A service that contains registered algorithms for registering geometry such that the input is adjusted to match the output. More...

Inheritance diagram for GeometryRegistration:

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Collaboration diagram for GeometryRegistration:

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Public Member Functions
	GeometryRegistration (const GeometryRegistration &&filter)=delete
	Deleted move constructor — registration engines are non-movable.
	GeometryRegistration (const GeometryRegistration &filter)=delete
	Deleted copy constructor — registration engines are non-copyable.
virtual	~GeometryRegistration ()=default
	Virtual destructor.
virtual bool	canRunRegistration (const GeometryRegistrationParameters &)
	Returns whether the registration engine can run given the target parameters.
virtual Buffer< GeometryRegistrationDescription >	defaultRegistrationArguments ()
	Returns the default set of registration argument descriptions for this engine.
const String &	registrationID () const
	Returns the unique string identifier of this registration engine.
const TranslatedString &	registrationName () const
	Returns the translated display name of this registration engine.
virtual bool	runRegistration (GeometryRegistrationParameters &parameters)=0
	Runs the registration algorithm on the provided parameters.

Static Public Member Functions
static void	AddAvailableRegistrationEngine (GeometryRegistration *filter)
	Registers a new GeometryRegistration engine in the global dictionary of available engines.
static const Dictionary< String, GeometryRegistration * > &	AvailableRegistrationEngines ()
	Returns the global dictionary of all available registration engines, keyed by engine ID.
static void	ExecuteRegistration (const JSONNode &active_filters, const Buffer< Model > &models_to_register, const Buffer< Model > &reference_models, LogPtr log, const void *lock)
	Executes a registration pass using the specified filters, aligning the given models to the reference models.
static Buffer< GeometryRegistrationDescription >	GetAvailableDescriptions ()
	Collects and returns the default description/option sets from all available registration engines.
static DynamicPointer< ManagedDesignCommand >	RegistrationCommand (const UUID &reference, const GeometryRegistrationDescription &filter)
	Creates a managed design command for performing registration with the given reference and filter.
static String	ToCommandString (const Buffer< GeometryRegistrationDescription > &descriptions)
	Serializes a set of registration descriptions into a command string representation.

Protected Member Functions
	GeometryRegistration (const StringView &name, const StringView &id)
	Constructs a GeometryRegistration engine with the given display name and unique identifier.

Static Protected Member Functions
static void	FinishRegistration (const Matrix< fltp08 > &transform, Geometry &geo, const GeometryRegistrationParameters &params)
	Applies the final computed registration transform back to the geometry.
static void	PrepareForRegistration (const Matrix< fltp08 > &transform, const Geometry &geo, GeometryRegistrationParameters &params, bool is_reference)
	Extracts and prepares geometry vertices from a Geometry object for use in registration.

Protected Attributes
String	m_id
	The unique string identifier of this registration engine.
TranslatedString	m_name
	The translated display name of this registration engine.

Static Protected Attributes
static Dictionary< String, GeometryRegistration * >	s_global_available_registration_engines
	Global dictionary of all registered GeometryRegistration engines, keyed by engine ID.

Detailed Description

A service that contains registered algorithms for registering geometry such that the input is adjusted to match the output.

See https://en.wikipedia.org/wiki/Point-set_registration.

GeometryRegistration serves as both a service manager (discovering and storing available registration engines) and a base class that concrete engines inherit from to provide their specific alignment algorithm (e.g., ICP variants).

See also: Geometry, GeometryFilter

Definition at line 72 of file GeometryRegistration.h.

Constructor & Destructor Documentation

◆ GeometryRegistration()

GeometryRegistration::GeometryRegistration	(	const StringView &	name,
		const StringView &	id )

explicitprotected

Constructs a GeometryRegistration engine with the given display name and unique identifier.

Parameters

[in]	name	The human-readable name for this registration engine.
[in]	id	A unique string identifier for this registration engine.

Referenced by GeometryRegistration(), GeometryRegistration(), and AddAvailableRegistrationEngine().

Member Function Documentation

◆ AddAvailableRegistrationEngine()

void GeometryRegistration::AddAvailableRegistrationEngine ( GeometryRegistration * filter )

static

Registers a new GeometryRegistration engine in the global dictionary of available engines.

Parameters

[in] filter The registration engine to add. Ownership is not transferred.

References GeometryRegistration().

◆ AvailableRegistrationEngines()

const Dictionary< String, GeometryRegistration * > & GeometryRegistration::AvailableRegistrationEngines ( )

static

Returns the global dictionary of all available registration engines, keyed by engine ID.

Returns: A const reference to the dictionary mapping engine IDs to their GeometryRegistration pointers.

◆ canRunRegistration()

virtual bool GeometryRegistration::canRunRegistration ( const GeometryRegistrationParameters & )

inlinevirtual

Returns whether the registration engine can run given the target parameters.

