bool Archive::open(const char *fileName, const char *room) {
// Copy the room name if provided
// If the room name is not provided, it is assumed that
// we are opening a multi-room archive
_multipleRoom = room == 0;
if (!_multipleRoom)
Common::strlcpy(_roomName, room, sizeof(_roomName));
if (_file.open(fileName)) {
_readDirectory();
return true;
}
return false;
}
NICPAlignerGuiMainWindow::NICPAlignerGuiMainWindow(std::string directory, QWidget *parent, Qt::WindowFlags flags) : QMainWindow(parent, flags) {
setupUi(this);
_referenceScene = new QGraphicsScene();
_currentScene = new QGraphicsScene();
reference_graphicsView->setScene(_referenceScene);
current_graphicsView->setScene(_currentScene);
merge_pushButton->setEnabled(false);
viewer->setAxisIsDrawn(true);
// Init file list
std::set<std::string> filenames = _readDirectory(directory);
for(std::set<std::string>::const_iterator it = filenames.begin(); it != filenames.end(); ++it) {
QString listItem(&(*it)[0]);
if(listItem.endsWith(".pgm", Qt::CaseInsensitive) || listItem.endsWith(".png", Qt::CaseInsensitive)) {
cloud_selection_listWidget->addItem(listItem);
}
}
// Create class objects
_sensorOffset = Eigen::Isometry3f::Identity();
_sensorOffset.matrix().row(3) << 0.0f, 0.0f, 0.0f, 1.0f;
_pinholeProjector = new nicp::PinholePointProjector();
_sphericalProjector = new nicp::SphericalPointProjector();
_depthImageConverterIntegralImage = new DepthImageConverterIntegralImage();
_alignerProjective = new nicp::AlignerProjective();
_alignerNN = new nicp::AlignerNN();
_aligner = _alignerProjective;
_linearizer = new nicp::Linearizer();
_linearizer->setAligner(_aligner);
_selectProjector();
_statsCalculatorIntegralImage = new nicp::StatsCalculatorIntegralImage();
_pointInformationMatrixCalculator = new nicp::PointInformationMatrixCalculator();
_normalInformationMatrixCalculator = new nicp::NormalInformationMatrixCalculator();
_depthImageConverterIntegralImage->setProjector(_projector);
_depthImageConverterIntegralImage->setStatsCalculator(_statsCalculatorIntegralImage);
_depthImageConverterIntegralImage->setPointInformationMatrixCalculator(_pointInformationMatrixCalculator);
_depthImageConverterIntegralImage->setNormalInformationMatrixCalculator(_normalInformationMatrixCalculator);
_correspondenceFinderProjective = new nicp::CorrespondenceFinderProjective();
_correspondenceFinderNN = new nicp::CorrespondenceFinderNN();
_alignerProjective->setProjector(_projector);
_alignerProjective->setCorrespondenceFinder(_correspondenceFinderProjective);
_alignerProjective->setLinearizer(_linearizer);
_alignerNN->setProjector(_projector);
_alignerNN->setCorrespondenceFinder(_correspondenceFinderNN);
_alignerNN->setLinearizer(_linearizer);
_aligner->setProjector(_projector);
_aligner->setLinearizer(_linearizer);
_correspondenceFinder = _aligner->correspondenceFinder();
// Init class objects
visualizationUpdate();
statsUpdate();
correspondencesUpdate();
alignerUpdate();
projectorsUpdate();
_pngCounter = 0;
_nicpCounter = 0;
}