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CAP-ADD: basic global fast registration done
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‎src/diffCheck/registrations/DFGlobalRegistrations.hh‎

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@@ -22,7 +22,7 @@ namespace diffCheck::registrations
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* @param target the target diffCheck point cloud
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* @param voxelize whether to voxelize the point clouds before computing the FPFHFeatures. A higher value will result in a more coarse point cloud (less resulting points).
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* @param voxelSize the size of the voxels used to downsample the point clouds. It is expressed relative to the point cloud size (0.01 means voxelSize = 1% of maxSize(pointCloud). A higher value will result in a more coarse point cloud (less resulting points).
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* @param radiusKDTreeSearch the radius used to search for neighbors in the KDTree.it is expressed relative to the point cloud size (0.01 means radiusKDTreeSearch = 1% of maxSize(pointCloud). It is used for the calculation of FPFHFeatures
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* @param radiusKDTreeSearch the radius used to search for neighbors in the KDTree.it is expressed relative to the point cloud size (0.01 means radiusKDTreeSearch = 1% of maxSize(pointCloud). It is used for the calculation of FPFHFeatures
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* @param maxNeighborKDTreeSearch the maximum number of neighbors to search for in the KDTree. It is used for the calculation of FPFHFeatures. A higher value will result in heavier computation but potentially more precise.
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* @param maxCorrespondenceDistance the maximum distance between correspondences. A higher value will result in more correspondences, but potentially include wrong ones.
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* @param iterationNumber the number of iterations to run the RanSaC registration algorithm. A higher value will take more time to compute but increases the chances of finding a good transformation. As parameter of the FastGlobalRegistrationOption options

‎src/gh/components/DF_global_registration/metadata.json‎

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@@ -2,17 +2,29 @@
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"name": "DFMeshToCloud",
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"nickname": "Geo2Pcd",
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"category": "diffCheck",
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"subcategory": "Cloud",
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"description": "Sample a point cloud from a mesh.",
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"subcategory": "Registrations",
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"description": "Register two point clouds together if a fast global registration.",
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"exposure": 4,
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"instanceGuid": "e8e5e122-40d0-45cd-9f93-cc756fd8b307",
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"instanceGuid": "cacd1868-5e8f-451c-b89a-51a075f332cd",
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"ghpython": {
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"hideOutput": true,
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"hideInput": true,
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"isAdvancedMode": true,
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"marshalOutGuids": true,
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"iconDisplay": 2,
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"inputParameters": [
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{
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"name": "i_recompute",
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"nickname": "i_recompute",
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"description": "Connect a button to recompute the registration.",
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"optional": true,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "bool"
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},
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{
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"name": "i_cloud_source",
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"nickname": "i_cloud_source",
@@ -36,6 +48,66 @@
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "pointcloud"
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},
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{
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"name": "i_radius_kd_search",
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"nickname": "i_radius_kd_search",
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"description": "The radius used to search for neighbors in the KDTree.it is expressed relative to the point cloud size (0.01 means radiusKDTreeSearch = 1% of maxSize(pointCloud). It is used for the calculation of FPFHFeatures.",
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"optional": false,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "float"
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},
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{
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"name": "i_neighbours_kd_search",
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"nickname": "i_neighbours_kd_search",
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"description": "The maximum number of neighbors to search for in the KDTree. It is used for the calculation of FPFHFeatures. A higher value will result in heavier computation but potentially more precise.",
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"optional": false,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "int"
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},
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{
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"name": "i_max_corrspondence_dist",
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"nickname": "i_max_corrspondence_dist",
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"description": "The maximum distance between correspondences. A higher value will result in more correspondences, but potentially include wrong ones.",
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"optional": false,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "float"
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},
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{
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"name": "i_iteration_number",
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"nickname": "i_iteration_number",
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"description": "The number of iterations to run the RanSaC registration algorithm. A higher value will take more time to compute but increases the chances of finding a good transformation. As parameter of the FastGlobalRegistrationOption options.",
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"optional": false,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "int"
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},
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{
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"name": "i_max_tuple_count",
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"nickname": "i_max_tuple_count",
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"description": "The maximum number of tuples to consider in the FPFH hyperspace. A higher value will result in heavier computation but potentially more precise. As parameter of the FastGlobalRegistrationOption options.",
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"optional": false,
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"allowTreeAccess": true,
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"showTypeHints": true,
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"scriptParamAccess": "item",
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"wireDisplay": "default",
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"sourceCount": 0,
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"typeHintID": "int"
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}
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],
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"outputParameters": [

‎src/gh/components/DF_load_cloud_from_file/icon_old.png‎

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‎src/gh/components/DF_load_mesh_from_file/icon_old.png‎

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