensity, parameter, true, true, true, progressDialog.data());

			if (!cloud)
			{
				return cmd.error(QObject::tr("Cloud sampling failed!"));
			}

			//add the resulting cloud to the main set
			cmd.print(QObject::tr("Sampled cloud created: %1 points").arg(cloud->size()));
			cmd.clouds().emplace_back(cloud, cmd.meshes()[i].basename + QObject::tr("_SAMPLED_POINTS"), cmd.meshes()[i].path);

			//save it as well
			if (cmd.autoSaveMode())
			{
				QString errorStr = cmd.exportEntity(cmd.clouds().back());
				if (!errorStr.isEmpty())
					return cmd.error(errorStr);
			}
		}

		if (progressDialog)
		{
			progressDialog->close();
			QCoreApplication::processEvents();
		}

		return true;
	}
};

struct CommandCrop : public ccCommandLineInterface::Command
{
	CommandCrop() : ccCommandLineInterface::Command("Crop", COMMAND_CROP) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[CROP]");

		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: box extents after \"-%1\" (Xmin:Ymin:Zmin:Xmax:Ymax:Zmax)").arg(COMMAND_CROP));
		if (cmd.clouds().empty() && cmd.meshes().empty())
			return cmd.error(QObject::tr("No point cloud or mesh available. Be sure to open or generate one first!"));

		//decode box extents
		CCVector3 boxMin, boxMax;
		{
			QString boxBlock = cmd.arguments().takeFirst();
			QStringList tokens = boxBlock.split(':');
			if (tokens.size() != 6)
				return cmd.error(QObject::tr("Invalid parameter: box extents (expected format is 'Xmin:Ymin:Zmin:Xmax:Ymax:Zmax')").arg(COMMAND_CROP));

			for (int i = 0; i < 6; ++i)
			{
				CCVector3* vec = (i < 3 ? &boxMin : &boxMax);
				bool ok = true;
				vec->u[i % 3] = static_cast<PointCoordinateType>(tokens[i].toDouble(&ok));
				if (!ok)
				{
					return cmd.error(QObject::tr("Invalid parameter: box extents (component #%1 is not a valid number)").arg(i + 1));
				}
			}
		}

		//optional parameters
		bool inside = true;
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_CROP_OUTSIDE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				inside = false;
			}
			else
			{
				break;
			}
		}

		ccBBox cropBox(boxMin, boxMax);
		//crop clouds
		{
			for (size_t i = 0; i < cmd.clouds().size(); ++i)
			{
				ccHObject* croppedCloud = ccCropTool::Crop(cmd.clouds()[i].pc, cropBox, inside);
				if (croppedCloud)
				{
					delete cmd.clouds()[i].pc;
					assert(croppedCloud->isA(CC_TYPES::POINT_CLOUD));
					cmd.clouds()[i].pc = static_cast<ccPointCloud*>(croppedCloud);
					cmd.clouds()[i].basename += "_CROPPED";
					if (cmd.autoSaveMode())
					{
						QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
						if (!errorStr.isEmpty())
							return cmd.error(errorStr);
					}
				}
				//otherwise an error message has already been issued
			}
		}

		//crop meshes
		{
			for (size_t i = 0; i < cmd.meshes().size(); ++i)
			{
				ccHObject* croppedMesh = ccCropTool::Crop(cmd.meshes()[i].mesh, cropBox, inside);
				if (croppedMesh)
				{
					delete cmd.meshes()[i].mesh;
					assert(croppedMesh->isA(CC_TYPES::MESH));
					cmd.meshes()[i].mesh = static_cast<ccMesh*>(croppedMesh);
					cmd.meshes()[i].basename += "_CROPPED";
					if (cmd.autoSaveMode())
					{
						QString errorStr = cmd.exportEntity(cmd.meshes()[i]);
						if (!errorStr.isEmpty())
							return cmd.error(errorStr);
					}
				}
				//otherwise an error message has already been issued
			}
		}

		return true;
	}
};

struct CommandCoordToSF : public ccCommandLineInterface::Command
{
	CommandCoordToSF() : ccCommandLineInterface::Command("Crop", COMMAND_COORD_TO_SF) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[COORD TO SF]");

		if (cmd.arguments().size() < 1)
			return cmd.error(QObject::tr("Missing parameter after \"-%1\" (DIMENSION)").arg(COMMAND_COORD_TO_SF));
		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud available. Be sure to open or generate one first!"));

		//dimension
		bool exportDims[3] = { false, false, false };
		QString dimStr = cmd.arguments().takeFirst().toUpper();
		{
			if (dimStr == "X")
				exportDims[0] = true;
			else if (dimStr == "Y")
				exportDims[1] = true;
			else if (dimStr == "Z")
				exportDims[2] = true;
			else
				return cmd.error(QObject::tr("Invalid parameter: dimension after \"-%1\" (expected: X, Y or Z)").arg(COMMAND_COORD_TO_SF));
		}

		//now we can export the corresponding coordinate
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* pc = cmd.clouds()[i].pc;
			if (pc->exportCoordToSF(exportDims))
			{
				cmd.clouds()[i].basename += QObject::tr("_%1_TO_SF").arg(dimStr);
				if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
					if (!errorStr.isEmpty())
						return cmd.error(errorStr);
				}
			}
			else
			{
				return cmd.error(QObject::tr("Failed to export coord. %1 to SF on cloud '%2'!").arg(dimStr, cmd.clouds()[i].pc->getName()));
			}
		}

		return true;
	}
};

struct CommandCrop2D : public ccCommandLineInterface::Command
{
	CommandCrop2D() : ccCommandLineInterface::Command("Crop", COMMAND_CROP_2D) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[CROP 2D]");

		if (cmd.arguments().size() < 6)
			return cmd.error(QObject::tr("Missing parameter(s) after \"-%1\" (ORTHO_DIM N X1 Y1 X2 Y2 ... XN YN)").arg(COMMAND_CROP_2D));
		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud available. Be sure to open or generate one first!"));

		//decode poyline extents
		ccPointCloud vertices("polyline.vertices");
		ccPolyline poly(&vertices);

		//orthogonal dimension
		unsigned char orthoDim = 2;
		{
			QString orthoDimStr = cmd.arguments().takeFirst().toUpper();
			if (orthoDimStr == "X")
				orthoDim = 0;
			else if (orthoDimStr == "Y")
				orthoDim = 1;
			else if (orthoDimStr == "Z")
				orthoDim = 2;
			else
				return cmd.error(QObject::tr("Invalid parameter: orthogonal dimension after \"-%1\" (expected: X, Y or Z)").arg(COMMAND_CROP_2D));
		}

		//number of vertices
		bool ok = true;
		unsigned N = 0;
		{
			QString countStr = cmd.arguments().takeFirst();
			N = countStr.toUInt(&ok);
			if (!ok)
				return cmd.error(QObject::tr("Invalid parameter: number of vertices for the 2D polyline after \"-%1\"").arg(COMMAND_CROP_2D));
		}

