IICP.hpp

#ifndef OPALS_IICP_HPP_INCLUDED
#define OPALS_IICP_HPP_INCLUDED

#include <opals/IModuleBase.hpp>

#if !defined(OPALS_EXPORTS) && !defined(OPALS_MODULE_EXPORTS)
  #if defined _DEBUG && !defined OPALS_NO_DEBUG
      #pragma comment(lib, "opalsICP_d.lib")
  #else
      #pragma comment(lib, "opalsICP.lib")
  #endif
#endif

#include <opals/Path.hpp>
#include <opals/Vector.hpp>
#include <opals/TrafPars3dAffine.hpp>
#include <opals/LSMTrafoType.hpp>

typedef opals::Array<double,3> ArrayD3;
typedef opals::Array<double,15> ArrayD15;
typedef opals::Vector<opals::TrafPars3dAffine> VectorTrafPars;

namespace opals {

  namespace opts
  {
    namespace ICP
    {
      /// Options of \ref ModuleICP
      typedef IGroup< Names::_, false, Cons<
        ILeaf< Names::inFile, false, opals::Vector<opals::Path> >, Cons<
        ILeaf< Names::redPoint, false, ArrayD3 >, Cons<
        ILeaf< Names::filter, false, opals::String >, Cons<
        ILeaf< Names::outDirectory, false, opals::Path >, Cons<
        ILeaf< Names::tempDirectory, false, opals::Path >, Cons<
        ILeaf< Names::trafoType, false, opals::LSMTrafoType::Type >, Cons<
        ILeaf< Names::fixedFile, false, opals::Vector<opals::Path> >, Cons<
        ILeaf< Names::voxelSize, false, double >, Cons<
        ILeaf< Names::samplingDist, false, opals::Vector<double> >, Cons<
        ILeaf< Names::searchRadius, false, double >, Cons<
        ILeaf< Names::maxIter, false, int >, Cons<
        ILeaf< Names::subsetRadius, false, double >, Cons<
        ILeaf< Names::maxDist, false, double >, Cons<
        ILeaf< Names::maxSigma, false, double >, Cons<
        ILeaf< Names::maxAngleDev, false, double >, Cons<
        ILeaf< Names::normalSpaceSampling, false, double >, Cons<
        ILeaf< Names::maxLeverageSampling, false, double >, Cons<
        ILeaf< Names::plot, false, bool >, Cons<
        ILeaf< Names::transformData, false, bool >, Cons<
        ILeaf< Names::outTrafPars, true, VectorTrafPars >
      > > > > > > > > > > > > > > > > > > > > > Options;
    }
  }

  /// Performs orientation (co-registration) of multiple point cloud datasets using the Iterative Closest Point algorithm.
  /** TODO: 
      More details on opalsICP with much more words,
      possibly on several lines. */
  /// \see \ref ModuleICP
  class OPALS_API IICP : virtual public IModuleBase
  {

  public:
    static IICP* New();
    static IICP* New( IControlObject &controlObject );
    static IICP* New( const IModuleBase &parent );
    static IICP* New( const IModuleBase &parent, IControlObject &controlObject );

    virtual ~IICP() {}

    /// \name Access to module-specific options.
    ///@{
    typedef opts::ICP::Options Options;
    virtual       Options& opts()       = 0;
    virtual const Options& opts() const = 0;
    ///}@

  };

};

#endif