Feature points

GUI/src/main/java/cz/fidentis/analyst/core/ControlPanelAction.java

@@ -2,6 +2,7 @@ package cz.fidentis.analyst.core;
 
 import cz.fidentis.analyst.canvas.Canvas;
 import cz.fidentis.analyst.scene.DrawableFace;
+import cz.fidentis.analyst.scene.DrawableFeaturePoints;
 import cz.fidentis.analyst.scene.Scene;
 import java.awt.event.ActionEvent;
 import javax.swing.AbstractAction;
@@ -82,6 +83,14 @@ public abstract class ControlPanelAction extends AbstractAction {
         return (canvas.getScene() != null) ? canvas.getScene().getDrawableFace(1) : null;
     }
     
+    protected DrawableFeaturePoints getPrimaryFeaturePoints() {
+        return (canvas.getScene() != null) ? canvas.getScene().getDrawableFeaturePoints(0) : null;
+    }
+    
+    protected DrawableFeaturePoints getSecondaryFeaturePoints() {
+        return (canvas.getScene() != null) ? canvas.getScene().getDrawableFeaturePoints(1) : null;
+    }
+
     protected void renderScene() {
         canvas.renderScene();
     }

GUI/src/main/java/cz/fidentis/analyst/core/ProjectTopComp.java

@@ -13,7 +13,12 @@ import org.openide.util.NbBundle.Messages;
 import cz.fidentis.analyst.Project;
 import cz.fidentis.analyst.face.HumanFace;
 import cz.fidentis.analyst.face.HumanFaceFactory;
+import cz.fidentis.analyst.feature.FeaturePoint;
+import cz.fidentis.analyst.feature.services.FeaturePointImportExportService;
 import java.io.File;
+import java.io.IOException;
+import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -306,6 +311,20 @@ public final class ProjectTopComp extends TopComponent {
         } else {
             String faceId = HumanFaceFactory.instance().loadFace(file);
             HumanFace face = HumanFaceFactory.instance().getFace(faceId);
+            
+            try {
+                // simple hack:
+                Path path = Paths.get(file.getAbsolutePath());
+                Path folder = path.getParent();
+                Path filename = path.getFileName();
+                String filestr = filename.toString();
+                filestr = filestr.split("_ECA.obj")[0];
+                filestr = filestr + "_landmarks.csv";
+                face.loadFeaturePoints(folder.toString(), filestr);
+            } catch(IOException ex) {
+                ex.printStackTrace();
+            }
+            
             this.project.setPrimaryFace(face);
             jLabel1.setText(face.getName());
             createSingleFaceTab(face, face.getName());
@@ -339,6 +358,33 @@ public final class ProjectTopComp extends TopComponent {
             String faceId2 = HumanFaceFactory.instance().loadFace(file2);
             HumanFace face1 = HumanFaceFactory.instance().getFace(faceId1);
             HumanFace face2 = HumanFaceFactory.instance().getFace(faceId2);
+            
+            try {
+                // simple hack:
+                Path path = Paths.get(file1.getAbsolutePath());
+                Path folder = path.getParent();
+                Path filename = path.getFileName();
+                String filestr = filename.toString();
+                filestr = filestr.split("_ECA.obj")[0];
+                filestr = filestr + "_landmarks.csv";
+                face1.loadFeaturePoints(folder.toString(), filestr);
+            } catch(IOException ex) {
+                ex.printStackTrace();
+            }
+            
+            try {
+                // simple hack:
+                Path path = Paths.get(file2.getAbsolutePath());
+                Path folder = path.getParent();
+                Path filename = path.getFileName();
+                String filestr = filename.toString();
+                filestr = filestr.split("_ECA.obj")[0];
+                filestr = filestr + "_landmarks.csv";
+                face2.loadFeaturePoints(folder.toString(), filestr);
+            } catch(IOException ex) {
+                ex.printStackTrace();
+            }
+            
             this.project.setPrimaryFace(face1);
             this.project.setSecondaryFaces(List.of(face2));
             jLabel1.setText(face1.getName());

GUI/src/main/java/cz/fidentis/analyst/registration/RegistrationAction.java

 package cz.fidentis.analyst.registration;
 
