#include <ImFusion/Vision/MeshAlignmentAlgorithm.h>

Algorithm for aligning meshes and point clouds. More...

Inheritance diagram for MeshAlignmentAlgorithm:

Detailed Description

Algorithm for aligning meshes and point clouds.

Public Types
enum class	ICPAlgorithm { NearestNeighborPointToPlaneICP , ProjectivePointToPlaneICP , PointToPointICP_PCL , PointToPlaneICP_PCL , GICP_PCL , GICP_PCL_Color , PointToPointICP_Open3D , PointToPlaneICP_Open3D , ColoredICP_Open3D , GlobalICP , RANSACGlobalRegistration_Open3D , FastGlobalRegistration_Open3D , ManualCorrespondences }
	Enumeration of different ICP algorithms that can be used for mesh alignment. More...

enum class	GlobalICPAlgorithm { SequentialProjectiveICPWithErrorCorrection , SequentialNearestNeighborICPWithErrorCorrection , FullProjectiveICPWithErrorCorrection , FullProjectiveICPWithoutErrorCorrection , IterativeGlobalICP }
	Enumeration of different global ICP algorithms that can be used for mesh alignment. Only relevant when ICPAlgorithm is GlobalICP. More...

Public Types inherited from Algorithm
enum	Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Public Member Functions
	MeshAlignmentAlgorithm (const DataList &meshesAndPointClouds)
	Constructor that takes a list of meshes and point clouds to be aligned. The first mesh or point cloud in the list is considered the input point cloud, and the rest are considered target point clouds to which the input point cloud will be aligned.

PointCloud *	inputPointCloud () const
	Returns the input point cloud that is being aligned.

std::vector< PointCloud * >	targetPointClouds () const
	Returns the target point clouds to which the input point cloud is aligned.

void	compute () override
	Runs the mesh alignment algorithm.

double	computeRMS (int matchedPoints=nullptr, std::vector< std::vector< int > > matches=nullptr, bool weighted=true) const
	Works only when there are more than 2 input pointclouds/meshes or when the ICPAlgorithm is GlobalICP, ProjectivePointToPlaneICP or NearestNeighborPointToPlaneICP.

void	setUseGPU (bool use)
	Set whether to use GPU for alignment in the projective ICP algorithms.

bool	useGPU () const
	Get whether to use GPU for alignment in the projective ICP algorithms.

void	setMaxICPIterations (int count)
	Set maximum number of iterations for ICP.

int	maxICPIterations () const
	Get maximum number of iterations for ICP.

void	setICPAlgorithm (ICPAlgorithm mode)
	Set the ICP algorithm to use for alignment.

ICPAlgorithm	icpAlgorithm () const
	Get the ICP algorithm that is used for alignment.

void	setGlobalICPAlgorithm (GlobalICPAlgorithm mode)
	Set the global ICP algorithm to use for alignment. This has an effect only when ICPAlgorithm is GlobalICP.

GlobalICPAlgorithm	globalICPAlgorithm () const
	Get the global ICP algorithm that is used for alignment. This has an effect only when ICPAlgorithm is GlobalICP.

void	setGlobalICPIterations (int iter)
	Set the number of iterations for global ICP.

int	globalICPIterations () const
	Get the number of iterations for global ICP.

void	setGlobalICPMinOverlap (double overlap)
	Set minimum overlap ratio for global ICP.

double	globalICPMinOverlap () const
	Get minimum overlap ratio for global ICP.

void	setUseReciprocalCorrespondences (bool use)
	Set whether to use reciprocal correspondences for alignment. A reciprocal correspondence is a pair of points where each point is the nearest neighbor of the other.

bool	useReciprocalCorrespondences () const
	Get whether to use reciprocal correspondences for alignment.

void	setMaxCorrespondenceDistance (double maxDist)
	Set maximum distance between corresponding points.

double	maxCorrespondenceDistance () const
	Get maximum distance between corresponding points.

void	setMaxCorrespondenceAngle (double angle)
	Set maximum angle between corresponding point normals in degrees.

double	maxCorrespondenceAngle () const
	Get maximum angle between corresponding point normals in degrees.

void	setAbortParameterTolerance (double tol)
	Set the tolerance for aborting the ICP optimization based on parameter changes.

double	abortParameterTolerance () const
	Get the tolerance for aborting the ICP optimization based on parameter changes.

void	setOverlapRatio (double ratio)
	Set the overlap ratio between point clouds.

double	overlapRatio () const
	Get the overlap ratio between point clouds.

void	setVoxelSize (double v)
	Set the voxel size for downsampling point clouds before alignment.

double	voxelSize () const
	Get the voxel size for downsampling point clouds before alignment.

void	setComputeGlobalAlignmentError (bool computeError)
	Computes and prints global alignment error before and after optimization.

bool	computeGlobalAlignmentError () const
	Get whether to compute global alignment error before and after optimization.

void	setAlignAcrossLoop (bool align)
	Set whether to align the last to the first point cloud. This is relevant only when ICPAlgorithm is GlobalICP. Any residual alignment error will be distributed across all point clouds.

bool	alignAcrossLoop () const
	Get whether to align the last to the first point cloud.

void	setPointCorrespondences (const std::vector< std::vector< vec3 > > &correspondences)
	Set corresponding points for each point cloud. In the mode "ManualCorrespondences" point clouds will be aligned based on alignment of these corresponding points.

std::vector< std::pair< double, double > >	rmsErrorsBeforeAndAfterAlignment () const
	Get RMS errors before and after alignment for each pointcloud This gets filled only when ICPAlgorithm is GlobalICP and GlobalICPAlgorithm is IterativeGlobalICP, FullProjectiveICPWithErrorCorrection or FullProjectiveICPWithoutErrorCorrection; or when ICPAlgorithm is ProjectivePointToPlaneICP, NearestNeighborPointToPlaneICP.

void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.

void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.

Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().

virtual OwningDataList	takeOutput ()
	Return any new Data that was created by the Algorithm during the last call to compute().

virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.

Progress *	progress () const
	Returns the progress interface if set.

virtual int	status () const
	Indicates the status of the last call to compute().

virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.

const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.

void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.

Status	runAction (const std::string &id)
	Run the action with name `id` if it exists.

const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.

Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.

void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().

void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.

	Configurable (const Configurable &rhs)

	Configurable (Configurable &&rhs) noexcept

Configurable &	operator= (const Configurable &)

Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)

static void	inputDataInfo (bool &hasNormals, bool &hasTargetNormals, bool &hasK, bool &hasColors, const DataList &dl, bool *hasWeights=nullptr)
	Returns whether the input data has normals, target normals, camera intrinsics, and colors.

Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Additional Inherited Members
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.

Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.

Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' `signalValueChanged` signal was emitted.

Protected Member Functions inherited from Algorithm
void	loadDefaults ()

void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.

template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.

void	registerAction (const Action &action)
	Register an action.

Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.

Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.

FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.

int	m_status = Status::Unknown
	Algorithm status after last call to compute()

std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.

Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Enumeration Documentation

◆ ICPAlgorithm

enum class ICPAlgorithm

strong

Enumeration of different ICP algorithms that can be used for mesh alignment.

Enumerator
NearestNeighborPointToPlaneICP	Point-to-point ICP with nearest-neighbor matching strategy. Requires normals from target.
ProjectivePointToPlaneICP	Point-to-plane ICP with projective matching strategy. Requires dense calibrated point clouds and normals from target.
PointToPointICP_PCL	PCL implementation of point-to-point ICP. Doesn't require normals.
PointToPlaneICP_PCL	PCL implementation of point-to-plane ICP. Requires normals from target.
GICP_PCL	PCL implementation of Generalized ICP. Doesn't require normals.
GICP_PCL_Color	PCL implementation of Generalized ICP with color information. Doesn't require normals.
PointToPointICP_Open3D	Open3D implementation of point-to-point ICP. Doesn't require normals.
PointToPlaneICP_Open3D	Open3D implementation of point-to-plane ICP. Requires normals from target.
ColoredICP_Open3D	Open3D implementation of colored ICP. Doesn't require normals.
GlobalICP	Global ICP algorithm that aligns multiple point clouds. Requires normals from all point clouds.
RANSACGlobalRegistration_Open3D	Open3D implementation of RANSAC-based global registration. Requires normals from all point clouds.
FastGlobalRegistration_Open3D	Open3D implementation of fast global registration. Requires normals from all point clouds.
ManualCorrespondences	Aligns point clouds based on provided correspondences.

◆ GlobalICPAlgorithm

enum class GlobalICPAlgorithm

strong

Enumeration of different global ICP algorithms that can be used for mesh alignment. Only relevant when ICPAlgorithm is GlobalICP.

Enumerator
SequentialProjectiveICPWithErrorCorrection	Sequential projective ICP with error correction. Requires dense calibrated point clouds and normals from all point clouds.
SequentialNearestNeighborICPWithErrorCorrection	Sequential nearest neighbor ICP with error correction.
FullProjectiveICPWithErrorCorrection	Full projective ICP with error correction. Requires dense calibrated point clouds and normals from all point clouds.
FullProjectiveICPWithoutErrorCorrection	Full projective ICP without error correction. Requires dense calibrated point clouds and normals from all point clouds.
IterativeGlobalICP	Iterative global ICP algorithm. Requires dense calibrated point clouds and normals from all point clouds.

Member Function Documentation

◆ compute()

void compute ( )

overridevirtual

Runs the mesh alignment algorithm.

Implements Algorithm.

◆ setComputeGlobalAlignmentError()

void setComputeGlobalAlignmentError ( bool computeError )

inline

Computes and prints global alignment error before and after optimization.

Disable for performance critical code. This has an effect only when ICPAlgorithm is GlobalICP or when the number of input pointclouds/meshes is > 2, and all the data has normals

◆ rmsErrorsBeforeAndAfterAlignment()

std::vector< std::pair< double, double > > rmsErrorsBeforeAndAfterAlignment ( ) const

inline

Get RMS errors before and after alignment for each pointcloud This gets filled only when ICPAlgorithm is GlobalICP and GlobalICPAlgorithm is IterativeGlobalICP, FullProjectiveICPWithErrorCorrection or FullProjectiveICPWithoutErrorCorrection; or when ICPAlgorithm is ProjectivePointToPlaneICP, NearestNeighborPointToPlaneICP.

For ICPAlgorithms PointToPointICP_PCL, PointToPlaneICP_PCL, GICP_PCL, GICP_PCL_Color, PointToPointICP_Open3D, PointToPlaneICP_Open3D, ColoredICP_Open3D, RANSACGlobalRegistration_Open3D and FastGlobalRegistration_Open3D only the RMS after the alignment gets filled, the RMS before the alignment is set to -1

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configuration() for the inverse functionality

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configure() for the inverse functionality

Reimplemented from Configurable.

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

ImFusion/Vision/MeshAlignmentAlgorithm.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ ICPAlgorithm

◆ GlobalICPAlgorithm

Member Function Documentation

◆ compute()

◆ setComputeGlobalAlignmentError()

◆ rmsErrorsBeforeAndAfterAlignment()

◆ configure()

◆ configuration()