FIX: in source code and general reorganization + cleaning

Author: 9and3

.vscode/settings.json

@@ -0,0 +1,107 @@
+{
+    "files.associations": {
+        "memory": "cpp",
+        "algorithm": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "cctype": "cpp",
+        "cfenv": "cpp",
+        "charconv": "cpp",
+        "chrono": "cpp",
+        "cinttypes": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "coroutine": "cpp",
+        "csetjmp": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "exception": "cpp",
+        "execution": "cpp",
+        "filesystem": "cpp",
+        "format": "cpp",
+        "forward_list": "cpp",
+        "fstream": "cpp",
+        "functional": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "ios": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "list": "cpp",
+        "locale": "cpp",
+        "map": "cpp",
+        "memory_resource": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "ostream": "cpp",
+        "queue": "cpp",
+        "random": "cpp",
+        "ranges": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "scoped_allocator": "cpp",
+        "set": "cpp",
+        "shared_mutex": "cpp",
+        "source_location": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stack": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "string": "cpp",
+        "strstream": "cpp",
+        "system_error": "cpp",
+        "thread": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "utility": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "vector": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocbuf": "cpp",
+        "xlocinfo": "cpp",
+        "xlocmes": "cpp",
+        "xlocmon": "cpp",
+        "xlocnum": "cpp",
+        "xloctime": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp",
+        "*.ipp": "cpp"
+    }
+}

deps/boost

@@ -0,0 +1 @@
+Subproject commit 4adaa185883e3c04da25913579c451d3c32cfac1

deps/eigen

@@ -9,4 +9,4 @@
 #include "diffCheck/IOManager.hh"
 #include "diffCheck/visualizer.hh"
 #include "diffCheck/transformation/DFTransformation.hh"
-#include "diffCheck/registration/globalRegistration.hh"
+#include "diffCheck/registrations/DFGlobalRegistrations.hh"

deps/loguru

@@ -1,5 +1,4 @@
 #include "diffCheck/geometry/DFMesh.hh"
-
 #include "diffCheck/IOManager.hh"
 
 
@@ -18,33 +17,6 @@ namespace diffCheck::geometry
         {
             this->Faces[i] = O3DTriangleMesh->triangles_[i];
         }
-
-        // if (O3DTriangleMesh->HasVertexNormals())
-        // {
-        //     this->NormalsVertex.resize(O3DTriangleMesh->vertex_normals_.size());
-        //     for (size_t i = 0; i < O3DTriangleMesh->vertex_normals_.size(); i++)
-        //     {
-        //         this->NormalsVertex[i] = O3DTriangleMesh->vertex_normals_[i];
-        //     }
-        // }
-
-        // if (O3DTriangleMesh->HasTriangleNormals())
-        // {
-        //     this->NormalsFace.resize(O3DTriangleMesh->triangle_normals_.size());
-        //     for (size_t i = 0; i < O3DTriangleMesh->triangle_normals_.size(); i++)
-        //     {
-        //         this->NormalsFace[i] = O3DTriangleMesh->triangle_normals_[i];
-        //     }
-        // }
-
-        // if (O3DTriangleMesh->HasVertexColors())
-        // {
-        //     this->ColorsVertex.resize(O3DTriangleMesh->vertex_colors_.size());
-        //     for (size_t i = 0; i < O3DTriangleMesh->vertex_colors_.size(); i++)
-        //     {
-        //         this->ColorsVertex[i] = O3DTriangleMesh->vertex_colors_[i];
-        //     }
-        // }
     }
 
     std::shared_ptr<open3d::geometry::TriangleMesh> DFMesh::Cvt2O3DTriangleMesh()
@@ -83,6 +55,13 @@ namespace diffCheck::geometry
         return O3DTriangleMesh;
     }
 
+    void DFMesh::ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation)
+    {
+        auto O3DTriangleMesh = this->Cvt2O3DTriangleMesh();
+        O3DTriangleMesh->Transform(transformation.TransformationMatrix);
+        this->Cvt2DFMesh(O3DTriangleMesh);
+    }
+
     void DFMesh::LoadFromPLY(const std::string &path)
     {
         std::shared_ptr<diffCheck::geometry::DFMesh> tempMesh_ptr = diffCheck::io::ReadPLYMeshFromFile(path);

deps/open3d

@@ -3,6 +3,8 @@
 #include <Eigen/Core>
 #include <open3d/Open3D.h>
 
+#include <diffCheck/transformation/DFTransformation.hh>
+
 namespace diffCheck::geometry
 {
     class DFMesh
@@ -11,8 +13,7 @@ namespace diffCheck::geometry
         DFMesh() = default;
         ~DFMesh() = default;
 
