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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/Open3D.h"
#include "tools/ManuallyAlignPointCloud/AlignmentSession.h"
namespace open3d {
class VisualizerForAlignment : public visualization::Visualizer {
public:
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 = "")
: source_visualizer_(source),
target_visualizer_(target),
voxel_size_(voxel_size),
max_correspondence_distance_(max_correspondence_distance),
with_scaling_(with_scaling),
use_dialog_(use_dialog),
polygon_filename_(polygon_filename),
default_directory_(directory) {}
~VisualizerForAlignment() override {}
public:
void PrintVisualizerHelp() override;
bool AddSourceAndTarget(std::shared_ptr<geometry::PointCloud> source,
std::shared_ptr<geometry::PointCloud> target);
protected:
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:
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<geometry::PointCloud> source_copy_ptr_;
std::shared_ptr<geometry::PointCloud> target_copy_ptr_;
AlignmentSession alignment_session_;
std::string default_directory_;
};
} // namespace open3d
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