CorrespondenceMatching.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "BasePclModule.h"
 
// Qt
#include <QString>
 
class CorrespondenceMatchingDialog;
 
class CorrespondenceMatching : public BasePclModule {
public:
    CorrespondenceMatching();
    virtual ~CorrespondenceMatching();
 
    // inherited from BasePclModule
    virtual int compute();
 
protected:
    // inherited from BasePclModule
    virtual int checkSelected();
    virtual int openInputDialog();
    virtual void getParametersFromDialog();
    virtual int checkParameters();
    virtual QString getErrorMessage(int errorCode);
 
    void applyTransformation(ccHObject* entity, const ccGLMatrixd& mat);
 
    ccPointCloud* m_sceneCloud;
    CorrespondenceMatchingDialog* m_dialog;
 
    float m_leafSize;
    bool m_useVoxelGrid;
    bool m_gcMode;
    bool m_verification;
    int m_maxThreadCount;
 
    float m_modelSearchRadius;
    float m_sceneSearchRadius;
    float m_shotDescriptorRadius;
    int m_normalKSearch;
 
    // GC
    float m_consensusResolution;
    float m_gcMinClusterSize;
 
    // Hough
    float m_lrfRadius;
    float m_houghBinSize;
    float m_houghThreshold;
 
    // ICP
    int m_icpMaxIterations;
    float m_icpCorrDistance;
 
    // Global Hypotheses Verification
    float clusterReg = 5.0f;
    float inlierThreshold = 0.005f;
    float occlusionThreshold = 0.01f;
    float radiusClutter = 0.03f;
    float regularizer = 3.0f;
    float radiusNormals = 0.05f;
    bool detectClutter = true;
 
    std::vector<float> m_scales;
    std::vector<ccPointCloud*> m_modelClouds;
};