src/services/RegistrationService.h - master - klischa/AstraScanner2

src/services/RegistrationService.h

64 строки2 KB

k k

fix(medium): configurable normals radius and thread-safe intrinsics

13 июл 2026, 23:48

13 июл 2026, 23:48dc33f76

#ifndef REGISTRATIONSERVICE_H
#define REGISTRATIONSERVICE_H

#include <QObject>
#include <Eigen/Dense>
#include <limits>
#include <functional>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include "../filters/ProcessingTypes.h"

struct IcpRegistrationResult
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr aligned;
    Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
    bool converged = false;
    double fitness = std::numeric_limits<double>::infinity();
};

class CloudFiltersService;

class RegistrationService : public QObject
{
    Q_OBJECT
public:
    using ProgressCb = std::function<void(int)>;

    explicit RegistrationService(CloudFiltersService *cloudFiltersService, QObject *parent = nullptr);

    void setProgressCallback(ProgressCb cb) { m_progressCb = std::move(cb); }
    void setNormalsRadius(double radius) { m_normalsRadius = radius; }

    IcpRegistrationResult registerPointCloudsICPWithResult(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &source,
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &target,
        double maxCorrespondenceDistance = 0.05,
        int maximumIterations = 50,
        const Eigen::Matrix4f *initialGuess = nullptr);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr registerPointCloudsICP(
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &source,
        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &target,
        double maxCorrespondenceDistance = 0.05,
        int maximumIterations = 50,
        bool *convergedOut = nullptr);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergeScans(
        const std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> &scans,
        const AstraMergeParams &params = {});

signals:
    void progressUpdated(int percentage);

private:
    bool computeNormals(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
                        pcl::PointCloud<pcl::Normal>::Ptr &normals);

    CloudFiltersService *m_cloudFiltersService = nullptr;
    double m_normalsRadius = 0.03;
    ProgressCb m_progressCb;
};

#endif // REGISTRATIONSERVICE_H