TemplateAlignment.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "BasePclModule.h"
 
// Qt
#include <QString>
 
class TemplateAlignmentDialog;
 
namespace PCLModules {
class TemplateMatching;
}
 
class TemplateAlignment : public BasePclModule {
public:
    TemplateAlignment();
    virtual ~TemplateAlignment();
 
    // 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_targetCloud;
    TemplateAlignmentDialog* m_dialog;
    PCLModules::TemplateMatching* m_templateMatch;
 
    float m_leafSize;
    bool m_useVoxelGrid;
 
    // PCLUtils::FeatureCloud parameters
    int m_maxThreadCount;
    float m_normalRadius;
    float m_featureRadius;
 
    // PCLUtils::TemplateMatching parameters
    int m_maxIterations;
    float m_minSampleDistance;
    float m_maxCorrespondenceDistance;
 
    std::vector<float> m_scales;
    std::vector<ccPointCloud*> m_templateClouds;
};