Point cloud or mesh registration dialog. More...

#include <ecvRegistrationDlg.h>

Inheritance diagram for ccRegistrationDlg:

Collaboration diagram for ccRegistrationDlg:

[legend]

Public Types
typedef cloudViewer::ICPRegistrationTools::CONVERGENCE_TYPE	ConvergenceMethod

Public Member Functions
	ccRegistrationDlg (ccHObject data, ccHObject model, QWidget *parent=nullptr)
	Default constructor. More...

virtual	~ccRegistrationDlg ()
	Default destructor. More...

ConvergenceMethod	getConvergenceMethod () const
	Returns convergence method. More...

unsigned	getMaxIterationCount () const
	Returns max number of iterations. More...

unsigned	getFinalOverlap () const
	Returns the approximated final overlap. More...

double	getMinRMSDecrease () const
	Returns minimum RMS decrease between two consecutive iterations. More...

void	setMinRMSDecrease (double value)
	Sets the minimum RMS decrease between two consecutive iterations. More...

bool	removeFarthestPoints () const
	Returns whether farthest points should be ignored at each iteration. More...

unsigned	randomSamplingLimit () const
	Returns the limit above which clouds should be randomly resampled. More...

ccHObject *	getModelEntity ()
	Returns 'model' entity. More...

ccHObject *	getDataEntity ()
	Returns 'data' entity. More...

bool	useDataSFAsWeights () const
	Whether to use data displayed SF as weights. More...

bool	useModelSFAsWeights () const
	Whether to use model displayed SF as weights. More...

bool	useC2MSignedDistances () const
	Whether to use signed distances when the reference is a mesh. More...

cloudViewer::ICPRegistrationTools::NORMALS_MATCHING	normalsMatchingOption () const
	Method to take normals into account. More...

bool	adjustScale () const
	Returns whether to adjust the scale during optimization. More...

int	getTransformationFilters () const
	Returns active transformation filters. More...

int	getMaxThreadCount () const
	Returns the maximum number of threads. More...

void	saveParameters () const
	Saves parameters for next call. More...

Static Public Member Functions
static double	GetAbsoluteMinRMSDecrease ()

Protected Member Functions
void	swapModelAndData ()

void	updateGUI ()

Protected Attributes
ccHObject *	modelEntity
	'Model' entity More...

ccHObject *	dataEntity
	'Data' entity More...

Detailed Description

Point cloud or mesh registration dialog.

Definition at line 20 of file ecvRegistrationDlg.h.

Member Typedef Documentation

◆ ConvergenceMethod

typedef cloudViewer::ICPRegistrationTools::CONVERGENCE_TYPE ccRegistrationDlg::ConvergenceMethod

Definition at line 34 of file ecvRegistrationDlg.h.

Constructor & Destructor Documentation

◆ ccRegistrationDlg()

ccRegistrationDlg::ccRegistrationDlg	(	ccHObject *	data,
		ccHObject *	model,
		QWidget *	parent = `nullptr`
	)

Default constructor.

Definition at line 48 of file ecvRegistrationDlg.cpp.

References dataEntity, GetAbsoluteMinRMSDecrease(), modelEntity, ecvColor::red(), s_adjustScale, s_finalOverlap, s_maxIterationCount, s_maxThreadCount, s_normalsMatchingOption, s_pointsRemoval, s_randomSamplingLimit, s_rmsDifference, s_rotComboIndex, s_transCheckboxes, s_useC2MSignedDistances, s_useDataSFAsWeights, s_useErrorDifferenceCriterion, s_useModelSFAsWeights, ccQtHelpers::SetButtonColor(), setMinRMSDecrease(), swapModelAndData(), updateGUI(), and ecvColor::yellow().

◆ ~ccRegistrationDlg()

ccRegistrationDlg::~ccRegistrationDlg ( )

virtual

Default destructor.

Definition at line 104 of file ecvRegistrationDlg.cpp.

References dataEntity, ccDrawableObject::enableTempColor(), modelEntity, ecvDisplayTools::RedrawDisplay(), and ecvDisplayTools::SetRedrawRecursive().

Member Function Documentation

◆ adjustScale()

bool ccRegistrationDlg::adjustScale ( ) const

Returns whether to adjust the scale during optimization.