		//now read the vertices
	{
		if (!vertices.reserve(N)
			|| !poly.addPointIndex(0, N))
		{
			return cmd.error("Not enough memory!");
		}

		for (unsigned i = 0; i < N; ++i)
		{
			if (cmd.arguments().size() < 2)
			{
				return cmd.error(QObject::tr("Missing parameter(s): vertex #%1 data and following").arg(i + 1));
			}

			CCVector3 P(0, 0, 0);

			QString coordStr = cmd.arguments().takeFirst();
			P.x = static_cast<PointCoordinateType>(coordStr.toDouble(&ok));
			if (!ok)
				return cmd.error(QObject::tr("Invalid parameter: X-coordinate of vertex #%1").arg(i + 1));
			/*QString */coordStr = cmd.arguments().takeFirst();
			P.y = static_cast<PointCoordinateType>(coordStr.toDouble(&ok));
			if (!ok)
				return cmd.error(QObject::tr("Invalid parameter: Y-coordinate of vertex #%1").arg(i + 1));

			vertices.addPoint(P); //the polyline must be defined in the XY plane!
		}

		poly.setClosed(true);
	}

	//optional parameters
	bool inside = true;
	while (!cmd.arguments().empty())
	{
		QString argument = cmd.arguments().front();
		if (ccCommandLineInterface::IsCommand(argument, COMMAND_CROP_OUTSIDE))
		{
			//local option confirmed, we can move on
			cmd.arguments().pop_front();
			inside = false;
		}
		else
		{
			break;
		}
	}

	//now we can crop the loaded cloud(s)
	for (size_t i = 0; i < cmd.clouds().size(); ++i)
	{
		CCLib::ReferenceCloud* ref = cmd.clouds()[i].pc->crop2D(&poly, orthoDim, inside);
		if (ref)
		{
			if (ref->size() != 0)
			{
				ccPointCloud* croppedCloud = cmd.clouds()[i].pc->partialClone(ref);
				delete ref;
				ref = 0;

				if (croppedCloud)
				{
					delete cmd.clouds()[i].pc;
					cmd.clouds()[i].pc = croppedCloud;
					croppedCloud->setName(cmd.clouds()[i].pc->getName() + QObject::tr(".cropped"));
					cmd.clouds()[i].basename += "_CROPPED";
					if (cmd.autoSaveMode())
					{
						QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
						if (!errorStr.isEmpty())
							return cmd.error(errorStr);
					}
				}
				else
				{
					return cmd.error(QObject::tr("Not enough memory to crop cloud '%1'!").arg(cmd.clouds()[i].pc->getName()));
				}
			}
			else
			{
				delete ref;
				ref = 0;
				cmd.warning(QObject::tr("No point of cloud '%1' falls inside the input box!").arg(cmd.clouds()[i].pc->getName()));
			}
		}
		else
		{
			return cmd.error(QObject::tr("Crop process failed! (not enough memory)"));
		}
	}

	return true;
	}
};

struct CommandColorBanding : public ccCommandLineInterface::Command
{
	CommandColorBanding() : ccCommandLineInterface::Command("Color banding", COMMAND_COLOR_BANDING) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[COLOR BANDING]");

		if (cmd.arguments().size() < 2)
			return cmd.error(QObject::tr("Missing parameter(s) after \"-%1\" (DIM FREQUENCY)").arg(COMMAND_COLOR_BANDING));
		if (cmd.clouds().empty() && cmd.meshes().empty())
			return cmd.error(QObject::tr("No entity available. Be sure to open or generate one first!"));

		//dimension
		unsigned char dim = 2;
		QString dimStr = "Z";
		{
			dimStr = cmd.arguments().takeFirst().toUpper();
			if (dimStr == "X")
				dim = 0;
			else if (dimStr == "Y")
				dim = 1;
			else if (dimStr == "Z")
				dim = 2;
			else
				return cmd.error(QObject::tr("Invalid parameter: dimension after \"-%1\" (expected: X, Y or Z)").arg(COMMAND_COLOR_BANDING));
		}

		//frequency
		bool ok = true;
		double freq = 0;
		{
			QString countStr = cmd.arguments().takeFirst();
			freq = countStr.toDouble(&ok);
			if (!ok)
				return cmd.error(QObject::tr("Invalid parameter: frequency after \"-%1 DIM\" (in Hz, integer value)").arg(COMMAND_COLOR_BANDING));
		}

		//process clouds
		if (!cmd.clouds().empty())
		{
			for (size_t i = 0; i < cmd.clouds().size(); ++i)
			{
				if (cmd.clouds()[i].pc)
					if (!cmd.clouds()[i].pc->setRGBColorByBanding(dim, freq))
						return cmd.error("Not enough memory");
			}

			//save output
			if (cmd.autoSaveMode() && !cmd.saveClouds(QObject::tr("COLOR_BANDING_%1_%2").arg(dimStr).arg(freq)))
				return false;
		}

		if (!cmd.meshes().empty())
		{
			bool hasMeshes = false;
			for (size_t i = 0; i < cmd.meshes().size(); ++i)
			{
				ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(cmd.meshes()[i].mesh);
				if (cloud)
				{
					if (!cloud->setRGBColorByBanding(dim, freq))
						return cmd.error("Not enough memory");
					cmd.meshes()[i].mesh->showColors(true);
					hasMeshes = true;
				}
				else
				{
					cmd.warning(QObject::tr("Vertices of mesh '%1' are locked (they may be shared by multiple entities for instance). Can't apply the current command on them.").arg(cmd.meshes()[i].mesh->getName()));
				}
			}

			//save output
			if (hasMeshes && cmd.autoSaveMode() && !cmd.saveMeshes(QObject::tr("COLOR_BANDING_%1_%2").arg(dimStr).arg(freq)))
				return false;
		}

		return true;
	}
};

struct CommandDist : public ccCommandLineInterface::Command
{
	CommandDist(bool cloud2meshDist, QString name, QString keyword)
		: ccCommandLineInterface::Command(name, keyword)
		, m_cloud2meshDist(cloud2meshDist)
	{}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[DISTANCE COMPUTATION]");

		//compared cloud
		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No point cloud available. Be sure to open or generate one first!"));
		else if (m_cloud2meshDist && cmd.clouds().size() != 1)
			cmd.warning("Multiple point clouds loaded! We take the first one by default");
		CLCloudDesc& compCloud = cmd.clouds().front();

		//reference entity
		ccHObject* refEntity = 0;
		if (m_cloud2meshDist)
		{
			if (cmd.meshes().empty())
				return cmd.error(QObject::tr("No mesh available. Be sure to open one first!"));
			else if (cmd.meshes().size() != 1)
				cmd.warning("Multiple meshes loaded! We take the first one by default");
			refEntity = cmd.meshes().front().mesh;
		}
		else
		{
			if (cmd.clouds().size() < 2)
				return cmd.error(QObject::tr("Only one point cloud available. Be sure to open or generate a second one before performing C2C distance!"));
			else if (cmd.clouds().size() > 2)
				cmd.warning("More than 3 point clouds loaded! We take the second one as reference by default");
			refEntity = cmd.clouds()[1].pc;
		}

