Template Alignment. More...

#include <TemplateAlignment.h>

Inheritance diagram for TemplateAlignment:

Collaboration diagram for TemplateAlignment:

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Public Member Functions
	TemplateAlignment ()

virtual	~TemplateAlignment ()

virtual int	compute ()
	Performs the actual filter job. More...

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

virtual int	openInputDialog ()

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

virtual int	checkParameters ()

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

void	applyTransformation (ccHObject *entity, const ccGLMatrixd &mat)

Protected Member Functions inherited from BasePclModule
virtual int	openOutputDialog ()

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

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

void	throwError (int errCode)

Protected Attributes
ccPointCloud *	m_targetCloud

TemplateAlignmentDialog *	m_dialog

PCLModules::TemplateMatching *	m_templateMatch

float	m_leafSize

bool	m_useVoxelGrid

int	m_maxThreadCount

float	m_normalRadius

float	m_featureRadius

int	m_maxIterations

float	m_minSampleDistance

float	m_maxCorrespondenceDistance

std::vector< float >	m_scales

std::vector< ccPointCloud * >	m_templateClouds

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

Template Alignment.

Definition at line 22 of file TemplateAlignment.h.

Constructor & Destructor Documentation

◆ TemplateAlignment()

TemplateAlignment::TemplateAlignment ( )

Definition at line 29 of file TemplateAlignment.cpp.

◆ ~TemplateAlignment()

TemplateAlignment::~TemplateAlignment ( )

virtual

Definition at line 47 of file TemplateAlignment.cpp.

References m_dialog, and m_templateMatch.

Member Function Documentation

◆ applyTransformation()

void TemplateAlignment::applyTransformation	(	ccHObject *	entity,
		const ccGLMatrixd &	mat
	)

protected

Definition at line 251 of file TemplateAlignment.cpp.

References ccHObject::applyGLTransformation_recursive(), ccGLMatrixTpl< T >::data(), CVLog::Print(), ccDrawableObject::setGLTransformation(), and ccGLMatrixTpl< T >::toString().

Referenced by compute().

◆ checkParameters()

int TemplateAlignment::checkParameters ( )

protectedvirtual

Checks that the parameters retrieved by getParametersFromDialog are valid Automatically called by performAction. Does nothing by default. Must be overridden if necessary.

Returns: 1 if parameters are valid (error code otherwise)

Reimplemented from BasePclModule.

Definition at line 132 of file TemplateAlignment.cpp.

References m_featureRadius, m_normalRadius, m_targetCloud, and m_templateClouds.

◆ checkSelected()

int TemplateAlignment::checkSelected ( )

protectedvirtual

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 55 of file TemplateAlignment.cpp.

References BasePclModule::isFirstSelectedCcPointCloud().

◆ compute()

int TemplateAlignment::compute ( )

virtual

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 143 of file TemplateAlignment.cpp.

References ccHObject::addChild(), applyTransformation(), ecvColor::darkBlue(), ccShiftedObject::getGlobalScale(), ccShiftedObject::getGlobalShift(), ccObject::getName(), ccHObject::getParent(), TemplateAlignmentDialog::getTemplate1Cloud(), TemplateAlignmentDialog::getTemplate2Cloud(), m_dialog, m_featureRadius, m_leafSize, m_maxThreadCount, m_normalRadius, m_targetCloud, m_templateClouds, m_templateMatch, m_useVoxelGrid, BasePclModule::newEntity(), CVLog::Print(), ccShiftedObject::setGlobalScale(), ccShiftedObject::setGlobalShift(), ccObject::setName(), ccPointCloud::setRGBColor(), ccDrawableObject::showColors(), and ccDrawableObject::showSF().

◆ getErrorMessage()

QString TemplateAlignment::getErrorMessage ( int errorCode )

protectedvirtual

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 264 of file TemplateAlignment.cpp.

References BasePclModule::getErrorMessage().

◆ getParametersFromDialog()

void TemplateAlignment::getParametersFromDialog ( )

protectedvirtual

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 75 of file TemplateAlignment.cpp.