-import com.jogamp.opengl.GL2;
 import cz.fidentis.analyst.canvas.Canvas;
 import cz.fidentis.analyst.core.ControlPanelAction;
 import cz.fidentis.analyst.feature.FeaturePoint;
 import cz.fidentis.analyst.icp.IcpTransformer;
+import cz.fidentis.analyst.icp.NoUndersampling;
 import cz.fidentis.analyst.icp.RandomStrategy;
 import cz.fidentis.analyst.icp.UndersamplingStrategy;
 import cz.fidentis.analyst.mesh.core.MeshFacet;
 import cz.fidentis.analyst.mesh.core.MeshPoint;
 import cz.fidentis.analyst.scene.DrawableFace;
+import cz.fidentis.analyst.scene.DrawableFeaturePoints;
 import java.awt.Color;
 import java.awt.event.ActionEvent;
 import java.util.List;
+import java.util.Optional;
+import javax.swing.JCheckBox;
+import javax.swing.JComboBox;
 import javax.swing.JFormattedTextField;
 import javax.swing.JSlider;
 import javax.swing.JTabbedPane;
+import javax.swing.JToggleButton;
 import javax.vecmath.Point3d;
 import javax.vecmath.Vector3d;
 
@@ -46,12 +51,16 @@ public class RegistrationAction extends ControlPanelAction {
     public static final String ACTION_COMMAND_RESET_SCALE = "reset scale";
     public static final String ACTION_COMMAND_APPLY_TRANSFORMATIONS = "apply transformations";
     public static final String ACTION_COMMAND_TRANSPARENCY = "transparency";
+    public static final String ACTION_COMMAND_FP_CLOSENESS_THRESHOLD = "fp closeness treshold";
+    public static final String ACTION_COMMAND_ICP_SCALE = "ICP scale";
+    public static final String ACTION_COMMAND_ICP_MAX_ITERATIONS = "ICP iterations";
+    public static final String ACTION_COMMAND_ICP_ERROR = "ICP error";
+    public static final String ACTION_COMMAND_ICP_UNDERSAMPLING = "ICP undersampling";
     
     
     /*
      * Attributes handling the state
      */
-    private IcpTransformer visitor = null;
     private boolean scale = true;
     private int maxIterations = 10;
     private double error = 0.3;
@@ -66,7 +75,7 @@ public class RegistrationAction extends ControlPanelAction {
     /**
      * Threshold of feature points showing too far away
      */
-    private double featurePointsThreshold = 0.1;
+    private double featurePointsThreshold = 5.0;
 
     private final RegistrationPanel controlPanel;
     
@@ -86,13 +95,17 @@ public class RegistrationAction extends ControlPanelAction {
         double value;
         String action = ae.getActionCommand();
         
-        /*
-         * OTHER ACTIONS ARE INVOKED BY DIRECT CALL (to be refactored)
-         */
-        
         switch (action) {
             case ACTION_COMMAND_SHOW_HIDE_PANEL:
                 hideShowPanelActionPerformed(ae, this.controlPanel);
+                if (((JToggleButton) ae.getSource()).isSelected()) {
+                    calculateFeaturePoints(); // color points 
+                } else {
+                    for (int i = 0; i < getPrimaryFeaturePoints().getFeaturePoints().size(); i++) {
+                        getPrimaryFeaturePoints().setColor(i, DrawableFeaturePoints.DEFAULT_COLOR);
+                        getSecondaryFeaturePoints().setColor(i, DrawableFeaturePoints.DEFAULT_COLOR);
+                    }
+                }
                 break;
             case ACTION_COMMAND_APPLY_ICP:
                 applyICP();
@@ -101,31 +114,49 @@ public class RegistrationAction extends ControlPanelAction {
             case ACTION_COMMAND_SHIFT_X:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getTranslation().x = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getTranslation().x = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_SHIFT_Y:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getTranslation().y = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getTranslation().y = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_SHIFT_Z:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getTranslation().z = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getTranslation().z = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_ROTATE_X:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getRotation().x = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getRotation().x = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_ROTATE_Y:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getRotation().y = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getRotation().y = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_ROTATE_Z:
                 value = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
                 getSecondaryDrawableFace().getRotation().z = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getRotation().z = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_SCALE:
@@ -133,6 +164,11 @@ public class RegistrationAction extends ControlPanelAction {
                 getSecondaryDrawableFace().getScale().x = value;
                 getSecondaryDrawableFace().getScale().y = value;
                 getSecondaryDrawableFace().getScale().z = value;
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().getScale().x = value;
+                    getSecondaryFeaturePoints().getScale().y = value;
+                    getSecondaryFeaturePoints().getScale().z = value;
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_FRONT_VIEW:
@@ -144,14 +180,23 @@ public class RegistrationAction extends ControlPanelAction {
                 break;
             case ACTION_COMMAND_RESET_TRANSLATION:
                 getSecondaryDrawableFace().setTranslation(new Vector3d(0, 0, 0));
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().setTranslation(new Vector3d(0, 0, 0));
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_RESET_ROTATION:
                 getSecondaryDrawableFace().setRotation(new Vector3d(0, 0, 0));
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().setRotation(new Vector3d(0, 0, 0));
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_RESET_SCALE:
                 getSecondaryDrawableFace().setScale(new Vector3d(0, 0, 0));
+                if (getSecondaryFeaturePoints() != null) {
+                    getSecondaryFeaturePoints().setScale(new Vector3d(0, 0, 0));
+                }
                 calculateFeaturePoints();
                 break;
             case ACTION_COMMAND_RESET_ALL:
@@ -170,6 +215,32 @@ public class RegistrationAction extends ControlPanelAction {
                 int transparency = ((JSlider) ae.getSource()).getValue();
                 setTransparency(transparency);
                 break;
+            case ACTION_COMMAND_FP_CLOSENESS_THRESHOLD:
+                featurePointsThreshold = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
+                calculateFeaturePoints();
+                break;
+            case ACTION_COMMAND_ICP_SCALE:
+                this.scale = ((JCheckBox) ae.getSource()).isSelected();
+                break;
+            case ACTION_COMMAND_ICP_MAX_ITERATIONS:
+                maxIterations = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).intValue();
+                break;
+            case ACTION_COMMAND_ICP_ERROR:
+                error = ((Number)(((JFormattedTextField) ae.getSource()).getValue())).doubleValue();
+                break;
+            case ACTION_COMMAND_ICP_UNDERSAMPLING:
+                String item = (String)((JComboBox) ae.getSource()).getSelectedItem();
+                switch (item) {
+                    case "None":
+                        this.undersampling = new NoUndersampling();
+                        break;
+                    case "Random 200":
+                        this.undersampling = new RandomStrategy(200);
+                        break;
+                    default:
+                        throw new UnsupportedOperationException(item);
+                }
+                break;
             default:
                 throw new UnsupportedOperationException(action);
         }
@@ -178,10 +249,8 @@ public class RegistrationAction extends ControlPanelAction {
     }
     