		//inner loop for Distance computation options
		bool flipNormals = false;
		double maxDist = 0.0;
		unsigned octreeLevel = 0;
		int maxThreadCount = 0;

		bool splitXYZ = false;
		int modelIndex = 0;
		bool useKNN = true;
		double nSize = 0;

		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_C2M_DIST_FLIP_NORMALS))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				flipNormals = true;

				if (!m_cloud2meshDist)
					cmd.warning("Parameter \"-%1\" ignored: only for C2M distance!");
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_C2X_MAX_DISTANCE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: value after \"-%1\"").arg(COMMAND_C2X_MAX_DISTANCE));
				bool conversionOk = false;
				maxDist = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_C2X_MAX_DISTANCE));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_C2X_OCTREE_LEVEL))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: value after \"-%1\"").arg(COMMAND_C2X_OCTREE_LEVEL));
				bool conversionOk = false;
				octreeLevel = cmd.arguments().takeFirst().toUInt(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: value after \"-%1\"").arg(COMMAND_C2X_OCTREE_LEVEL));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_C2C_SPLIT_XYZ))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				splitXYZ = true;

				if (m_cloud2meshDist)
					cmd.warning("Parameter \"-%1\" ignored: only for C2C distance!");
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_C2C_LOCAL_MODEL))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (!cmd.arguments().empty())
				{
					QString modelType = cmd.arguments().takeFirst().toUpper();
					if (modelType == "LS")
						modelIndex = 1;
					else if (modelType == "TRI")
						modelIndex = 2;
					else if (modelType == "HF")
						modelIndex = 3;
					else
						return cmd.error(QObject::tr("Invalid parameter: unknown model type \"%1\"").arg(modelType));
				}
				else
				{
					return cmd.error(QObject::tr("Missing parameter: model type after \"-%1\" (LS/TRI/HF)").arg(COMMAND_C2C_LOCAL_MODEL));
				}

				if (!cmd.arguments().empty())
				{
					QString nType = cmd.arguments().takeFirst().toUpper();
					if (nType == "KNN")
						useKNN = true;
					else if (nType == "SPHERE")
						useKNN = false;
					else
						return cmd.error(QObject::tr("Invalid parameter: unknown neighborhood type \"%1\"").arg(nType));
				}
				else
				{
					return cmd.error(QObject::tr("Missing parameter: expected neighborhood type after model type (KNN/SPHERE)"));
				}

				//neighborhood size
				if (!cmd.arguments().empty())
				{
					bool conversionOk = false;
					nSize = cmd.arguments().takeFirst().toDouble(&conversionOk);
					if (!conversionOk)
						return cmd.error(QObject::tr("Invalid parameter: neighborhood size"));
				}
				else
				{
					return cmd.error(QObject::tr("Missing parameter: expected neighborhood size after neighborhood type (neighbor count/sphere radius)"));
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_MAX_THREAD_COUNT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: max thread count after '%1'").arg(COMMAND_MAX_THREAD_COUNT));

				bool ok;
				maxThreadCount = cmd.arguments().takeFirst().toInt(&ok);
				if (!ok || maxThreadCount < 0)
					return cmd.error(QObject::tr("Invalid thread count! (after %1)").arg(COMMAND_MAX_THREAD_COUNT));
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		//spawn dialog (virtually) so as to prepare the comparison process
		ccComparisonDlg compDlg(compCloud.pc,
								refEntity,
								m_cloud2meshDist ? ccComparisonDlg::CLOUDMESH_DIST : ccComparisonDlg::CLOUDCLOUD_DIST,
								cmd.widgetParent(),
								true);

		//update parameters
		if (maxDist > 0)
		{
			compDlg.maxDistCheckBox->setChecked(true);
			compDlg.maxSearchDistSpinBox->setValue(maxDist);
		}
		if (octreeLevel > 0)
		{
			compDlg.octreeLevelComboBox->setCurrentIndex(octreeLevel);
		}
		if (maxThreadCount != 0)
		{
			compDlg.maxThreadCountSpinBox->setValue(maxThreadCount);
		}

		//C2M-only parameters
		if (m_cloud2meshDist)
		{
			if (flipNormals)
				compDlg.flipNormalsCheckBox->setChecked(true);
		}
		//C2C-only parameters
		else
		{
			if (splitXYZ)
			{
				//DGM: not true anymore
				//if (maxDist > 0)
				//	cmd.warning("'Split XYZ' option is ignored if max distance is defined!");
				compDlg.split3DCheckBox->setChecked(true);
			}
			if (modelIndex != 0)
			{
				compDlg.localModelComboBox->setCurrentIndex(modelIndex);
				if (useKNN)
				{
					compDlg.lmKNNRadioButton->setChecked(true);
					compDlg.lmKNNSpinBox->setValue(static_cast<int>(nSize));
				}
				else
				{
					compDlg.lmRadiusRadioButton->setChecked(true);
					compDlg.lmRadiusDoubleSpinBox->setValue(nSize);
				}
			}
		}

		if (!compDlg.computeDistances())
		{
			compDlg.cancelAndExit();
			return cmd.error("An error occurred during distances computation!");
		}

		compDlg.applyAndExit();

		QString suffix(m_cloud2meshDist ? "_C2M_DIST" : "_C2C_DIST");
		if (maxDist > 0)
			suffix += QObject::tr("_MAX_DIST_%1").arg(maxDist);

		compCloud.basename += suffix;

		if (cmd.autoSaveMode())
		{
			QString errorStr = cmd.exportEntity(compCloud);
			if (!errorStr.isEmpty())
				return cmd.error(errorStr);
		}

		return true;
	}

	bool m_cloud2meshDist;
};

struct CommandC2MDist : public CommandDist
{
	CommandC2MDist() : CommandDist(true, "C2M distance", COMMAND_C2M_DIST) {}
};

struct CommandC2CDist : public CommandDist
{
	CommandC2CDist() : CommandDist(false, "C2C distance", COMMAND_C2C_DIST) {}
};

struct CommandStatTest : public ccCommandLineInterface::Command
{
	CommandStatTest() : ccCommandLineInterface::Command("Statistical test", COMMAND_STAT_TEST) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[STATISTICAL TEST]");

		//distribution
		CCLib::GenericDistribution* distrib = 0;
		{
			if (cmd.arguments().empty())
				return cmd.error(QObject::tr("Missing parameter: distribution type after \"-%1\" (GAUSS/WEIBULL)").arg(COMMAND_STAT_TEST));

			QString distribStr = cmd.arguments().takeFirst().toUpper();
			if (distribStr == "GAUSS")
			{
				//mu
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: mean value after \"GAUSS\""));
				bool conversionOk = false;
				double mu = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: mean value after \"GAUSS\""));
				//sigma
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: sigma value after \"GAUSS\" {mu}"));
				conversionOk = false;
				double sigma = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: sigma value after \"GAUSS\" {mu}"));

