#include <VisualizerForAlignment.h>

Inheritance diagram for cloudViewer::VisualizerForAlignment:

Collaboration diagram for cloudViewer::VisualizerForAlignment:

[legend]

Public Member Functions
	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="")

	~VisualizerForAlignment () override

void	PrintVisualizerHelp () override

bool	AddSourceAndTarget (std::shared_ptr< ccPointCloud > source, std::shared_ptr< ccPointCloud > target)

Public Member Functions inherited from cloudViewer::visualization::Visualizer
	Visualizer ()

virtual	~Visualizer ()

	Visualizer (Visualizer &&)=delete

	Visualizer (const Visualizer &)=delete

Visualizer &	operator= (const Visualizer &)=delete

bool	CreateVisualizerWindow (const std::string &window_name="CloudViewer", const int width=640, const int height=480, const int left=50, const int top=50, const bool visible=true)
	Function to create a window and initialize GLFW. More...

void	DestroyVisualizerWindow ()
	Function to destroy a window. More...

void	RegisterAnimationCallback (std::function< bool(Visualizer *)> callback_func)
	Function to register a callback function for animation. More...

void	Run ()
	Function to activate the window. More...

void	Close ()
	Function to to notify the window to be closed. More...

bool	WaitEvents ()
	Function to process the event queue and return if the window is closed. More...

bool	PollEvents ()

virtual bool	AddGeometry (std::shared_ptr< const ccHObject > geometry_ptr, bool reset_bounding_box=true)
	Function to add geometry to the scene and create corresponding shaders. More...

virtual bool	RemoveGeometry (std::shared_ptr< const ccHObject > geometry_ptr, bool reset_bounding_box=true)
	Function to remove geometry from the scene. More...

virtual bool	ClearGeometries ()

virtual bool	UpdateGeometry (std::shared_ptr< const ccHObject > geometry_ptr=nullptr)
	Function to update geometry. More...

virtual bool	HasGeometry () const

virtual void	UpdateRender ()
	Function to inform render needed to be updated. More...

virtual void	SetFullScreen (bool fullscreen)
	Functions to change between fullscreen and windowed modes. More...

virtual void	ToggleFullScreen ()

virtual bool	IsFullScreen ()

virtual void	UpdateWindowTitle ()

virtual void	BuildUtilities ()

ViewControl &	GetViewControl ()
	Function to retrieve the associated ViewControl. More...

RenderOption &	GetRenderOption ()
	Function to retrieve the associated RenderOption. More...

std::shared_ptr< geometry::Image >	CaptureScreenFloatBuffer (bool do_render=true)
	Function to capture screen and store RGB in a float buffer. More...

void	CaptureScreenImage (const std::string &filename="", bool do_render=true)
	Function to capture and save a screen image. More...

std::shared_ptr< geometry::Image >	CaptureDepthFloatBuffer (bool do_render=true)

void	CaptureDepthImage (const std::string &filename="", bool do_render=true, double depth_scale=1000.0)

void	CaptureDepthPointCloud (const std::string &filename="", bool do_render=true, bool convert_to_world_coordinate=false)
	Function to capture and save local point cloud. More...

void	CaptureRenderOption (const std::string &filename="")

void	ResetViewPoint (bool reset_bounding_box=false)
	Function to reset view point. More...

const std::string &	GetWindowName () const

Protected Member Functions
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 Member Functions inherited from cloudViewer::visualization::Visualizer
virtual bool	InitOpenGL ()
	Function to initialize OpenGL. More...

virtual bool	InitViewControl ()
	Function to initialize ViewControl. More...

virtual bool	InitRenderOption ()
	Function to initialize RenderOption. More...

virtual void	Render (bool render_screen=false)

void	CopyViewStatusToClipboard ()

void	CopyViewStatusFromClipboard ()

virtual void	WindowRefreshCallback (GLFWwindow *window)

virtual void	WindowResizeCallback (GLFWwindow *window, int w, int h)

virtual void	MouseMoveCallback (GLFWwindow *window, double x, double y)

virtual void	MouseScrollCallback (GLFWwindow *window, double x, double y)

virtual void	MouseButtonCallback (GLFWwindow *window, int button, int action, int mods)

virtual void	WindowCloseCallback (GLFWwindow *window)
	Function to notify the window to be closed. More...

