VisualizerForAlignment.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
// clang-format off
#include <visualization/visualizer/Visualizer.h> // must include first
#include <visualization/visualizer/VisualizerWithEditing.h>
// clang-format on
 
#include <FileSystem.h>
#include <IJsonConvertible.h>
#include <IJsonConvertibleIO.h>
#include <Logging.h>
#include <ecvBBox.h>
#include <ecvKDTreeFlann.h>
#include <ecvOrientedBBox.h>
#include <ecvPointCloud.h>
 
#include "AlignmentSession.h"
#include "io/PointCloudIO.h"
 
namespace cloudViewer {
 
class VisualizerForAlignment : public visualization::Visualizer {
public:
    VisualizerForAlignment(visualization::VisualizerWithEditing &source,
                           visualization::VisualizerWithEditing &target,
                           double voxel_size = -1.0,
                           double max_correspondence_distance = -1.0,
                           bool with_scaling = true,
                           bool use_dialog = true,
                           const std::string &polygon_filename = "",
                           const std::string &directory = "")
        : source_visualizer_(source),
          target_visualizer_(target),
          voxel_size_(voxel_size),
          max_correspondence_distance_(max_correspondence_distance),
          with_scaling_(with_scaling),
          use_dialog_(use_dialog),
          polygon_filename_(polygon_filename),
          default_directory_(directory) {}
    ~VisualizerForAlignment() override {}
 
public:
    void PrintVisualizerHelp() override;
    bool AddSourceAndTarget(std::shared_ptr<ccPointCloud> source,
                            std::shared_ptr<ccPointCloud> target);
 
protected:
    void KeyPressCallback(GLFWwindow *window,
                          int key,
                          int scancode,
                          int action,
                          int mods) override;
    bool SaveSessionToFile(const std::string &filename);
    bool LoadSessionFromFile(const std::string &filename);
    bool AlignWithManualAnnotation();
    void PrintTransformation();
    void EvaluateAlignmentAndSave(const std::string &filename);
 
protected:
    visualization::VisualizerWithEditing &source_visualizer_;
    visualization::VisualizerWithEditing &target_visualizer_;
    double voxel_size_ = -1.0;
    double max_correspondence_distance_ = -1.0;
    bool with_scaling_ = true;
    bool use_dialog_ = true;
    Eigen::Matrix4d transformation_ = Eigen::Matrix4d::Identity();
    std::string polygon_filename_ = "";
    std::shared_ptr<ccPointCloud> source_copy_ptr_;
    std::shared_ptr<ccPointCloud> target_copy_ptr_;
    AlignmentSession alignment_session_;
    std::string default_directory_;
};
 
}  // namespace cloudViewer