				CCLib::NormalDistribution* N = new CCLib::NormalDistribution();
				N->setParameters(static_cast<ScalarType>(mu), static_cast<ScalarType>(sigma*sigma)); //warning: we input sigma2 here (not sigma)
				distrib = static_cast<CCLib::GenericDistribution*>(N);
			}
			else if (distribStr == "WEIBULL")
			{
				//a
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: a value after \"WEIBULL\""));
				bool conversionOk = false;
				double a = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: a value after \"WEIBULL\""));
				//b
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: b value after \"WEIBULL\" {a}"));
				conversionOk = false;
				double b = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: b value after \"WEIBULL\" {a}"));
				//c
				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: shift value after \"WEIBULL\" {a} {b}"));
				conversionOk = false;
				double shift = cmd.arguments().takeFirst().toDouble(&conversionOk);
				if (!conversionOk)
					return cmd.error(QObject::tr("Invalid parameter: shift value after \"WEIBULL\" {a} {b}"));

				CCLib::WeibullDistribution* N = new CCLib::WeibullDistribution();
				N->setParameters(static_cast<ScalarType>(a), static_cast<ScalarType>(b), static_cast<ScalarType>(shift));
				distrib = static_cast<CCLib::GenericDistribution*>(N);
			}
			else
			{
				return cmd.error(QObject::tr("Invalid parameter: unknown distribution \"%1\"").arg(distribStr));
			}
		}

		//pValue
		double pValue = 0.0005;
		{
			if (cmd.arguments().empty())
				return cmd.error(QObject::tr("Missing parameter: p-value after distribution"));
			bool conversionOk = false;
			pValue = cmd.arguments().takeFirst().toDouble(&conversionOk);
			if (!conversionOk)
				return cmd.error(QObject::tr("Invalid parameter: p-value after distribution"));
		}

		//kNN
		unsigned kNN = 16;
		{
			if (cmd.arguments().empty())
				return cmd.error(QObject::tr("Missing parameter: neighbors after p-value"));
			bool conversionOk = false;
			kNN = cmd.arguments().takeFirst().toUInt(&conversionOk);
			if (!conversionOk)
				return cmd.error(QObject::tr("Invalid parameter: neighbors after p-value"));
		}

		if (cmd.clouds().empty())
			return cmd.error(QObject::tr("No cloud available. Be sure to open one first!"));

		QScopedPointer<ccProgressDialog> progressDialog(0);
		if (!cmd.silentMode())
		{
			progressDialog.reset(new ccProgressDialog(false, cmd.widgetParent()));
			progressDialog->setAutoClose(false);
		}

		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* pc = cmd.clouds()[i].pc;

			//we apply method on currently 'output' SF
			CCLib::ScalarField* outSF = pc->getCurrentOutScalarField();
			if (outSF)
			{
				assert(outSF->capacity() != 0);

				//force Chi2 Distances field as 'IN' field (create it by the way if necessary)
				int chi2SfIdx = pc->getScalarFieldIndexByName(CC_CHI2_DISTANCES_DEFAULT_SF_NAME);
				if (chi2SfIdx < 0)
					chi2SfIdx = pc->addScalarField(CC_CHI2_DISTANCES_DEFAULT_SF_NAME);
				if (chi2SfIdx < 0)
				{
					if (distrib)
						delete distrib;
					return cmd.error("Couldn't allocate a new scalar field for computing chi2 distances! Try to free some memory ...");
				}
				pc->setCurrentInScalarField(chi2SfIdx);

				//compute octree if necessary
				ccOctree::Shared theOctree = pc->getOctree();
				if (!theOctree)
				{
					theOctree = pc->computeOctree(progressDialog.data());
					if (!theOctree)
					{
						if (distrib)
							delete distrib;
						cmd.error(QObject::tr("Couldn't compute octree for cloud '%1'!").arg(pc->getName()));
						break;
					}
				}

				double chi2dist = CCLib::StatisticalTestingTools::testCloudWithStatisticalModel(distrib, pc, kNN, pValue, progressDialog.data(), theOctree.data());

				cmd.print(QObject::tr("[Chi2 Test] %1 test result = %2").arg(distrib->getName()).arg(chi2dist));

				//we set the theoretical Chi2 distance limit as the minimum displayed SF value so that all points below are grayed
				{
					ccScalarField* chi2SF = static_cast<ccScalarField*>(pc->getCurrentInScalarField());
					assert(chi2SF);
					chi2SF->computeMinAndMax();
					chi2dist *= chi2dist;
					chi2SF->setMinDisplayed(static_cast<ScalarType>(chi2dist));
					chi2SF->setSymmetricalScale(false);
					chi2SF->setSaturationStart(static_cast<ScalarType>(chi2dist));
					//chi2SF->setSaturationStop(chi2dist);
					pc->setCurrentDisplayedScalarField(chi2SfIdx);
					pc->showSF(true);
				}

				cmd.clouds()[i].basename += QObject::tr("_STAT_TEST_%1").arg(distrib->getName());
				if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.clouds()[i]);
					if (!errorStr.isEmpty())
						return cmd.error(errorStr);
				}
			}
		}

		if (progressDialog)
		{
			progressDialog->close();
			QCoreApplication::processEvents();
		}

		return true;
	}
};

struct CommandDelaunayTri : public ccCommandLineInterface::Command
{
	CommandDelaunayTri() : ccCommandLineInterface::Command("Delaunay triangulation", COMMAND_DELAUNAY) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[DELAUNAY TRIANGULATION]");

		bool axisAligned = true;
		double maxEdgeLength = 0;

		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_DELAUNAY_AA))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				axisAligned = true;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_DELAUNAY_BF))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				axisAligned = false;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_DELAUNAY_MAX_EDGE_LENGTH))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: max edge length value after '%1'").arg(COMMAND_DELAUNAY_MAX_EDGE_LENGTH));
				bool ok;
				maxEdgeLength = cmd.arguments().takeFirst().toDouble(&ok);
				if (!ok)
					return cmd.error(QObject::tr("Invalid value for max edge length! (after %1)").arg(COMMAND_DELAUNAY_MAX_EDGE_LENGTH));
				cmd.print(QObject::tr("Max edge length: %1").arg(maxEdgeLength));
			}
			else
			{
				break;
			}
		}

		cmd.print(QObject::tr("Axis aligned: %1").arg(axisAligned ? "yes" : "no"));

		//try to triangulate each cloud
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* cloud = cmd.clouds()[i].pc;
			cmd.print(QObject::tr("\tProcessing cloud #%1 (%2)").arg(i + 1).arg(!cloud->getName().isEmpty() ? cloud->getName() : "no name"));

			ccMesh* mesh = ccMesh::Triangulate(cloud,
				axisAligned ? DELAUNAY_2D_AXIS_ALIGNED : DELAUNAY_2D_BEST_LS_PLANE,
				false,
				static_cast<PointCoordinateType>(maxEdgeLength),
				2 //XY plane by default
				);

			if (mesh)
			{
				cmd.print(QObject::tr("\tResulting mesh: #%1 faces, %2 vertices").arg(mesh->size()).arg(mesh->getAssociatedCloud()->size()));

				CLMeshDesc meshDesc;
				meshDesc.mesh = mesh;
				meshDesc.basename = cmd.clouds()[i].basename;
				meshDesc.path = cmd.clouds()[i].path;
				meshDesc.indexInFile = cmd.clouds()[i].indexInFile;

