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#include "config.h"
#include "Scene_points_with_normal_item.h"
#include <CGAL/Three/CGAL_Lab_plugin_helper.h>
#include <CGAL/Three/CGAL_Lab_plugin_interface.h>
#ifdef CGAL_LINKED_WITH_OPENGR
#define CGAL_OPENGR_VERBOSE
#include <CGAL/OpenGR/register_point_sets.h>
#endif
#ifdef CGAL_LINKED_WITH_POINTMATCHER
#include <CGAL/pointmatcher/register_point_sets.h>
#endif
#include <sstream>
#include <CGAL/Timer.h>
#include <CGAL/Memory_sizer.h>
#include <QObject>
#include <QAction>
#include <QMainWindow>
#include <QApplication>
#include <QtPlugin>
#include <QInputDialog>
#include <QMessageBox>
#include <QRadioButton>
#include <QLabel>
#include <QSpinBox>
#include <QDoubleSpinBox>
#include "ui_Register_point_sets_plugin.h"
using namespace CGAL::Three;
class Point_set_demo_register_dialog : public QDialog, private Ui::RegisterPointSetsDialog
{
Q_OBJECT
public:
Point_set_demo_register_dialog(const std::vector<Scene_points_with_normal_item*>& items,
QWidget* /*parent*/ = nullptr)
{
setupUi(this);
for (std::size_t i = 0; i < items.size(); ++ i)
{
QRadioButton* button = new QRadioButton(items[i]->name().toStdString().c_str(), this);
buttons.push_back (button);
pointSets->addRow (button);
if (i == 0)
button->setChecked(true);
}
#ifndef CGAL_LINKED_WITH_OPENGR
coarseRegistration->setText("Coarse registration (disabled, requires OpenGR)");
coarseRegistration->setChecked(false);
coarseRegistration->setEnabled(false);
opengr_frame->setEnabled(false);
#endif
#ifndef CGAL_LINKED_WITH_POINTMATCHER
fineRegistration->setText("Fine registration (disabled, requires libpointmatcher)");
fineRegistration->setChecked(false);
fineRegistration->setEnabled(false);
pointmatcher_frame->setEnabled(false);
#endif
}
std::size_t ref_index() const
{
for (std::size_t i = 0; i < buttons.size(); ++ i)
if (buttons[i]->isChecked())
return i;
return std::size_t(-1);
}
bool coarse_registration() const { return coarseRegistration->isChecked(); }
bool fine_registration() const { return fineRegistration->isChecked(); }
int nb_samples() const { return numberOfSamplesSpinBox->value(); }
double accuracy() const { return accuracyDoubleSpinBox->value(); }
double overlap() const { return double(overlapSpinBox->value()) / 100.0; }
int max_time() const { return maximumRunningTimeSpinBox->value(); }
std::string pointmatcher_config() const { return config->toPlainText().toStdString(); }
private:
std::vector<QRadioButton*> buttons;
};
class CGAL_Lab_register_point_sets_plugin :
public QObject,
public CGAL_Lab_plugin_helper
{
Q_OBJECT
Q_INTERFACES(CGAL::Three::CGAL_Lab_plugin_interface)
Q_PLUGIN_METADATA(IID "com.geometryfactory.CGALLab.PluginInterface/1.0")
private:
QAction* actionRegisterPointSets;
public:
void init(QMainWindow* mainWindow, CGAL::Three::Scene_interface* scene_interface, Messages_interface*) {
scene = scene_interface;
mw = mainWindow;
actionRegisterPointSets = new QAction(tr("Register point sets"), mainWindow);
actionRegisterPointSets->setObjectName("actionRegisterPointSets");
connect(actionRegisterPointSets, SIGNAL(triggered()), this, SLOT(on_actionRegisterPointSets_triggered()));
}
QList<QAction*> actions() const {
return QList<QAction*>() << actionRegisterPointSets;
}
bool applicable(QAction*) const {
return get_point_set_items().size() >= 2;
}
std::vector<Scene_points_with_normal_item*> get_point_set_items() const
{
std::vector<Scene_points_with_normal_item*> items;
for(int index : scene->selectionIndices())
{
Scene_points_with_normal_item* item =
qobject_cast<Scene_points_with_normal_item*>(scene->item(index));
if(item && item->point_set()->has_normal_map())
items.push_back (item);
}
return items;
}
public Q_SLOTS:
void on_actionRegisterPointSets_triggered();
private :
Scene_interface *scene;
}; // end CGAL_Lab_register_point_sets_plugin
void CGAL_Lab_register_point_sets_plugin::on_actionRegisterPointSets_triggered()
{
std::vector<Scene_points_with_normal_item*> items = get_point_set_items();
Point_set_demo_register_dialog dialog(items);
if(!dialog.exec())
return;
QApplication::setOverrideCursor(Qt::WaitCursor);
std::size_t ref = dialog.ref_index();
for (std::size_t i = 0; i < items.size(); ++ i)
{
if (i == ref)
continue;
std::cerr << "Registering " << items[i]->name().toStdString() << " with " << items[ref]->name().toStdString() << std::endl;
Point_set& ps1 = *(items[ref]->point_set());
Point_set& ps2 = *(items[i]->point_set());
#ifdef CGAL_LINKED_WITH_OPENGR
if (dialog.coarse_registration())
{
std::cerr << "* Coarse registration:" << std::endl;
CGAL::Timer task_timer; task_timer.start();
double score =
CGAL::OpenGR::register_point_sets(ps1, ps2,
CGAL::parameters::point_map(ps1.point_map())
.normal_map(ps1.normal_map())
.number_of_samples(dialog.nb_samples())
.maximum_running_time(dialog.max_time())
.accuracy(dialog.accuracy())
.overlap(dialog.overlap()),
CGAL::parameters::point_map(ps2.point_map())
.normal_map(ps2.normal_map()));
std::size_t memory = CGAL::Memory_sizer().virtual_size();
std::cerr << " -> Registration score = " << score << " ("
<< task_timer.time() << " seconds, "
<< (memory>>20) << " Mb allocated)"
<< std::endl;
}
#endif
#ifdef CGAL_LINKED_WITH_POINTMATCHER
if (dialog.fine_registration())
{
std::cerr << "* Fine registration: " << std::endl;
std::istringstream ss (dialog.pointmatcher_config());
CGAL::Timer task_timer; task_timer.start();
if (CGAL::pointmatcher::register_point_sets(ps1, ps2,
CGAL::parameters::point_map(ps1.point_map())
.normal_map(ps1.normal_map())
.pointmatcher_config(&ss),
CGAL::parameters::point_map(ps2.point_map())
.normal_map(ps2.normal_map())))
std::cerr << " -> Success";
else
std::cerr << " -> Failure";
std::size_t memory = CGAL::Memory_sizer().virtual_size();
std::cerr << " ("
<< task_timer.time() << " seconds, "
<< (memory>>20) << " Mb allocated)"
<< std::endl;
}
#endif
}
for (std::size_t i = 0; i < items.size(); ++ i)
{
items[i]->invalidateOpenGLBuffers();
scene->itemChanged(items[i]);
}
QApplication::restoreOverrideCursor();
}
#include "Register_point_sets_plugin.moc"
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