#include <FastGlobalRegistrationFilter.h>

Inheritance diagram for FastGlobalRegistrationFilter:

Collaboration diagram for FastGlobalRegistrationFilter:

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Public Member Functions
	FastGlobalRegistrationFilter ()

	~FastGlobalRegistrationFilter () override

Public Member Functions inherited from BasePclModule
	BasePclModule (PclModuleDescription desc=PclModuleDescription(), ccPluginInterface *parent_plugin=0)
	Default constructor. More...

QAction *	getAction ()
	Get the action associated with the button used in menu and toolbar creation. More...

QString	getStatusTip () const
	Returns the status tip. More...

QString	getModuleName () const
	Returns the name of the filter. More...

QString	getEntryName () const
	Returns the entry name. More...

QIcon	getIcon () const
	Returns the icon associated with the button. More...

void	setShowProgressBar (bool status)
	Sets whether to show a progressbar while computing or not. More...

std::vector< std::string >	getSelectedAvailableScalarFields ()

ccPointCloud *	getSelectedEntityAsCCPointCloud () const
	Returns the first selected entity as a ccPointCloud. More...

ccHObject *	getSelectedEntityAsCCHObject () const
	Returns the first selected entity as a ccHObject. More...

ccHObject::Container	getSelectedThatHaveMetaData (const QString key) const
	Get selected object that also have the provided metadata key. More...

void	getAllEntitiesOfType (CV_CLASS_ENUM type, ccHObject::Container &entities)
	Returns all the objects in db tree of type "type". More...

void	getAllEntitiesThatHaveMetaData (QString key, ccHObject::Container &entities)

void	getSelectedEntitiesThatAreCCPointCloud (ccHObject::Container &entities)
	get all entities that are selected and that also are cc_point_cloud More...

void	getSelectedEntitiesThatAre (CV_CLASS_ENUM kind, ccHObject::Container &entities)

int	hasSelectedRGB ()
	Returns 1 if the first selected entity has RGB info. More...

int	hasSelectedScalarField ()
	Returns 1 if the first selected entity has at least one scalar field. More...

int	hasSelectedScalarField (std::string field_name)

int	isFirstSelectedCcPointCloud ()
	Returns 1 if the first selected object is a ccPointCloud. More...

virtual void	updateSelectedEntities (const ccHObject::Container &selectedEntities)
	Updates the internal copy of selected entities. More...

void	setMainAppInterface (ecvMainAppInterface *app)
	Sets associated CC application interface (to access DB) More...

ecvMainAppInterface *	getMainAppInterface ()

ccPluginInterface *	getParentPlugin () const
	Returns the associated parent plugin interface. More...

Protected Member Functions
virtual int	compute () override
	Performs the actual filter job. More...

virtual void	getParametersFromDialog () override
	Collects parameters from the filter dialog (if openDialog is successful) More...

virtual int	checkSelected () override
	Checks if current selection is compliant with the filter. More...

virtual QString	getErrorMessage (int errorCode) override
	Returns the error message corresponding to a given error code. More...

Protected Member Functions inherited from BasePclModule
virtual int	openInputDialog ()

virtual int	openOutputDialog ()

virtual int	checkParameters ()

virtual int	start ()
	Starts computation. More...

virtual void	initAction ()
	Initializes the corresponding action. More...

void	throwError (int errCode)

Protected Attributes
std::vector< ccPointCloud * >	m_alignedClouds

ccPointCloud *	m_referenceCloud

double	m_featureRadius

Protected Attributes inherited from BasePclModule
QAction *	m_action
	Forces the Ui to be updated. More...

ccHObject::Container	m_selected
	Pointer to the main window. More...

PclModuleDescription	m_desc
	Associated dialog. More...

ecvMainAppInterface *	m_app
	Associated application interface. More...

ccPluginInterface *	m_parent_plugin
	associated parent plugin of the filter More...

bool	m_show_progress
	Do we want to show a progress bar when the filter works? More...

Additional Inherited Members
Signals inherited from BasePclModule
void	entityHasChanged (ccHObject *)
	Signal emitted when an entity is (visually) modified. More...

void	newEntity (ccHObject *)
	Signal emitted when a new entity is created by the filter. More...

void	newErrorMessage (QString)
	Signal emitted when a new error message is produced. More...

Protected Slots inherited from BasePclModule
int	performAction ()
	Returns is called when the dialog window is accepted. More...

Detailed Description

Filter based on "Q.-Y. Zhou, J. Park, and V. Koltun, Fast Global Registration, ECCV, 2016." See https://github.com/isl-org/FastGlobalRegistration

Definition at line 37 of file FastGlobalRegistrationFilter.h.