This is useful for co-registration of lidar and photogrammetric clouds for instance.

Definition at line 164 of file ecvRegistrationDlg.cpp.

Referenced by saveParameters().

◆ GetAbsoluteMinRMSDecrease()

double ccRegistrationDlg::GetAbsoluteMinRMSDecrease ( )

static

Returns the theoretical mininmum RMS decrease between two consecutive iterations

Definition at line 188 of file ecvRegistrationDlg.cpp.

Referenced by ccRegistrationDlg().

◆ getConvergenceMethod()

ccRegistrationDlg::ConvergenceMethod ccRegistrationDlg::getConvergenceMethod ( ) const

Returns convergence method.

Definition at line 210 of file ecvRegistrationDlg.cpp.

References cloudViewer::ICPRegistrationTools::MAX_ERROR_CONVERGENCE, and cloudViewer::ICPRegistrationTools::MAX_ITER_CONVERGENCE.

◆ getDataEntity()

ccHObject * ccRegistrationDlg::getDataEntity ( )

Returns 'data' entity.

Definition at line 135 of file ecvRegistrationDlg.cpp.

References dataEntity.

◆ getFinalOverlap()

unsigned ccRegistrationDlg::getFinalOverlap ( ) const

Returns the approximated final overlap.

Definition at line 180 of file ecvRegistrationDlg.cpp.

References max().

◆ getMaxIterationCount()

unsigned ccRegistrationDlg::getMaxIterationCount ( ) const

Returns max number of iterations.

Only valid if registration method is 'ITERATION_REG'.

Definition at line 176 of file ecvRegistrationDlg.cpp.

References max().

Referenced by saveParameters().

◆ getMaxThreadCount()

int ccRegistrationDlg::getMaxThreadCount ( ) const

Returns the maximum number of threads.

Definition at line 184 of file ecvRegistrationDlg.cpp.

Referenced by saveParameters().

◆ getMinRMSDecrease()

double ccRegistrationDlg::getMinRMSDecrease ( ) const

Returns minimum RMS decrease between two consecutive iterations.

Only valid if registration method is 'MAX_ERROR_REG'.

Definition at line 190 of file ecvRegistrationDlg.cpp.

Referenced by saveParameters().

◆ getModelEntity()

ccHObject * ccRegistrationDlg::getModelEntity ( )

Returns 'model' entity.

Definition at line 137 of file ecvRegistrationDlg.cpp.

References modelEntity.

◆ getTransformationFilters()

int ccRegistrationDlg::getTransformationFilters ( ) const

Returns active transformation filters.

See cloudViewer::RegistrationTools::TRANSFORMATION_FILTERS.

Definition at line 218 of file ecvRegistrationDlg.cpp.

References cloudViewer::RegistrationTools::SKIP_RXY, cloudViewer::RegistrationTools::SKIP_RXZ, cloudViewer::RegistrationTools::SKIP_RYZ, cloudViewer::RegistrationTools::SKIP_TX, cloudViewer::RegistrationTools::SKIP_TY, and cloudViewer::RegistrationTools::SKIP_TZ.

◆ normalsMatchingOption()

cloudViewer::ICPRegistrationTools::NORMALS_MATCHING ccRegistrationDlg::normalsMatchingOption ( ) const

Method to take normals into account.

Definition at line 155 of file ecvRegistrationDlg.cpp.

References cloudViewer::ICPRegistrationTools::NO_NORMAL.

◆ randomSamplingLimit()

unsigned ccRegistrationDlg::randomSamplingLimit ( ) const

Returns the limit above which clouds should be randomly resampled.

Definition at line 172 of file ecvRegistrationDlg.cpp.

Referenced by saveParameters().

◆ removeFarthestPoints()

bool ccRegistrationDlg::removeFarthestPoints ( ) const

Returns whether farthest points should be ignored at each iteration.

This is a trick to improve registration for slightly different clouds.

Definition at line 168 of file ecvRegistrationDlg.cpp.

Referenced by saveParameters().

◆ saveParameters()

void ccRegistrationDlg::saveParameters ( ) const

Saves parameters for next call.

Definition at line 116 of file ecvRegistrationDlg.cpp.