◆ openInputDialog()

int TemplateAlignment::openInputDialog ( )

protectedvirtual

Opens the input dialog window. Where the user can supply parameters for the computation Automatically called by performAction. Does nothing by default. Must be overridden if a dialog must be displayed.

Returns: 1 if dialog has been successfully executed, 0 if canceled, negative error code otherwise

Reimplemented from BasePclModule.

Definition at line 63 of file TemplateAlignment.cpp.

References BasePclModule::m_app, m_dialog, TemplateAlignmentDialog::refreshCloudComboBox(), and TemplateAlignmentDialog::saveParamsToPersistentSettings().

Member Data Documentation

◆ m_dialog

TemplateAlignmentDialog* TemplateAlignment::m_dialog

protected

Definition at line 41 of file TemplateAlignment.h.

Referenced by compute(), getParametersFromDialog(), openInputDialog(), and ~TemplateAlignment().

◆ m_featureRadius

float TemplateAlignment::m_featureRadius

protected

Definition at line 50 of file TemplateAlignment.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_leafSize

float TemplateAlignment::m_leafSize

protected

Definition at line 44 of file TemplateAlignment.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_maxCorrespondenceDistance

float TemplateAlignment::m_maxCorrespondenceDistance

protected

Definition at line 55 of file TemplateAlignment.h.

Referenced by getParametersFromDialog().

◆ m_maxIterations

int TemplateAlignment::m_maxIterations

protected

Definition at line 53 of file TemplateAlignment.h.

Referenced by getParametersFromDialog().

◆ m_maxThreadCount

int TemplateAlignment::m_maxThreadCount

protected

Definition at line 48 of file TemplateAlignment.h.

Referenced by compute(), and getParametersFromDialog().

◆ m_minSampleDistance

float TemplateAlignment::m_minSampleDistance

protected

Definition at line 54 of file TemplateAlignment.h.

Referenced by getParametersFromDialog().

◆ m_normalRadius

float TemplateAlignment::m_normalRadius

protected

Definition at line 49 of file TemplateAlignment.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_scales

std::vector<float> TemplateAlignment::m_scales

protected

Definition at line 57 of file TemplateAlignment.h.

Referenced by getParametersFromDialog().

◆ m_targetCloud

ccPointCloud* TemplateAlignment::m_targetCloud

protected

Definition at line 40 of file TemplateAlignment.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_templateClouds

std::vector<ccPointCloud*> TemplateAlignment::m_templateClouds

protected

Definition at line 58 of file TemplateAlignment.h.

Referenced by checkParameters(), compute(), and getParametersFromDialog().

◆ m_templateMatch

PCLModules::TemplateMatching* TemplateAlignment::m_templateMatch

protected

Definition at line 42 of file TemplateAlignment.h.

Referenced by compute(), getParametersFromDialog(), and ~TemplateAlignment().

◆ m_useVoxelGrid

bool TemplateAlignment::m_useVoxelGrid

protected

Definition at line 45 of file TemplateAlignment.h.

Referenced by compute(), and getParametersFromDialog().

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

/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Recognitions/TemplateAlignment.h
/root/ACloudViewer/plugins/core/Standard/qPCL/PclAlgorithms/Recognitions/TemplateAlignment.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TemplateAlignment()

◆ ~TemplateAlignment()

Member Function Documentation

◆ applyTransformation()

◆ checkParameters()

◆ checkSelected()

◆ compute()

◆ getErrorMessage()

◆ getParametersFromDialog()

◆ openInputDialog()

Member Data Documentation

◆ m_dialog

◆ m_featureRadius

◆ m_leafSize

◆ m_maxCorrespondenceDistance

◆ m_maxIterations

◆ m_maxThreadCount

◆ m_minSampleDistance

◆ m_normalRadius

◆ m_scales

◆ m_targetCloud

◆ m_templateClouds

◆ m_templateMatch

◆ m_useVoxelGrid