ecvPointPairRegistrationDlg.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "ecvOverlayDialog.h"
#include "ecvPickingListener.h"
 
// CV_CORE_LIB
#include <PointProjectionTools.h>
 
// CV_DB_LIB
#include <ecvPointCloud.h>
 
#include "ecvMainAppInterface.h"
 
// Qt generated dialog
#include <ui_pointPairRegistrationDlg.h>
 
class ccGenericPointCloud;
class cc2DLabel;
class ccPickingHub;
 
// Dialog for the point-pair registration algorithm (Horn)
class ccPointPairRegistrationDlg : public ccOverlayDialog,
                                   public ccPickingListener,
                                   Ui::pointPairRegistrationDlg {
    Q_OBJECT
 
public:
    explicit ccPointPairRegistrationDlg(ccPickingHub* pickingHub,
                                        ecvMainAppInterface* app,
                                        QWidget* parent = nullptr);
 
    // inherited from ccOverlayDialog
    bool linkWith(QWidget* win) override;
    bool start() override;
    void stop(bool state) override;
 
    bool init(QWidget* win,
              const ccHObject::Container& alignedEntities,
              const ccHObject::Container* referenceEntities = nullptr);
 
    void clear();
 
    void pause(bool state);
 
    bool addAlignedPoint(CCVector3d& P,
                         ccHObject* entity = nullptr,
                         bool shifted = true);
    bool addReferencePoint(CCVector3d& P,
                           ccHObject* entity = nullptr,
                           bool shifted = true);
 
    void removeAlignedPoint(int index, bool autoRemoveDualPoint = true);
    void removeRefPoint(int index, bool autoRemoveDualPoint = true);
 
    void updateRefMarkers(int index);
 
    void onItemPicked(const PickedItem& pi) override;
 
protected slots:
 
    void showAlignedEntities(bool);
    void showReferenceEntities(bool);
 
    void addManualAlignedPoint();
    void addManualRefPoint();
 
    void unstackAligned();
 
    void updateSphereMarks(ccHObject* obj, bool remove);
    void updateAlignedMarkers(int index);
    void unstackRef();
 
    void onDelButtonPushed();
 
    void updateAlignInfo();
 
    void apply();
    void align();
    void reset();
    void cancel();
    void updateAllMarkers(float markerSize);
 
protected slots:
 
    void label2DMove(int x, int y, int dx, int dy);
 
protected:
    void zoomGlobalOnRegistrationEntities();
 
    void transformAlignedEntity(const ccGLMatrix& transMat, bool apply = true);
 
    void onPointCountChanged();
 
    bool callHornRegistration(
            cloudViewer::PointProjectionTools::Transformation& trans,
            double& rms,
            bool autoUpdateTab);
 
    void clearRMSColumns();
 
    void addPointToTable(QTableWidget* tableWidget,
                         int rowIndex,
                         const CCVector3d& P,
                         QString pointLabel);
 
 
    bool convertToSphereCenter(CCVector3d& P,
                               ccHObject* entity,
                               PointCoordinateType& sphereRadius);
 
    void resetTitle();
 
    struct EntityContext {
        explicit EntityContext(ccHObject* ent);
 
        void restore();
 
        ccHObject* entity;
        bool wasVisible;
        bool wasEnabled;
        bool wasSelected;
    };
 
    struct EntityContexts : public QMap<ccHObject*, EntityContext> {
        void fill(const ccHObject::Container& entities);
 
        void restoreAll() {
            for (EntityContext& ctx : *this) ctx.restore();
        }
 
        bool isShifted;
        CCVector3d shift;
    };
 
    EntityContexts m_alignedEntities;
 
    ccPointCloud m_alignedPoints;
 
    EntityContexts m_referenceEntities;
 
    ccPointCloud m_refPoints;
 
    ccHObject m_refLabels;
    ccHObject m_alignedLabels;
 
    ccGLMatrix m_transMatHistory;
 
    bool m_paused;
 
    ccPickingHub* m_pickingHub;
 
    ecvMainAppInterface* m_app;
};