				//save mesh
				if (cmd.autoSaveMode())
				{
					QString outputFilename;
					QString errorStr = cmd.exportEntity(meshDesc, "DELAUNAY", &outputFilename);
					if (!errorStr.isEmpty())
						cmd.warning(errorStr);
				}

				//add the resulting mesh to the main set
				cmd.meshes().push_back(meshDesc);

				//the mesh takes ownership of the cloud.
				//Therefore we have to remove all clouds from the 'cloud set'! (see below)
				//(otherwise bad things will happen when we'll clear it later ;)
				cloud->setEnabled(false);
				mesh->addChild(cloud);
			}
		}
		//mehses have taken ownership of the clouds!
		cmd.clouds().resize(0);

		return true;
	}
};

struct CommandSFArithmetic : public ccCommandLineInterface::Command
{
	CommandSFArithmetic() : ccCommandLineInterface::Command("SF arithmetic", COMMAND_SF_ARITHMETIC) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SF ARITHMETIC]");

		if (cmd.arguments().size() < 2)
		{
			return cmd.error(QObject::tr("Missing parameter(s): SF index and/or operation after '%1' (2 values expected)").arg(COMMAND_SF_ARITHMETIC));
		}

		//read sf index
		int sfIndex = -1;
		{
			bool ok = true;
			QString sfIndex = cmd.arguments().takeFirst();
			if (sfIndex.toUpper() == OPTION_LAST)
				sfIndex = -2;
			else
				sfIndex = sfIndex.toInt(&ok);
			if (!ok || sfIndex < 0)
				return cmd.error(QObject::tr("Invalid SF index! (after %1)").arg(COMMAND_SF_ARITHMETIC));
		}

		//read operation type
		ccScalarFieldArithmeticsDlg::Operation operation = ccScalarFieldArithmeticsDlg::INVALID;
		{
			QString opName = cmd.arguments().takeFirst();
			operation = ccScalarFieldArithmeticsDlg::GetOperationByName(opName);
			if (operation == ccScalarFieldArithmeticsDlg::INVALID)
			{
				return cmd.error(QObject::tr("Unknown operation! (%1)").arg(opName));
			}
			else if (operation <= ccScalarFieldArithmeticsDlg::DIVIDE)
			{
				return cmd.error(QObject::tr("Operation %1 can't be applied with %2").arg(opName, COMMAND_SF_ARITHMETIC));
			}
		}

		//apply operation on clouds
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* cloud = cmd.clouds()[i].pc;
			if (cloud && cloud->getNumberOfScalarFields() != 0 && sfIndex < static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				if (!ccScalarFieldArithmeticsDlg::Apply(cloud, operation, sfIndex < 0 ? static_cast<int>(cloud->getNumberOfScalarFields()) - 1 : sfIndex, false))
				{
					return cmd.error(QObject::tr("Failed top apply operation on cloud '%1'").arg(cloud->getName()));
				}
				else if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.clouds()[i], "SF_ARITHMETIC");
					if (!errorStr.isEmpty())
					{
						return cmd.error(errorStr);
					}
				}
			}
		}

		//and meshes!
		for (size_t j = 0; j < cmd.meshes().size(); ++j)
		{
			bool isLocked = false;
			ccGenericMesh* mesh = cmd.meshes()[j].mesh;
			ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(mesh, &isLocked);
			if (cloud && !isLocked && cloud->getNumberOfScalarFields() != 0 && sfIndex < static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				if (!ccScalarFieldArithmeticsDlg::Apply(cloud, operation, sfIndex < 0 ? static_cast<int>(cloud->getNumberOfScalarFields()) - 1 : sfIndex, false))
				{
					return cmd.error(QObject::tr("Failed top apply operation on mesh '%1'").arg(mesh->getName()));
				}
				else if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.meshes()[j], "SF_ARITHMETIC");
					if (!errorStr.isEmpty())
					{
						return cmd.error(errorStr);
					}
				}
			}
		}

		return true;
	}
};

struct CommandSFOperation : public ccCommandLineInterface::Command
{
	CommandSFOperation() : ccCommandLineInterface::Command("SF operation", COMMAND_SF_OP) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[SF OPERATION]");

		if (cmd.arguments().size() < 3)
		{
			return cmd.error(QObject::tr("Missing parameter(s): SF index and/or operation and/or scalar value after '%1' (3 values expected)").arg(COMMAND_SF_OP));
		}

		//read sf index
		int sfIndex = -1;
		{
			bool ok = true;
			QString sfIndex = cmd.arguments().takeFirst();
			if (sfIndex.toUpper() == OPTION_LAST)
				sfIndex = -2;
			else
				sfIndex = sfIndex.toInt(&ok);

			if (!ok || sfIndex < 0)
			{
				return cmd.error(QObject::tr("Invalid SF index! (after %1)").arg(COMMAND_SF_OP));
			}
		}

		//read operation type
		ccScalarFieldArithmeticsDlg::Operation operation = ccScalarFieldArithmeticsDlg::INVALID;
		{
			QString opName = cmd.arguments().takeFirst();
			operation = ccScalarFieldArithmeticsDlg::GetOperationByName(opName);
			if (operation == ccScalarFieldArithmeticsDlg::INVALID)
			{
				return cmd.error(QObject::tr("Unknown operation! (%1)").arg(opName));
			}
			else if (operation > ccScalarFieldArithmeticsDlg::DIVIDE)
			{
				return cmd.error(QObject::tr("Operation %1 can't be applied with %2").arg(opName, COMMAND_SF_OP));
			}
		}

		//read scalar value
		double value = 1.0;
		{
			bool ok = true;
			value = cmd.arguments().takeFirst().toDouble(&ok);
			if (!ok)
			{
				return cmd.error(QObject::tr("Invalid scalar value! (after %1)").arg(COMMAND_SF_OP));
			}
		}

		ccScalarFieldArithmeticsDlg::SF2 sf2;
		{
			sf2.isConstantValue = true;
			sf2.constantValue = value;
		}

		//apply operation on clouds
		for (size_t i = 0; i < cmd.clouds().size(); ++i)
		{
			ccPointCloud* cloud = cmd.clouds()[i].pc;
			if (cloud && cloud->getNumberOfScalarFields() != 0 && sfIndex < static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				if (!ccScalarFieldArithmeticsDlg::Apply(cloud, operation, sfIndex < 0 ? static_cast<int>(cloud->getNumberOfScalarFields()) - 1 : sfIndex, true, &sf2))
				{
					return cmd.error(QObject::tr("Failed top apply operation on cloud '%1'").arg(cloud->getName()));
				}
				else if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.clouds()[i], "SF_OP");
					if (!errorStr.isEmpty())
					{
						return cmd.error(errorStr);
					}
				}
			}
		}

