AlignmentSession.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <FileSystem.h>
#include <IJsonConvertible.h>
#include <Logging.h>
#include <ecvBBox.h>
#include <ecvKDTreeFlann.h>
#include <ecvOrientedBBox.h>
#include <ecvPointCloud.h>
 
#include <thread>
 
#include "io/PointCloudIO.h"
 
namespace cloudViewer {
 
class AlignmentSession : public utility::IJsonConvertible {
public:
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;
 
public:
    std::shared_ptr<ccPointCloud> source_ptr_;  // Original source pointcloud
    std::shared_ptr<ccPointCloud> target_ptr_;  // Original target pointcloud
    std::vector<size_t> source_indices_;  // Manually annotated point indices
    std::vector<size_t> target_indices_;  // Manually annotated point indices
    Eigen::Matrix4d_u transformation_;    // Current alignment result
    double voxel_size_ = -1.0;
    double max_correspondence_distance_ = -1.0;
    bool with_scaling_ = true;
};
 
}  // namespace cloudViewer