     protected void applyICP() {
-        if (visitor == null) { 
-            this.visitor = new IcpTransformer(getPrimaryDrawableFace().getModel(), maxIterations, scale, error, undersampling);
-            getSecondaryDrawableFace().getModel().compute(visitor); // NOTE: the secondary face is physically transformed
-        }
+        IcpTransformer visitor = new IcpTransformer(getPrimaryDrawableFace().getModel(), maxIterations, scale, error, undersampling);
+        getSecondaryDrawableFace().getModel().compute(visitor); // NOTE: the secondary face is physically transformed
     }
     
     /**
@@ -210,14 +279,19 @@ public class RegistrationAction extends ControlPanelAction {
      * otherwise set color to default
      */
     private void calculateFeaturePoints() {
-        if (getPrimaryDrawableFace() == null || !getPrimaryDrawableFace().isRenderFeaturePoints()) {
+        if (getPrimaryDrawableFace() == null) { // scene not yet initiated
             return;
         }
         
-        List<Color> color = getSecondaryDrawableFace().getFeaturePointsColor();
-        for (int i = 0; i < getPrimaryDrawableFace().getFeaturePoints().size(); i++) {
-            FeaturePoint primary = getPrimaryDrawableFace().getFeaturePoints().get(i);
-            FeaturePoint secondary = getSecondaryDrawableFace().getFeaturePoints().get(i);
+        if (getPrimaryFeaturePoints() == null || 
+                getSecondaryFeaturePoints() == null ||
+                getPrimaryFeaturePoints().getFeaturePoints().size() != getSecondaryFeaturePoints().getFeaturePoints().size()) {
+            return;
+        }
+                
+        for (int i = 0; i < getPrimaryFeaturePoints().getFeaturePoints().size(); i++) {
+            FeaturePoint primary = getPrimaryFeaturePoints().getFeaturePoints().get(i);
+            FeaturePoint secondary = getSecondaryFeaturePoints().getFeaturePoints().get(i);
             Point3d transformed = new Point3d(secondary.getX(), secondary.getY(), secondary.getZ());
             transformPoint(transformed);
             double distance = Math.sqrt(
@@ -225,9 +299,11 @@ public class RegistrationAction extends ControlPanelAction {
                 Math.pow(transformed.y - primary.getY(), 2) + 
                 Math.pow(transformed.z - primary.getZ(), 2));
             if (distance > featurePointsThreshold) {
-                color.set(i, Color.RED);
+                getPrimaryFeaturePoints().setColor(i, Color.RED);
+                getSecondaryFeaturePoints().setColor(i, Color.RED);
             } else {
-                color.set(i, DrawableFace.SKIN_COLOR_SECONDARY);
+                getPrimaryFeaturePoints().setColor(i, DrawableFeaturePoints.DEFAULT_COLOR);
+                getSecondaryFeaturePoints().setColor(i, DrawableFeaturePoints.DEFAULT_COLOR);
             }
         }
     }
@@ -243,13 +319,12 @@ public class RegistrationAction extends ControlPanelAction {
                 transformPoint(comparedPoint.getPosition());
             }
         }
-        for (int i = 0; i < getSecondaryDrawableFace().getFeaturePoints().size(); i++) {
-            FeaturePoint point = getSecondaryDrawableFace().getFeaturePoints().get(i);
+        for (int i = 0; i < getSecondaryFeaturePoints().getFeaturePoints().size(); i++) {
+            FeaturePoint point = getSecondaryFeaturePoints().getFeaturePoints().get(i);
             Point3d transformed = new Point3d(point.getX(), point.getY(), point.getZ());
             transformPoint(transformed);
-            point = new FeaturePoint(transformed.x, transformed.y, 
-                    transformed.z, point.getFeaturePointType());
-            getSecondaryDrawableFace().getFeaturePoints().set(i, point);
+            point = new FeaturePoint(transformed.x, transformed.y, transformed.z, point.getFeaturePointType());
+            getSecondaryFeaturePoints().getFeaturePoints().set(i, point);
         }
     }
     
@@ -310,38 +385,4 @@ public class RegistrationAction extends ControlPanelAction {
         point.z *= 1 + getSecondaryDrawableFace().getScale().z;
     }
     
-    public double getFeaturePointsThreshold() {
-        return featurePointsThreshold;
-    }
-
-    public void setFeaturePointsThreshold(double featurePointsThreshold) {
-        this.featurePointsThreshold = featurePointsThreshold;
-        calculateFeaturePoints();
-        renderScene();
-    }
-
-    
-    
-    /////////////////////////////
-
-    protected boolean areFeaturePointsActive() {
-        return getPrimaryDrawableFace().isRenderFeaturePoints();
-    }
-    
-    protected void setFeaturePointsActive(boolean state) {
-        getPrimaryDrawableFace().setRenderFeaturePoints(state);
-        getSecondaryDrawableFace().setRenderFeaturePoints(state);
-        calculateFeaturePoints();
-        renderScene();
-    }
-
-    protected boolean isShowBackfaceActive() {
-        return getPrimaryDrawableFace().isShowBackface();
-    }
-    
-    protected void setShowBackfaceActive(boolean state) {
-        getPrimaryDrawableFace().setShowBackface(state);
-        getSecondaryDrawableFace().setShowBackface(state);
-        renderScene();
-    }
 }

GUI/src/main/java/cz/fidentis/analyst/scene/DrawableFace.java

@@ -22,9 +22,9 @@ public class DrawableFace extends DrawableMesh {
     public static final Color SKIN_COLOR_SECONDARY = new Color(236, 188, 180);
     
     /* feature points */
-    private List<FeaturePoint> featurePoints = new ArrayList<>();
-    private List<Color> featurePointsColor = new ArrayList<>();
-    private boolean renderFeaturePoints = false;
+    //private List<FeaturePoint> featurePoints = new ArrayList<>();
+    //private List<Color> featurePointsColor = new ArrayList<>();
+    //private boolean renderFeaturePoints = false;
     private boolean renderHeatMap = false;
     
     /**
@@ -46,14 +46,15 @@ public class DrawableFace extends DrawableMesh {
     /**
      * @return {@link List} of {@link FeaturePoint}
      */
-    public List<FeaturePoint> getFeaturePoints() {
-        return featurePoints;
-    }
+    //public List<FeaturePoint> getFeaturePoints() {
+    //    return featurePoints;
+    //}
 
     /**
      * Sets feature points
      * @param featurePoints Feature points
      */
+    /*
     public void setFeaturePoints(List<FeaturePoint> featurePoints) {
         this.featurePoints = featurePoints;
         List<Color> colors = new ArrayList<>();
@@ -61,37 +62,46 @@ public class DrawableFace extends DrawableMesh {
             colors.add(getColor());
         });
         this.setFeaturePointsColor(colors);
-    }   
+    } 
+    */
     