		//and meshes!
		for (size_t j = 0; j < cmd.meshes().size(); ++j)
		{
			bool isLocked = false;
			ccGenericMesh* mesh = cmd.meshes()[j].mesh;
			ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(mesh, &isLocked);
			if (cloud && !isLocked && cloud->getNumberOfScalarFields() != 0 && sfIndex < static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				if (!ccScalarFieldArithmeticsDlg::Apply(cloud, operation, sfIndex < 0 ? static_cast<int>(cloud->getNumberOfScalarFields()) - 1 : sfIndex, true, &sf2))
				{
					return cmd.error(QObject::tr("Failed top apply operation on mesh '%1'").arg(mesh->getName()));
				}
				else if (cmd.autoSaveMode())
				{
					QString errorStr = cmd.exportEntity(cmd.meshes()[j], "SF_OP");
					if (!errorStr.isEmpty())
					{
						return cmd.error(errorStr);
					}
				}
			}
		}

		return true;
	}
};

struct CommandICP : public ccCommandLineInterface::Command
{
	CommandICP() : ccCommandLineInterface::Command("ICP", COMMAND_ICP) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.print("[ICP]");

		//look for local options
		bool referenceIsFirst = false;
		bool adjustScale = false;
		bool enableFarthestPointRemoval = false;
		double minErrorDiff = 1.0e-6;
		unsigned iterationCount = 0;
		unsigned randomSamplingLimit = 20000;
		unsigned overlap = 100;
		int modelSFAsWeights = -1;
		int dataSFAsWeights = -1;
		int maxThreadCount = 0;
		int transformationFilters = 0;

		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_REFERENCE_IS_FIRST))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				referenceIsFirst = true;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_ADJUST_SCALE))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				adjustScale = true;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_ENABLE_FARTHEST_REMOVAL))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				enableFarthestPointRemoval = true;
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_MIN_ERROR_DIIF))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: min error difference after '%1'").arg(COMMAND_ICP_MIN_ERROR_DIIF));
				bool ok;
				minErrorDiff = cmd.arguments().takeFirst().toDouble(&ok);
				if (!ok || minErrorDiff <= 0)
					return cmd.error(QObject::tr("Invalid value for min. error difference! (after %1)").arg(COMMAND_ICP_MIN_ERROR_DIIF));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_ITERATION_COUNT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: number of iterations after '%1'").arg(COMMAND_ICP_ITERATION_COUNT));
				bool ok;
				QString arg = cmd.arguments().takeFirst();
				iterationCount = arg.toUInt(&ok);
				if (!ok || iterationCount == 0)
					return cmd.error(QObject::tr("Invalid number of iterations! (%1)").arg(arg));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_OVERLAP))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: overlap percentage after '%1'").arg(COMMAND_ICP_OVERLAP));
				bool ok;
				QString arg = cmd.arguments().takeFirst();
				overlap = arg.toUInt(&ok);
				if (!ok || overlap < 10 || overlap > 100)
					return cmd.error(QObject::tr("Invalid overlap value! (%1 --> should be between 10 and 100)").arg(arg));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_RANDOM_SAMPLING_LIMIT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: random sampling limit value after '%1'").arg(COMMAND_ICP_RANDOM_SAMPLING_LIMIT));
				bool ok;
				randomSamplingLimit = cmd.arguments().takeFirst().toUInt(&ok);
				if (!ok || randomSamplingLimit < 3)
					return cmd.error(QObject::tr("Invalid random sampling limit! (after %1)").arg(COMMAND_ICP_RANDOM_SAMPLING_LIMIT));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_USE_MODEL_SF_AS_WEIGHT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: SF index after '%1'").arg(COMMAND_ICP_USE_MODEL_SF_AS_WEIGHT));
				QString sfIndex = cmd.arguments().takeFirst();
				if (sfIndex.toUpper() == OPTION_LAST)
				{
					modelSFAsWeights = -2;
				}
				else
				{
					bool ok;
					modelSFAsWeights = sfIndex.toInt(&ok);
					if (!ok || modelSFAsWeights < 0)
						return cmd.error(QObject::tr("Invalid SF index! (after %1)").arg(COMMAND_ICP_USE_MODEL_SF_AS_WEIGHT));
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_USE_DATA_SF_AS_WEIGHT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: SF index after '%1'").arg(COMMAND_ICP_USE_DATA_SF_AS_WEIGHT));
				QString sfIndex = cmd.arguments().takeFirst();
				if (sfIndex.toUpper() == OPTION_LAST)
				{
					dataSFAsWeights = -2;
				}
				else
				{
					bool ok;
					dataSFAsWeights = sfIndex.toInt(&ok);
					if (!ok || dataSFAsWeights < 0)
						return cmd.error(QObject::tr("Invalid SF index! (after %1)").arg(COMMAND_ICP_USE_DATA_SF_AS_WEIGHT));
				}
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_MAX_THREAD_COUNT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (cmd.arguments().empty())
					return cmd.error(QObject::tr("Missing parameter: max thread count after '%1'").arg(COMMAND_MAX_THREAD_COUNT));

				bool ok;
				maxThreadCount = cmd.arguments().takeFirst().toInt(&ok);
				if (!ok || maxThreadCount < 0)
					return cmd.error(QObject::tr("Invalid thread count! (after %1)").arg(COMMAND_MAX_THREAD_COUNT));
			}
			else if (ccCommandLineInterface::IsCommand(argument, COMMAND_ICP_ROT))
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();

				if (!cmd.arguments().empty())
				{
					QString rotation = cmd.arguments().takeFirst().toUpper();
					if (rotation == "XYZ")
						transformationFilters = 0;
					else if (rotation == "X")
						transformationFilters = 2;
					else if (rotation == "Y")
						transformationFilters = 4;
					else if (rotation == "Z")
						transformationFilters = 1;
					else if (rotation == "NONE")
						transformationFilters = 7;
					else
						return cmd.error(QObject::tr("Invalid parameter: unknown rotation filter \"%1\"").arg(rotation));
				}
				else
				{
					return cmd.error(QObject::tr("Missing parameter: rotation filter after \"-%1\" (XYZ/X/Y/Z/NONE)").arg(COMMAND_ICP_ROT));
				}
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		//we'll get the first two entities
		CLEntityDesc* dataAndModel[2] = { 0, 0 };
		{
			int index = 0;
			if (!cmd.clouds().empty())
			{
				dataAndModel[index++] = &cmd.clouds()[0];
				if (cmd.clouds().size() > 1)
					dataAndModel[index++] = &cmd.clouds()[1];
			}
			if (index < 2 && !cmd.meshes().empty())
			{
				dataAndModel[index++] = &cmd.meshes()[0];
				if (index < 2 && cmd.meshes().size() > 1)
					dataAndModel[index++] = &cmd.meshes()[1];
			}

			if (index < 2)
				return cmd.error("Not enough loaded entities (expect at least 2!)");
		}

		//put them in the right order (data first, model next)
		if (referenceIsFirst)
		{
			std::swap(dataAndModel[0], dataAndModel[1]);
		}

		//check that the scalar fields (weights) exist
		if (dataSFAsWeights != -1)
		{
			ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(dataAndModel[0]->getEntity());
			if (!cloud || cloud->getNumberOfScalarFields() == 0 || dataSFAsWeights >= static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				return cmd.error(QObject::tr("Invalid SF index for data entity! (%1)").arg(dataSFAsWeights));
			}
			else
			{
				if (dataSFAsWeights < 0) //last SF
					dataSFAsWeights = static_cast<int>(cloud->getNumberOfScalarFields()) - 1;
				cmd.print(QObject::tr("[ICP] SF #%1 (data entity) will be used as weights").arg(dataSFAsWeights));
				cloud->setCurrentDisplayedScalarField(dataSFAsWeights);
			}