Protected Attributes
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_

Protected Attributes inherited from cloudViewer::visualization::Visualizer
GLFWwindow *	window_ = nullptr

std::string	window_name_ = "CloudViewer"

std::shared_ptr< GLFWContext >	glfw_context_ = nullptr
	Shared GLFW context. More...

Eigen::Vector2i	saved_window_size_ = Eigen::Vector2i::Zero()

Eigen::Vector2i	saved_window_pos_ = Eigen::Vector2i::Zero()

std::function< bool(Visualizer *)>	animation_callback_func_ = nullptr

std::function< bool(Visualizer *)>	animation_callback_func_in_loop_

MouseControl	mouse_control_

bool	is_redraw_required_ = true

bool	is_initialized_ = false

GLuint	vao_id_ = 0

GLuint	render_fbo_ = 0

GLuint	render_rgb_tex_ = 0

GLuint	render_depth_stencil_rbo_ = 0

std::unique_ptr< ViewControl >	view_control_ptr_

std::unique_ptr< RenderOption >	render_option_ptr_

std::unordered_set< std::shared_ptr< const ccHObject > >	geometry_ptrs_

std::unordered_set< std::shared_ptr< glsl::GeometryRenderer > >	geometry_renderer_ptrs_

std::vector< std::shared_ptr< const ccHObject > >	utility_ptrs_

std::vector< std::shared_ptr< glsl::GeometryRenderer > >	utility_renderer_ptrs_

std::unordered_map< std::shared_ptr< glsl::GeometryRenderer >, RenderOption >	utility_renderer_opts_

std::shared_ptr< ccMesh >	coordinate_frame_mesh_ptr_

std::shared_ptr< glsl::CoordinateFrameRenderer >	coordinate_frame_mesh_renderer_ptr_

Detailed Description

Definition at line 27 of file VisualizerForAlignment.h.

Constructor & Destructor Documentation

◆ VisualizerForAlignment()

cloudViewer::VisualizerForAlignment::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 = `""`
	)

inline

Definition at line 29 of file VisualizerForAlignment.h.

◆ ~VisualizerForAlignment()

cloudViewer::VisualizerForAlignment::~VisualizerForAlignment ( )

inlineoverride

Definition at line 45 of file VisualizerForAlignment.h.

Member Function Documentation

◆ AddSourceAndTarget()

bool cloudViewer::VisualizerForAlignment::AddSourceAndTarget	(	std::shared_ptr< ccPointCloud >	source,
		std::shared_ptr< ccPointCloud >	target
	)

Definition at line 31 of file VisualizerForAlignment.cpp.

References cloudViewer::visualization::Visualizer::AddGeometry(), alignment_session_, cloudViewer::visualization::Visualizer::GetRenderOption(), cloudViewer::visualization::RenderOption::point_size_, source_copy_ptr_, cloudViewer::AlignmentSession::source_ptr_, target_copy_ptr_, and cloudViewer::AlignmentSession::target_ptr_.

Referenced by main().

◆ AlignWithManualAnnotation()

bool cloudViewer::VisualizerForAlignment::AlignWithManualAnnotation ( )

protected

Definition at line 267 of file VisualizerForAlignment.cpp.

References alignment_session_, cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationPointToPoint::ComputeTransformation(), cloudViewer::visualization::VisualizerWithEditing::GetPickedPoints(), LogInfo, LogWarning, PrintTransformation(), source_copy_ptr_, cloudViewer::AlignmentSession::source_ptr_, source_visualizer_, cloudViewer::AlignmentSession::target_ptr_, target_visualizer_, transformation_, and with_scaling_.

Referenced by KeyPressCallback().

◆ EvaluateAlignmentAndSave()

void cloudViewer::VisualizerForAlignment::EvaluateAlignmentAndSave ( const std::string & filename )

protected

Definition at line 315 of file VisualizerForAlignment.cpp.

References filename, cloudViewer::utility::filesystem::FOpen(), cloudViewer::utility::filesystem::GetFileNameWithoutExtension(), LogError, source_copy_ptr_, target_copy_ptr_, and cloudViewer::io::WritePointCloud().