References adjustScale(), getMaxIterationCount(), getMaxThreadCount(), getMinRMSDecrease(), randomSamplingLimit(), removeFarthestPoints(), s_adjustScale, s_finalOverlap, s_maxIterationCount, s_maxThreadCount, s_normalsMatchingOption, s_pointsRemoval, s_randomSamplingLimit, s_rmsDifference, s_rotComboIndex, s_transCheckboxes, s_useC2MSignedDistances, s_useDataSFAsWeights, s_useErrorDifferenceCriterion, and s_useModelSFAsWeights.

◆ setMinRMSDecrease()

void ccRegistrationDlg::setMinRMSDecrease ( double value )

Sets the minimum RMS decrease between two consecutive iterations.

Only valid if registration method is 'MAX_ERROR_REG'.

Definition at line 202 of file ecvRegistrationDlg.cpp.

Referenced by ccRegistrationDlg().

◆ swapModelAndData()

void ccRegistrationDlg::swapModelAndData ( )

protected

Definition at line 276 of file ecvRegistrationDlg.cpp.

References dataEntity, modelEntity, std::swap(), and updateGUI().

Referenced by ccRegistrationDlg().

◆ updateGUI()

void ccRegistrationDlg::updateGUI ( )

protected

Definition at line 245 of file ecvRegistrationDlg.cpp.

References dataEntity, ccObject::getName(), ccDrawableObject::hasDisplayedScalarField(), ccDrawableObject::hasNormals(), ccObject::isKindOf(), CV_TYPES::MESH, modelEntity, CV_TYPES::POINT_CLOUD, ecvColor::red(), ecvDisplayTools::RedrawDisplay(), ecvDisplayTools::SetRedrawRecursive(), ccDrawableObject::setTempColor(), ccDrawableObject::setVisible(), and ecvColor::yellow().

Referenced by ccRegistrationDlg(), and swapModelAndData().

◆ useC2MSignedDistances()

bool ccRegistrationDlg::useC2MSignedDistances ( ) const

Whether to use signed distances when the reference is a mesh.

Definition at line 149 of file ecvRegistrationDlg.cpp.

◆ useDataSFAsWeights()

bool ccRegistrationDlg::useDataSFAsWeights ( ) const

Whether to use data displayed SF as weights.

Definition at line 139 of file ecvRegistrationDlg.cpp.

◆ useModelSFAsWeights()

bool ccRegistrationDlg::useModelSFAsWeights ( ) const

Whether to use model displayed SF as weights.

Definition at line 144 of file ecvRegistrationDlg.cpp.

Member Data Documentation

◆ dataEntity

ccHObject* ccRegistrationDlg::dataEntity

protected

'Data' entity

Definition at line 115 of file ecvRegistrationDlg.h.

Referenced by ccRegistrationDlg(), getDataEntity(), swapModelAndData(), updateGUI(), and ~ccRegistrationDlg().

◆ modelEntity

ccHObject* ccRegistrationDlg::modelEntity

protected

'Model' entity

Definition at line 112 of file ecvRegistrationDlg.h.

Referenced by ccRegistrationDlg(), getModelEntity(), swapModelAndData(), updateGUI(), and ~ccRegistrationDlg().

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

/root/ACloudViewer/app/ecvRegistrationDlg.h
/root/ACloudViewer/app/ecvRegistrationDlg.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConvergenceMethod

Constructor & Destructor Documentation

◆ ccRegistrationDlg()

◆ ~ccRegistrationDlg()

Member Function Documentation

◆ adjustScale()

◆ GetAbsoluteMinRMSDecrease()

◆ getConvergenceMethod()

◆ getDataEntity()

◆ getFinalOverlap()

◆ getMaxIterationCount()

◆ getMaxThreadCount()

◆ getMinRMSDecrease()

◆ getModelEntity()

◆ getTransformationFilters()

◆ normalsMatchingOption()

◆ randomSamplingLimit()

◆ removeFarthestPoints()

◆ saveParameters()

◆ setMinRMSDecrease()

◆ swapModelAndData()

◆ updateGUI()

◆ useC2MSignedDistances()

◆ useDataSFAsWeights()

◆ useModelSFAsWeights()

Member Data Documentation

◆ dataEntity

◆ modelEntity