-    ///< Convertes
-    public:
+    public:  ///< Convertes
         /**
          * @brief Convert a open3d triangle mesh to our datatype
          * 
@@ -27,24 +28,29 @@ namespace diffCheck::geometry
          */
         std::shared_ptr<open3d::geometry::TriangleMesh> Cvt2O3DTriangleMesh();
 
-    ///< I/O loader
-    public:
+    public:  ///< Transformers
+        /**
+         * @brief Apply a transformation to the mesh
+         * 
+         * @param transformation the transformation to apply
+         */
+        void ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation);
+
+    public:  ///< I/O loader
         /**
          * @brief Read a mesh from a file
          * 
          * @param filename the path to the file with the extension
          */
         void LoadFromPLY(const std::string &path);
 
-    ///< Getters
-    public:
+    public:  ///< Getters
         /// @brief Number of vertices in the mesh
         int GetNumVertices() const { return this->Vertices.size(); }
         /// @brief Number of faces in the mesh
         int GetNumFaces() const { return this->Faces.size(); }
 
-    ///< Basic mesh data
-    public:
+    public:  ///< Basic mesh data
         /// @brief Eigen vector of 3D vertices
         std::vector<Eigen::Vector3d> Vertices;
         /// @brief Eigen vector of faces

src/diffCheck.hh

@@ -33,6 +33,25 @@ namespace diffCheck::geometry
         return O3DPointCloud;
     }
 
+    std::vector<double> DFPointCloud::ComputeP2PDistance(std::shared_ptr<geometry::DFPointCloud> target)
+    {
+        std::vector<double> errors;
+        auto O3DSourcePointCloud = this->Cvt2O3DPointCloud();
+        auto O3DTargetPointCloud = target->Cvt2O3DPointCloud();
+        
+        std::vector<double> distances;
+
+        distances = O3DSourcePointCloud->ComputePointCloudDistance(*O3DTargetPointCloud);
+        return distances;
+    }
+
+    void DFPointCloud::ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation)
+    {
+        auto O3DPointCloud = this->Cvt2O3DPointCloud();
+        O3DPointCloud->Transform(transformation.TransformationMatrix);
+        this->Cvt2DFPointCloud(O3DPointCloud);
+    }
+
     void DFPointCloud::LoadFromPLY(const std::string &path)
     {
         auto cloud = diffCheck::io::ReadPLYPointCloud(path);

src/diffCheck/geometry/DFMesh.cc

@@ -3,6 +3,8 @@
 #include <Eigen/Core>
 #include <open3d/Open3D.h>
 
+#include <diffCheck/transformation/DFTransformation.hh>
+
 
 namespace diffCheck::geometry
 {
@@ -12,8 +14,8 @@ namespace diffCheck::geometry
         DFPointCloud() = default;
         ~DFPointCloud() = default;
 
-    ///< Converters from other point cloud datatypes libraries to our format
-    public:
+    
+    public:  ///< Converters from other point cloud datatypes libraries to our format
         /**
          * @brief Converter from open3d point cloud to our datatype
          * 
@@ -28,26 +30,45 @@ namespace diffCheck::geometry
          */
         std::shared_ptr<open3d::geometry::PointCloud> Cvt2O3DPointCloud();
 
-    ///< I/O loader
-    public:
+    public:  ///< Utilities
+        /** 
+        * @brief Compute the "point to point" distance between this and another point clouds. 
+        * 
+        * For every point in the source point cloud, it looks in the KDTree of the target point cloud and finds the closest point.
+        * It returns a vector of distances, one for each point in the source point cloud.
+        * 
+        * @param target The target diffCheck point cloud
+        * @return std::vector<double> A vector of distances, one for each point in the source point cloud.
+        * 
+        * @see https://github.com/isl-org/Open3D/blob/main/cpp/open3d/geometry/PointCloud.cpp
+        */
+        std::vector<double> ComputeP2PDistance(std::shared_ptr<geometry::DFPointCloud> target);
+
+    public:  ///< Transformers
+        /**
+         * @brief Apply a transformation to the point cloud
+         * 
+         * @param transformation the transformation to apply
+         */
+        void ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation);
+
+    public:  ///< I/O loader
         /**
          * @brief Read a point cloud from a file
          * 
          * @param filename the path to the file with the extension
          */
         void LoadFromPLY(const std::string &path);
 
-    ///< Getters
-    public:
+    public:  ///< Getters
         /// @brief Number of points in the point cloud
         int GetNumPoints() const { return this->Points.size(); }
         /// @brief Number of colors in the point cloud
         int GetNumColors() const { return this->Colors.size(); }
         /// @brief Number of normals in the point cloud
         int GetNumNormals() const { return this->Normals.size(); }
 
-    ///< Basic point cloud data
-    public:
+    public:  ///< Basic point cloud data
         /// @brief Eigen vector of 3D points
         std::vector<Eigen::Vector3d> Points;
         /// @brief Eigen vector of 3D colors