Override to impose preconditions (e.g., minimum point count). Default returns true.

Parameters

[in] parameters The registration parameters to validate.

Returns: True if this engine can handle the given parameters, false otherwise.

Definition at line 151 of file GeometryRegistration.h.

◆ defaultRegistrationArguments()

virtual Buffer< GeometryRegistrationDescription > GeometryRegistration::defaultRegistrationArguments ( )

virtual

Returns the default set of registration argument descriptions for this engine.

Returns: A buffer of GeometryRegistrationDescription objects describing this engine's options.

Reimplemented in PCLRegistration.

◆ ExecuteRegistration()

void GeometryRegistration::ExecuteRegistration	(	const JSONNode &	active_filters,
		const Buffer< Model > &	models_to_register,
		const Buffer< Model > &	reference_models,
		LogPtr	log,
		const void *	lock )

static

Executes a registration pass using the specified filters, aligning the given models to the reference models.

Parameters

[in]	active_filters	JSON node describing which registration engines and options to use.
[in]	models_to_register	The models whose geometry will be transformed to align with the reference.
[in]	reference_models	The fixed reference models to align against.
[in]	log	Log target for progress and diagnostic output.
[in]	lock	Optional mutex/lock pointer for thread-safe access.

◆ FinishRegistration()

void GeometryRegistration::FinishRegistration	(	const Matrix< fltp08 > &	transform,
		Geometry &	geo,
		const GeometryRegistrationParameters &	params )

staticprotected

Applies the final computed registration transform back to the geometry.

Parameters

[in]	transform	The original world-space transform of the geometry.
[in]	geo	The geometry to update with the registration result.
[in]	params	The registration parameters containing the computed alignment.

◆ GetAvailableDescriptions()

Buffer< GeometryRegistrationDescription > GeometryRegistration::GetAvailableDescriptions ( )

static

Collects and returns the default description/option sets from all available registration engines.

Returns: A buffer of GeometryRegistrationDescription objects, one per available engine.

◆ PrepareForRegistration()

void GeometryRegistration::PrepareForRegistration	(	const Matrix< fltp08 > &	transform,
		const Geometry &	geo,
		GeometryRegistrationParameters &	params,
		bool	is_reference )

staticprotected

Extracts and prepares geometry vertices from a Geometry object for use in registration.

Populates the registration parameters with the vertex data from the given geometry, applying the provided transform.

Parameters

[in]	transform	The world-space transform of the geometry.
[in]	geo	The geometry to extract vertices from.
[in]	params	The registration parameters to populate.
[in]	is_reference	Whether this geometry is the fixed reference (true) or a movable source (false).

◆ RegistrationCommand()

DynamicPointer< ManagedDesignCommand > GeometryRegistration::RegistrationCommand	(	const UUID &	reference,
		const GeometryRegistrationDescription &	filter )

static

Creates a managed design command for performing registration with the given reference and filter.

Parameters

[in]	reference	The UUID of the reference model or object.
[in]	filter	The registration description specifying engine and options.

Returns: A DynamicPointer to the created ManagedDesignCommand.

◆ registrationID()

const String & GeometryRegistration::registrationID ( ) const

inlinenodiscard

Returns the unique string identifier of this registration engine.

Returns: A const reference to the engine ID.

Definition at line 169 of file GeometryRegistration.h.

References m_id.

◆ registrationName()

const TranslatedString & GeometryRegistration::registrationName ( ) const

inlinenodiscard

Returns the translated display name of this registration engine.

Returns: A const reference to the translated name.

Definition at line 163 of file GeometryRegistration.h.

References m_name.

◆ runRegistration()

virtual bool GeometryRegistration::runRegistration ( GeometryRegistrationParameters & parameters )

pure virtual

Runs the registration algorithm on the provided parameters.

Subclasses must implement this to perform their specific point-set registration.

Parameters

[in] parameters The registration parameters including reference and movable point sets.

Returns: True if registration succeeded, false otherwise.

Implemented in PCLRegistration.

◆ ToCommandString()

String GeometryRegistration::ToCommandString ( const Buffer< GeometryRegistrationDescription > & descriptions )

static

Serializes a set of registration descriptions into a command string representation.

Parameters

[in] descriptions The registration descriptions to serialize.

Returns: A String encoding of the descriptions suitable for command storage or transmission.

The documentation for this class was generated from the following file:

Design/Headers/GeometryRegistration.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GeometryRegistration()

Member Function Documentation

◆ AddAvailableRegistrationEngine()

◆ AvailableRegistrationEngines()

◆ canRunRegistration()

◆ defaultRegistrationArguments()

◆ ExecuteRegistration()

◆ FinishRegistration()

◆ GetAvailableDescriptions()

◆ PrepareForRegistration()

◆ RegistrationCommand()

◆ registrationID()

◆ registrationName()

◆ runRegistration()

◆ ToCommandString()