ICPPlugin.hh

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*                              OpenFlipper                                   *
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#pragma once


#include <QSpinBox>

#include <OpenFlipper/BasePlugin/BaseInterface.hh>
#include <OpenFlipper/BasePlugin/ToolboxInterface.hh>
#include <OpenFlipper/BasePlugin/LoggingInterface.hh>
#include <OpenFlipper/BasePlugin/ScriptInterface.hh>
#include <OpenFlipper/BasePlugin/BackupInterface.hh>
#include <OpenFlipper/common/Types.hh>
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
#include <algorithm>
#include "ICPToolbarWidget.hh"
#include "VertexList.hh"
#include <ACG/Geometry/Algorithms.hh>
#include <OpenFlipper/BasePlugin/LoadSaveInterface.hh>

#include <ObjectTypes/PolyMesh/PolyMesh.hh>
#include <ObjectTypes/TriangleMesh/TriangleMesh.hh>

struct ICPParameters {
  int maxIterations_;
  double errorThreshold_; //mse
  double distanceThreshold_; //units
  double normalDotThreshold_; //% (eg. 56.3 for 56.3%)
  bool debugOutput_;
  bool doResize_;
  bool interpolateNormals_;
};

typedef struct ICPParameter ICPParameter;

struct ICPContext {
  TriMesh* sourceMesh_;
  TriMesh* targetMesh_;
  TriMeshObject* sourceObject_;
  TriMeshObject* targetObject_;
  int sourceID_;
  int targetID_;
  ICPParameters* params_;
};

typedef struct ICPContext ICPContext;

class ICPPlugin : public QObject, BaseInterface, ToolboxInterface, LoggingInterface, ScriptInterface, BackupInterface, LoadSaveInterface
{
  Q_OBJECT
  Q_INTERFACES(BaseInterface)
  Q_INTERFACES(ToolboxInterface)
  Q_INTERFACES(LoggingInterface)
  Q_INTERFACES(ScriptInterface)
  Q_INTERFACES(LoadSaveInterface)
  Q_INTERFACES(BackupInterface)

  Q_PLUGIN_METADATA(IID "org.OpenFlipper.Plugins.Plugin-ICP")

  signals:
    //BaseInterface
    void updateView();
    void updatedObject(int _id, const UpdateType& _type);

    //LoggingInterface
    void log(Logtype _type, QString _message);
    void log(QString _message);
    
    // ToolboxInterface
    void addToolbox( QString _name  , QWidget* _widget, QIcon* _icon);
    
    // ScriptInterface
    void scriptInfo(QString _functionName);
    
    // BackupInterface
    void createBackup( int _id , QString _name, UpdateType _type = UPDATE_ALL );

    // LoadSaveInterface
    void addEmptyObject( DataType _type, int& _id);
    void deleteObject(int _id);
    void deleteAllObjects();

  private:
    ICPToolbarWidget* tool_;
    QIcon* toolIcon_;


  public:

    ICPPlugin();
    ~ICPPlugin();

    // BaseInterface
    QString name() { return (QString("ICP")); }
    QString description( ) { return (QString("Implementation of the ICP algorithm")); }

   private:

   private slots: 
    void initializePlugin(); // BaseInterface
    
    void pluginsInitialized(); // BaseInterface
    
    void toolbarICP();

    // Scriptable functions
   public slots:

    void icp(int _maxIterations, double _errorThreshold, double _distanceThreshold, double _normalDotThreshold, bool _debugOutput, bool _doResize, bool _interpolateNormals, int _sourceObjectID, int _targetObjectID);

    void doICP(ICPContext* _context);

    QString version() { return QString("1.0"); }
};