IICP.hpp

#pragma once
 
#include <opals/IModuleBase.hpp>
#include <opals/Path.hpp>
#include <opals/Vector.hpp>
#include <opals/TrafPars3dAffine.hpp>
#include <opals/LSMTrafoType.hpp>
 
#if defined(_MSC_VER) && !defined(OPALS_NO_AUTOLINK)
  #if defined _DEBUG && !defined OPALS_NO_DEBUG
      #pragma comment(lib, "opalsICP_d.lib")
  #else
      #pragma comment(lib, "opalsICP.lib")
  #endif
#endif
 
namespace opals {
 
  namespace opts
  {
    /// Options of \ref ModuleICP
    namespace ICP
    {
      /// Options of \ref ModuleICP
      using Options =
        IGroup< Names::_, false,
          ILeaf< Names::inFile, false, Vector<Path>  >,
          ILeaf< Names::redPoint, false, Array<double,3>  >,
          ILeaf< Names::filter, false, String  >,
          ILeaf< Names::outDirectory, false, Path  >,
          ILeaf< Names::tempDirectory, false, Path  >,
          ILeaf< Names::trafoType, false, LSMTrafoType  >,
          ILeaf< Names::fixedFile, false, Vector<Path>  >,
          ILeaf< Names::voxelSize, false, double  >,
          ILeaf< Names::samplingDist, false, Vector<double>  >,
          ILeaf< Names::searchRadius, false, double  >,
          ILeaf< Names::maxIter, false, int  >,
          ILeaf< Names::subsetRadius, false, double  >,
          ILeaf< Names::maxDist, false, double  >,
          ILeaf< Names::maxSigma, false, double  >,
          ILeaf< Names::maxAngleDev, false, double  >,
          ILeaf< Names::normalSpaceSampling, false, double  >,
          ILeaf< Names::maxLeverageSampling, false, double  >,
          ILeaf< Names::plot, false, bool  >,
          ILeaf< Names::transformData, false, bool  >,
          ILeaf< Names::outTrafPars, true, Vector<TrafPars3dAffine>  >
        >;
    }
  }
 
  /// 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.
    ///@{
    using Options = opts::ICP::Options;
    virtual       Options& opts()       = 0;
    virtual const Options& opts() const = 0;
    ///@}
 
  };
 
};