Referenced by KeyPressCallback().

◆ KeyPressCallback()

void cloudViewer::VisualizerForAlignment::KeyPressCallback	(	GLFWwindow *	window,
		int	key,
		int	scancode,
		int	action,
		int	mods
	)

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 44 of file VisualizerForAlignment.cpp.

References alignment_session_, AlignWithManualAnnotation(), default_directory_, EvaluateAlignmentAndSave(), cloudViewer::utility::filesystem::FileExists(), filename, format, cloudViewer::visualization::Visualizer::KeyPressCallback(), LoadSessionFromFile(), LogError, LogInfo, LogWarning, max_correspondence_distance_, polygon_filename_, PrintTransformation(), cloudViewer::io::ReadIJsonConvertible(), cloudViewer::pipelines::registration::RegistrationICP(), cloudViewer::visualization::Visualizer::ResetViewPoint(), result, SaveSessionToFile(), source_copy_ptr_, cloudViewer::AlignmentSession::source_ptr_, target_copy_ptr_, cloudViewer::AlignmentSession::target_ptr_, transformation_, cloudViewer::visualization::Visualizer::UpdateGeometry(), use_dialog_, and voxel_size_.

◆ LoadSessionFromFile()

bool cloudViewer::VisualizerForAlignment::LoadSessionFromFile ( const std::string & filename )

protected

Definition at line 248 of file VisualizerForAlignment.cpp.

References alignment_session_, filename, cloudViewer::visualization::VisualizerWithEditing::GetPickedPoints(), cloudViewer::AlignmentSession::max_correspondence_distance_, max_correspondence_distance_, cloudViewer::io::ReadIJsonConvertible(), cloudViewer::visualization::Visualizer::ResetViewPoint(), source_copy_ptr_, cloudViewer::AlignmentSession::source_indices_, cloudViewer::AlignmentSession::source_ptr_, source_visualizer_, cloudViewer::AlignmentSession::target_indices_, target_visualizer_, cloudViewer::AlignmentSession::transformation_, transformation_, cloudViewer::visualization::Visualizer::UpdateGeometry(), cloudViewer::visualization::Visualizer::UpdateRender(), cloudViewer::AlignmentSession::voxel_size_, voxel_size_, cloudViewer::AlignmentSession::with_scaling_, and with_scaling_.

Referenced by KeyPressCallback().

◆ PrintTransformation()

void cloudViewer::VisualizerForAlignment::PrintTransformation ( )

protected

Definition at line 299 of file VisualizerForAlignment.cpp.

References LogInfo, and transformation_.

Referenced by AlignWithManualAnnotation(), and KeyPressCallback().

◆ PrintVisualizerHelp()

void cloudViewer::VisualizerForAlignment::PrintVisualizerHelp ( )

overridevirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 16 of file VisualizerForAlignment.cpp.

References LogInfo, and cloudViewer::visualization::Visualizer::PrintVisualizerHelp().

◆ SaveSessionToFile()

bool cloudViewer::VisualizerForAlignment::SaveSessionToFile ( const std::string & filename )

protected

Definition at line 237 of file VisualizerForAlignment.cpp.

References alignment_session_, filename, cloudViewer::visualization::VisualizerWithEditing::GetPickedPoints(), cloudViewer::AlignmentSession::max_correspondence_distance_, max_correspondence_distance_, cloudViewer::AlignmentSession::source_indices_, source_visualizer_, cloudViewer::AlignmentSession::target_indices_, target_visualizer_, cloudViewer::AlignmentSession::transformation_, transformation_, cloudViewer::AlignmentSession::voxel_size_, voxel_size_, cloudViewer::AlignmentSession::with_scaling_, with_scaling_, and cloudViewer::io::WriteIJsonConvertible().

Referenced by KeyPressCallback().

Member Data Documentation

◆ alignment_session_

AlignmentSession cloudViewer::VisualizerForAlignment::alignment_session_

protected

Definition at line 75 of file VisualizerForAlignment.h.

Referenced by AddSourceAndTarget(), AlignWithManualAnnotation(), KeyPressCallback(), LoadSessionFromFile(), and SaveSessionToFile().

