WIP: Correction for naming convention

Author: DamienGilliard

src/diffCheck/registration/registration.cc

@@ -2,25 +2,25 @@
 
 namespace diffCheck::registration
 {
-     open3d::pipelines::registration::RegistrationResult Registration::o3dFastGlobalRegistrationFeatureMatching(std::shared_ptr<geometry::DFPointCloud> source, std::shared_ptr<geometry::DFPointCloud> target)
+     open3d::pipelines::registration::RegistrationResult Registration::O3DFastGlobalRegistrationFeatureMatching(std::shared_ptr<geometry::DFPointCloud> source, std::shared_ptr<geometry::DFPointCloud> target)
         {
-        auto sourceO3d = source->Cvt2O3DPointCloud();
-        auto targetO3d = target->Cvt2O3DPointCloud();
+        auto sourceO3D = source->Cvt2O3DPointCloud();
+        auto targetO3D = target->Cvt2O3DPointCloud();
 
-        sourceO3d->RandomDownSample(0.1);
-        targetO3d->RandomDownSample(0.1);
+        sourceO3D->RandomDownSample(0.1);
+        targetO3D->RandomDownSample(0.1);
 
-        std::shared_ptr<open3d::pipelines::registration::Feature> sourceFPFHFeatures = open3d::pipelines::registration::ComputeFPFHFeature(*sourceO3d,
+        std::shared_ptr<open3d::pipelines::registration::Feature> sourceFPFHFeatures = open3d::pipelines::registration::ComputeFPFHFeature(*sourceO3D,
                                                                                                                                            open3d::geometry::KDTreeSearchParamHybrid(0.25, 30));
-        std::shared_ptr<open3d::pipelines::registration::Feature> targetFPFHFeatures = open3d::pipelines::registration::ComputeFPFHFeature(*targetO3d,
+        std::shared_ptr<open3d::pipelines::registration::Feature> targetFPFHFeatures = open3d::pipelines::registration::ComputeFPFHFeature(*targetO3D,
                                                                                                                                            open3d::geometry::KDTreeSearchParamHybrid(0.25, 30));
         std::shared_ptr<open3d::pipelines::registration::FastGlobalRegistrationOption> option = std::make_shared<open3d::pipelines::registration::FastGlobalRegistrationOption>();
         option->maximum_correspondence_distance_ = 0.05;
         option->iteration_number_ = 100;
         option->maximum_tuple_count_ = 500;
 
-        auto result = open3d::pipelines::registration::FastGlobalRegistrationBasedOnFeatureMatching(*sourceO3d,
-                                                                                                    *targetO3d,
+        auto result = open3d::pipelines::registration::FastGlobalRegistrationBasedOnFeatureMatching(*sourceO3D,
+                                                                                                    *targetO3D,
                                                                                                     *sourceFPFHFeatures,
                                                                                                     *targetFPFHFeatures,
                                                                                                     *option);

src/diffCheck/registration/registration.hh

@@ -9,6 +9,6 @@ class Registration
 {
     public:
 
-    open3d::pipelines::registration::RegistrationResult o3dFastGlobalRegistrationFeatureMatching(std::shared_ptr<geometry::DFPointCloud> source, std::shared_ptr<geometry::DFPointCloud> target);
+    open3d::pipelines::registration::RegistrationResult O3DFastGlobalRegistrationFeatureMatching(std::shared_ptr<geometry::DFPointCloud> source, std::shared_ptr<geometry::DFPointCloud> target);
 };
 }

src/diffCheckApp.cc

@@ -29,21 +29,20 @@ int main()
   T(0, 3) = 1;
   T(1, 3) = 4;
 
-  std::shared_ptr<open3d::geometry::PointCloud> o3DPC = std::make_shared<open3d::geometry::PointCloud>(dfPointCloudPtr->Cvt2O3DPointCloud()->Transform(T));
-  dfPointCloudPtrAfterTrans->Cvt2DFPointCloud(o3DPC);
+  std::shared_ptr<open3d::geometry::PointCloud> o3DPointCloudAfterTrans = std::make_shared<open3d::geometry::PointCloud>(dfPointCloudPtr->Cvt2O3DPointCloud()->Transform(T));
+  dfPointCloudPtrAfterTrans->Cvt2DFPointCloud(o3DPointCloudAfterTrans);
 
   std::shared_ptr<diffCheck::registration::Registration> reg = std::make_shared<diffCheck::registration::Registration>();
-  auto result = reg->o3dFastGlobalRegistrationFeatureMatching(dfPointCloudPtrAfterTrans, dfPointCloudPtr);
+  auto result = reg->O3DFastGlobalRegistrationFeatureMatching(dfPointCloudPtrAfterTrans, dfPointCloudPtr);
 
   // apply the transformation to the source point cloud
-  Eigen::Matrix
-  <double, 4, 4> transformation = result.transformation_;
-  std::shared_ptr<open3d::geometry::PointCloud> o3DPCReg = std::make_shared<open3d::geometry::PointCloud>(dfPointCloudPtrAfterTrans->Cvt2O3DPointCloud()->Transform(transformation));
-  dfPointCloudPtrAfterReg->Cvt2DFPointCloud(o3DPCReg);
+  Eigen::Matrix<double, 4, 4> transformation = result.transformation_;
+  std::shared_ptr<open3d::geometry::PointCloud> o3DPointCloudPtrAfterReg = std::make_shared<open3d::geometry::PointCloud>(dfPointCloudPtrAfterTrans->Cvt2O3DPointCloud()->Transform(transformation));
+  dfPointCloudPtrAfterReg->Cvt2DFPointCloud(o3DPointCloudPtrAfterReg);
 
 
   std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
-  //vis->AddPointCloud(dfPointCloudPtrAfterTrans);
+  vis->AddPointCloud(dfPointCloudPtrAfterTrans);
   vis->AddPointCloud(dfPointCloudPtrAfterReg);
   vis->AddMesh(dfMeshPtr);
   vis->Run();