		}
		if (modelSFAsWeights != -1)
		{
			ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(dataAndModel[1]->getEntity());
			if (!cloud || cloud->getNumberOfScalarFields() == 0 || modelSFAsWeights >= static_cast<int>(cloud->getNumberOfScalarFields()))
			{
				return cmd.error(QObject::tr("Invalid SF index for model entity! (%1)").arg(modelSFAsWeights));
			}
			else
			{
				if (modelSFAsWeights < 0) //last SF
					modelSFAsWeights = static_cast<int>(cloud->getNumberOfScalarFields()) - 1;
				cmd.print(QObject::tr("[ICP] SF #%1 (model entity) will be used as weights").arg(modelSFAsWeights));
				cloud->setCurrentDisplayedScalarField(modelSFAsWeights);
			}
		}

		ccGLMatrix transMat;
		double finalError = 0.0;
		double finalScale = 1.0;
		unsigned finalPointCount = 0;
		if (ccRegistrationTools::ICP(	dataAndModel[0]->getEntity(),
										dataAndModel[1]->getEntity(),
										transMat,
										finalScale,
										finalError,
										finalPointCount,
										minErrorDiff,
										iterationCount,
										randomSamplingLimit,
										enableFarthestPointRemoval,
										iterationCount != 0 ? CCLib::ICPRegistrationTools::MAX_ITER_CONVERGENCE : CCLib::ICPRegistrationTools::MAX_ERROR_CONVERGENCE,
										adjustScale,
										overlap / 100.0,
										dataSFAsWeights >= 0,
										modelSFAsWeights >= 0,
										CCLib::ICPRegistrationTools::SKIP_NONE,
										maxThreadCount,
										cmd.widgetParent()))
		{
			ccHObject* data = dataAndModel[0]->getEntity();
			data->applyGLTransformation_recursive(&transMat);
			cmd.print(QObject::tr("Entity '%1' has been registered").arg(data->getName()));
			cmd.print(QObject::tr("RMS: %1").arg(finalError));
			cmd.print(QObject::tr("Number of points used for final step: %1").arg(finalPointCount));

			//save matrix in a separate text file
			{
				QString txtFilename = QObject::tr("%1/%2_REGISTRATION_MATRIX").arg(dataAndModel[0]->path, dataAndModel[0]->basename);
				if (cmd.addTimestamp())
					txtFilename += QObject::tr("_%1").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd_hh'h'mm"));
				txtFilename += QObject::tr(".txt");
				QFile txtFile(txtFilename);
				txtFile.open(QIODevice::WriteOnly | QIODevice::Text);
				QTextStream txtStream(&txtFile);
				txtStream << transMat.toString(cmd.numericalPrecision(), ' ') << endl;
				txtFile.close();
			}

			dataAndModel[0]->basename += QObject::tr("_REGISTERED");
			if (cmd.autoSaveMode())
			{
				QString errorStr = cmd.exportEntity(*dataAndModel[0]);
				if (!errorStr.isEmpty())
					return cmd.error(errorStr);
			}
		}
		else
		{
			return false;
		}

		return true;
	}
};

struct CommandChangeFBXOutputFormat : public ccCommandLineInterface::Command
{
	CommandChangeFBXOutputFormat() : ccCommandLineInterface::Command("Change FBX output format", COMMAND_FBX_EXPORT_FORMAT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: FBX format (string) after '%1'").arg(COMMAND_FBX_EXPORT_FORMAT));

		QString formatStr = cmd.arguments().takeFirst();
		cmd.print(QObject::tr("FBX format: %1").arg(formatStr));

#ifdef CC_FBX_SUPPORT
		FBXFilter::SetDefaultOutputFormat(formatStr);
#endif

		return true;
	}
};

struct CommandChangePLYExportFormat : public ccCommandLineInterface::Command
{
	CommandChangePLYExportFormat() : ccCommandLineInterface::Command("Change PLY output format", COMMAND_PLY_EXPORT_FORMAT) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: format (ASCII, BINARY_LE, or BINARY_BE) after '%1'").arg(COMMAND_PLY_EXPORT_FORMAT));

		//if (fileFilter != PlyFilter::GetFileFilter())
		//	cmd.warning(QObject::tr("Argument '%1' is only applicable to PLY format!").arg(argument));

		QString plyFormat = cmd.arguments().takeFirst().toUpper();
		//printf("%s\n",qPrintable(plyFormat));

		if (plyFormat == "ASCII")
			PlyFilter::SetDefaultOutputFormat(PLY_ASCII);
		else if (plyFormat == "BINARY_BE")
			PlyFilter::SetDefaultOutputFormat(PLY_BIG_ENDIAN);
		else if (plyFormat == "BINARY_LE")
			PlyFilter::SetDefaultOutputFormat(PLY_LITTLE_ENDIAN);
		else
			return cmd.error(QObject::tr("Invalid PLY format! ('%1')").arg(plyFormat));

		return true;
	}
};

struct CommandForceNormalsComputation : public ccCommandLineInterface::Command
{
	CommandForceNormalsComputation() : ccCommandLineInterface::Command("Compute structured cloud normals", COMMAND_COMPUTE_GRIDDED_NORMALS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		//simply change the default filter behavior
		cmd.fileLoadingParams().autoComputeNormals = true;

		return true;
	}
};

struct CommandSave : public ccCommandLineInterface::Command
{
	CommandSave(QString name, QString keyword) : ccCommandLineInterface::Command(name, keyword) {}

	static bool ParseFileNames(ccCommandLineInterface& cmd, QStringList& fileNames)
	{
		//
		// File list is space separated, but can use quotes to include spaces in the file names
		//
		auto argument = cmd.arguments().takeFirst();
		while (!argument.isEmpty())
		{
			auto firstChar = argument.at(0);
			if (firstChar == '\'' || firstChar == '\"')
			{
				auto end = argument.indexOf(firstChar, 1);
				if (end == -1)
					return cmd.error(QString("A file starting with %1 does not have a closing %1").arg(firstChar));

				fileNames.push_back(argument.mid(1, end - 1));
				argument.remove(0, end + 1);
				if (argument.startsWith(' '))
					argument.remove(0, 1);
			}
			else
			{
				auto end = argument.indexOf(' ');
				if (end == -1)
					end = argument.length();
				fileNames.push_back(argument.left(end));
				argument.remove(0, end + 1);
			}
		}
		return true;
	}

	static void SetFileDesc(CLEntityDesc& desc, const QString& fileName)
	{
		QFileInfo fInfo(fileName);
		desc.basename = fInfo.fileName();
		desc.path = fInfo.filePath().left(fInfo.filePath().length() - fInfo.fileName().length());
	}
};

struct CommandSaveClouds : public CommandSave
{
	CommandSaveClouds() : CommandSave("Save clouds", COMMAND_SAVE_CLOUDS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		bool allAtOnce = false;
		bool setFileNames = false;
		QStringList fileNames;