◆ default_directory_

std::string cloudViewer::VisualizerForAlignment::default_directory_

protected

Definition at line 76 of file VisualizerForAlignment.h.

Referenced by KeyPressCallback().

◆ max_correspondence_distance_

double cloudViewer::VisualizerForAlignment::max_correspondence_distance_ = -1.0

protected

Definition at line 68 of file VisualizerForAlignment.h.

Referenced by KeyPressCallback(), LoadSessionFromFile(), and SaveSessionToFile().

◆ polygon_filename_

std::string cloudViewer::VisualizerForAlignment::polygon_filename_ = ""

protected

Definition at line 72 of file VisualizerForAlignment.h.

Referenced by KeyPressCallback().

◆ source_copy_ptr_

std::shared_ptr<ccPointCloud> cloudViewer::VisualizerForAlignment::source_copy_ptr_

protected

Definition at line 73 of file VisualizerForAlignment.h.

Referenced by AddSourceAndTarget(), AlignWithManualAnnotation(), EvaluateAlignmentAndSave(), KeyPressCallback(), and LoadSessionFromFile().

◆ source_visualizer_

visualization::VisualizerWithEditing& cloudViewer::VisualizerForAlignment::source_visualizer_

protected

Definition at line 65 of file VisualizerForAlignment.h.

Referenced by AlignWithManualAnnotation(), LoadSessionFromFile(), and SaveSessionToFile().

◆ target_copy_ptr_

std::shared_ptr<ccPointCloud> cloudViewer::VisualizerForAlignment::target_copy_ptr_

protected

Definition at line 74 of file VisualizerForAlignment.h.

Referenced by AddSourceAndTarget(), EvaluateAlignmentAndSave(), and KeyPressCallback().

◆ target_visualizer_

visualization::VisualizerWithEditing& cloudViewer::VisualizerForAlignment::target_visualizer_

protected

Definition at line 66 of file VisualizerForAlignment.h.

Referenced by AlignWithManualAnnotation(), LoadSessionFromFile(), and SaveSessionToFile().

◆ transformation_

Eigen::Matrix4d cloudViewer::VisualizerForAlignment::transformation_ = Eigen::Matrix4d::Identity()

protected

Definition at line 71 of file VisualizerForAlignment.h.

Referenced by AlignWithManualAnnotation(), KeyPressCallback(), LoadSessionFromFile(), PrintTransformation(), and SaveSessionToFile().

◆ use_dialog_

bool cloudViewer::VisualizerForAlignment::use_dialog_ = true

protected

Definition at line 70 of file VisualizerForAlignment.h.

Referenced by KeyPressCallback().

◆ voxel_size_

double cloudViewer::VisualizerForAlignment::voxel_size_ = -1.0

protected

Definition at line 67 of file VisualizerForAlignment.h.

Referenced by KeyPressCallback(), LoadSessionFromFile(), and SaveSessionToFile().

◆ with_scaling_

bool cloudViewer::VisualizerForAlignment::with_scaling_ = true

protected

Definition at line 69 of file VisualizerForAlignment.h.

Referenced by AlignWithManualAnnotation(), LoadSessionFromFile(), and SaveSessionToFile().

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

/root/ACloudViewer/libs/CVViewer/tools/ManuallyAlignPointCloud/VisualizerForAlignment.h
/root/ACloudViewer/libs/CVViewer/tools/ManuallyAlignPointCloud/VisualizerForAlignment.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VisualizerForAlignment()

◆ ~VisualizerForAlignment()

Member Function Documentation

◆ AddSourceAndTarget()

◆ AlignWithManualAnnotation()

◆ EvaluateAlignmentAndSave()

◆ KeyPressCallback()

◆ LoadSessionFromFile()

◆ PrintTransformation()

◆ PrintVisualizerHelp()

◆ SaveSessionToFile()

Member Data Documentation

◆ alignment_session_

◆ default_directory_

◆ max_correspondence_distance_

◆ polygon_filename_

◆ source_copy_ptr_

◆ source_visualizer_

◆ target_copy_ptr_

◆ target_visualizer_

◆ transformation_

◆ use_dialog_

◆ voxel_size_

◆ with_scaling_