Constructor & Destructor Documentation

◆ FastGlobalRegistrationFilter()

FastGlobalRegistrationFilter::FastGlobalRegistrationFilter ( )

Definition at line 37 of file FastGlobalRegistrationFilter.cpp.

◆ ~FastGlobalRegistrationFilter()

FastGlobalRegistrationFilter::~FastGlobalRegistrationFilter ( )

override

Definition at line 48 of file FastGlobalRegistrationFilter.cpp.

Member Function Documentation

◆ checkSelected()

int FastGlobalRegistrationFilter::checkSelected ( )

overrideprotectedvirtual

Checks if current selection is compliant with the filter.

If not, an error is returned and computation stops. By default, baseclass method simply checks that selection is composed of one and only one ccPointCloud. This method should be overridden if necessary.

Returns: 1 if selection is compliant (error code otherwise)

Reimplemented from BasePclModule.

Definition at line 62 of file FastGlobalRegistrationFilter.cpp.

References BasePclModule::m_selected, and CV_TYPES::POINT_CLOUD.

◆ compute()

int FastGlobalRegistrationFilter::compute ( )

overrideprotectedvirtual

Performs the actual filter job.

This method MUST be re-implemented by derived filter

Returns: 1 if successful (error code otherwise)

Implements BasePclModule.

Definition at line 189 of file FastGlobalRegistrationFilter.cpp.

References fgr::CApp::AdvancedMatching(), ComputeFeatures(), ConverFromTo(), ccGLMatrixTpl< T >::data(), fgr::CApp::GetOutputTrans(), ccPointCloud::hasNormals(), fgr::CApp::LoadFeature(), m_alignedClouds, m_featureRadius, m_referenceCloud, fgr::CApp::NormalizePoints(), fgr::CApp::OptimizePairwise(), CVLog::Print(), ccGLMatrixTpl< T >::toString(), and CVLog::Warning().

◆ getErrorMessage()

QString FastGlobalRegistrationFilter::getErrorMessage ( int errorCode )

overrideprotectedvirtual

Returns the error message corresponding to a given error code.

Each filter have a set of possible error message to be used given bt getFilterErrorMessage() Baseclass implementation provides some generic messages.

Note: These messages can be replaced by re-implementing this method and handling the same codes BEFORE calling the baseclass method

Reimplemented from BasePclModule.

Definition at line 50 of file FastGlobalRegistrationFilter.cpp.

References BasePclModule::getErrorMessage(), and NoNormals.

◆ getParametersFromDialog()

void FastGlobalRegistrationFilter::getParametersFromDialog ( )

overrideprotectedvirtual

Collects parameters from the filter dialog (if openDialog is successful)

Automatically called by performAction. Does nothing by default. Must be overridden if necessary.

Reimplemented from BasePclModule.

Definition at line 145 of file FastGlobalRegistrationFilter.cpp.

References FastGlobalRegistrationDialog::getFeatureRadius(), ecvMainAppInterface::getMainWindow(), FastGlobalRegistrationDialog::getReferenceCloud(), ccPointCloud::hasNormals(), m_alignedClouds, BasePclModule::m_app, m_featureRadius, m_referenceCloud, BasePclModule::m_selected, CV_TYPES::POINT_CLOUD, ccPointCloud::reserve(), FastGlobalRegistrationDialog::saveParameters(), and ccHObjectCaster::ToPointCloud().

Member Data Documentation

◆ m_alignedClouds

std::vector<ccPointCloud*> FastGlobalRegistrationFilter::m_alignedClouds

protected

Definition at line 50 of file FastGlobalRegistrationFilter.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_featureRadius

double FastGlobalRegistrationFilter::m_featureRadius

protected

Definition at line 52 of file FastGlobalRegistrationFilter.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_referenceCloud

ccPointCloud* FastGlobalRegistrationFilter::m_referenceCloud

protected

Definition at line 51 of file FastGlobalRegistrationFilter.h.

Referenced by compute(), and getParametersFromDialog().

The documentation for this class was generated from the following files:

/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Filters/FastGlobalRegistrationFilter.h
/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Filters/FastGlobalRegistrationFilter.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FastGlobalRegistrationFilter()

◆ ~FastGlobalRegistrationFilter()

Member Function Documentation

◆ checkSelected()

◆ compute()

◆ getErrorMessage()

◆ getParametersFromDialog()

Member Data Documentation

◆ m_alignedClouds

◆ m_featureRadius

◆ m_referenceCloud