		//look for additional parameters
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (argument.toUpper() == OPTION_ALL_AT_ONCE)
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				allAtOnce = true;
			}
			else if (argument.left(sizeof(OPTION_FILE_NAMES) - 1).toUpper() == OPTION_FILE_NAMES)
			{
				cmd.arguments().pop_front();
				setFileNames = true;
				if (!ParseFileNames(cmd, fileNames))
					return false;
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		if(setFileNames && allAtOnce && fileNames.size() != 1)
			return cmd.error(QString("Invalid parameter: specified %1 file names, but ALL_AT_ONCE is on").arg(fileNames.size()));
		if(setFileNames && !allAtOnce && fileNames.size() != cmd.clouds().size())
			return cmd.error(QString("Invalid parameter: specified %1 file names, but there are %2 clouds").arg(fileNames.size()).arg(cmd.clouds().size()));

		QString ext = cmd.cloudExportExt();
		bool timestamp = cmd.addTimestamp();
		if (setFileNames)
		{
			cmd.toggleAddTimestamp(false);
			cmd.setCloudExportFormat(cmd.cloudExportFormat(), QString());

			if (!allAtOnce)
			{
				for (int i = 0; i < fileNames.size(); ++i)
				{
					SetFileDesc(cmd.clouds()[i], fileNames[i]);
				}
			}
		}

		auto res = cmd.saveClouds(QString(), allAtOnce, setFileNames ? &fileNames[0] : 0);

		if (setFileNames)
		{
			cmd.toggleAddTimestamp(timestamp);
			cmd.setCloudExportFormat(cmd.cloudExportFormat(), ext);
		}

		return res;
	}
};

struct CommandSaveMeshes : public CommandSave
{
	CommandSaveMeshes() : CommandSave("Save meshes", COMMAND_SAVE_MESHES) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		bool allAtOnce = false;
		bool setFileNames = false;
		QStringList fileNames;

		//look for additional parameters
		while (!cmd.arguments().empty())
		{
			QString argument = cmd.arguments().front();
			if (argument.toUpper() == OPTION_ALL_AT_ONCE)
			{
				//local option confirmed, we can move on
				cmd.arguments().pop_front();
				allAtOnce = true;
			}
			else if (argument.left(sizeof(OPTION_FILE_NAMES) - 1).toUpper() == OPTION_FILE_NAMES)
			{
				cmd.arguments().pop_front();
				setFileNames = true;
				if (!ParseFileNames(cmd, fileNames))
					return false;
			}
			else
			{
				break; //as soon as we encounter an unrecognized argument, we break the local loop to go back to the main one!
			}
		}

		if (setFileNames && allAtOnce && fileNames.size() != 1)
			return cmd.error(QString("Invalid parameter: specified %1 file names, but ALL_AT_ONCE is on").arg(fileNames.size()));
		if (setFileNames && !allAtOnce && fileNames.size() != cmd.meshes().size())
			return cmd.error(QString("Invalid parameter: specified %1 file names, but there are %2 meshes").arg(fileNames.size()).arg(cmd.meshes().size()));

		QString ext = cmd.meshExportExt();
		bool timestamp = cmd.addTimestamp();
		if (setFileNames)
		{
			cmd.toggleAddTimestamp(false);
			cmd.setMeshExportFormat(cmd.meshExportFormat(), QString());

			if (!allAtOnce)
			{
				for (int i = 0; i < fileNames.size(); ++i)
				{
					SetFileDesc(cmd.meshes()[i], fileNames[i]);
				}
			}
		}

		auto res = cmd.saveMeshes(QString(), allAtOnce, setFileNames ? &fileNames[0] : 0);

		if (setFileNames)
		{
			cmd.toggleAddTimestamp(timestamp);
			cmd.setMeshExportFormat(cmd.meshExportFormat(), ext);
		}

		return res;
	}
};

struct CommandAutoSave : public ccCommandLineInterface::Command
{
	CommandAutoSave() : ccCommandLineInterface::Command("Auto save state", COMMAND_AUTO_SAVE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: option after '%1' (%2/%3)").arg(COMMAND_AUTO_SAVE, OPTION_ON, OPTION_OFF));

		QString option = cmd.arguments().takeFirst().toUpper();
		if (option == OPTION_ON)
		{
			cmd.print("Auto-save is enabled");
			cmd.toggleAutoSaveMode(true);
		}
		else if (option == OPTION_OFF)
		{
			cmd.print("Auto-save is disabled");
			cmd.toggleAutoSaveMode(false);
		}
		else
		{
			return cmd.error(QObject::tr("Unrecognized option after '%1' (%2 or %3 expected)").arg(COMMAND_AUTO_SAVE, OPTION_ON, OPTION_OFF));
		}

		return true;
	}
};

struct CommandLogFile : public ccCommandLineInterface::Command
{
	CommandLogFile() : ccCommandLineInterface::Command("Set log file", COMMAND_LOG_FILE) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		if (cmd.arguments().empty())
			return cmd.error(QObject::tr("Missing parameter: filename after '%1'").arg(COMMAND_LOG_FILE));

		QString filename = cmd.arguments().takeFirst();
		if (!ccConsole::TheInstance(false))
		{
			assert(cmd.silentMode());
			ccConsole::Init();
		}

		return ccConsole::TheInstance()->setLogFile(filename);
	}
};

struct CommandClear : public ccCommandLineInterface::Command
{
	CommandClear() : ccCommandLineInterface::Command("Clear", COMMAND_CLEAR) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.removeClouds(false);
		cmd.removeMeshes(false);
		return true;
	}
};

struct CommandClearClouds : public ccCommandLineInterface::Command
{
	CommandClearClouds() : ccCommandLineInterface::Command("Clear clouds", COMMAND_CLEAR_CLOUDS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.removeClouds(false);
		return true;
	}
};

struct CommandPopClouds : public ccCommandLineInterface::Command
{
	CommandPopClouds() : ccCommandLineInterface::Command("Pop clouds", COMMAND_POP_CLOUDS) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.removeClouds(true);
		return true;
	}
};

struct CommandClearMeshes : public ccCommandLineInterface::Command
{
	CommandClearMeshes() : ccCommandLineInterface::Command("Clear meshes", COMMAND_CLEAR_MESHES) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.removeMeshes(false);
		return true;
	}
};

struct CommandPopMeshes : public ccCommandLineInterface::Command
{
	CommandPopMeshes() : ccCommandLineInterface::Command("Pop meshes", COMMAND_POP_MESHES) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.removeMeshes(true);
		return true;
	}
};

struct CommandSetNoTimestamp : public ccCommandLineInterface::Command
{
	CommandSetNoTimestamp() : ccCommandLineInterface::Command("No timestamp", COMMAND_NO_TIMESTAMP) {}

	virtual bool process(ccCommandLineInterface& cmd) override
	{
		cmd.toggleAddTimestamp(false);
		return true;
	}
};

#endif //COMMAND_LINE_COMMANDS_HEADER