     /**
      * @return {@link List} of feature points {@link Color}
      */
+    /*
     public List<Color> getFeaturePointsColor() {
         return featurePointsColor;
     }
+    */
 
     /**
      * Sets colors of feature points
      * @param featurePointsColor Colors of feature points
      */
+    /*
     public void setFeaturePointsColor(List<Color> featurePointsColor) {
         this.featurePointsColor = featurePointsColor;
     } 
+    */
     
     /**
      * @return {@code true} if feature points should be rendered
      */
+    /*
     public boolean isRenderFeaturePoints() {
         return renderFeaturePoints;
     }
+    */
 
     /**
      * Sets if feature points should be rendered or not
      * @param renderFeaturePoints 
      */
+    /*
     public void setRenderFeaturePoints(boolean renderFeaturePoints) {
         this.renderFeaturePoints = renderFeaturePoints;
-    }    
+    } 
+    */
 
     /**
      * Sets new heatmap.

GUI/src/main/java/cz/fidentis/analyst/scene/DrawableFeaturePoints.java

@@ -6,6 +6,7 @@ import com.jogamp.opengl.glu.GLUquadric;
 import cz.fidentis.analyst.feature.FeaturePoint;
 import java.awt.Color;
 import java.util.ArrayList;
+import java.util.Collections;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -37,6 +38,28 @@ public class DrawableFeaturePoints extends Drawable {
         this.featurePoints = new ArrayList<>(featurePoints);
         setColor(DEFAULT_COLOR);
     }
+    
+    public Color getColor(int index) {
+        if (index < 0 || index >= featurePoints.size()) {
+            return null;
+        }
+        if (specialColors.containsKey(index)) {
+            return specialColors.get(index);
+        } else {
+            return DEFAULT_COLOR;
+        }
+    }
+    
+    public void setColor(int index, Color color) {
+        if (index < 0 || index >= featurePoints.size() || color == null) {
+            return;
+        }
+        if (color.equals(DEFAULT_COLOR)) {
+            specialColors.remove(index);
+        } else {
+            specialColors.put(index, color);
+        }
+    }
 
     @Override
     protected void renderObject(GL2 gl) {
@@ -56,28 +79,30 @@ public class DrawableFeaturePoints extends Drawable {
                 gl.glMaterialfv(GL2.GL_FRONT_AND_BACK, GL2.GL_DIFFUSE, tmpRGB, 0);
             }
             
-            //gl.glPushMatrix(); 
-            //gl.glTranslated(fp.getX(), fp.getY(), fp.getZ());
+            gl.glPushMatrix(); 
+            gl.glTranslated(fp.getX(), fp.getY(), fp.getZ());
             GLUquadric center = GLU_CONTEXT.gluNewQuadric();
             GLU_CONTEXT.gluQuadricDrawStyle(center, GLU.GLU_FILL);
             GLU_CONTEXT.gluQuadricNormals(center, GLU.GLU_FLAT);
             GLU_CONTEXT.gluQuadricOrientation(center, GLU.GLU_OUTSIDE);
             GLU_CONTEXT.gluSphere(center, 3f, 16, 16);
             GLU_CONTEXT.gluDeleteQuadric(center);
-            //gl.glPopMatrix();
+            gl.glPopMatrix();
     
             if (specialColor != null) {
                 gl.glMaterialfv(GL2.GL_FRONT_AND_BACK, GL2.GL_DIFFUSE, rgba, 0); // set default color
             }
         }
     }
+    
+    
        
     /**
      * @return {@link List} of {@link FeaturePoint}
      */
-    //public List<FeaturePoint> getFeaturePoints() {
-    //    return Collections.unmodifiableList(featurePoints);
-    //}
+    public List<FeaturePoint> getFeaturePoints() {
+        return Collections.unmodifiableList(featurePoints);
+    }
 
     /**
      * Sets feature points

GUI/src/main/java/cz/fidentis/analyst/scene/DrawableMesh.java

@@ -20,11 +20,6 @@ public class DrawableMesh extends Drawable {
     
     private final MeshModel model;
     
-    /**
-     * Flag if back should be rendered
-     */
-    private boolean showBackface = true;
-    
     /**
      * Constructor. 
      * 
@@ -109,19 +104,4 @@ public class DrawableMesh extends Drawable {
         return this.model;
     }
 
-    /**
-     * @return {@code true} if back face shoud be shown
-     */
-    public boolean isShowBackface() {
-        return showBackface;
-    }
-
-    /**
-     * Sets if back face should be shown or not
-     * @param showBackface 
-     */
-    public void setShowBackface(boolean showBackface) {
-        this.showBackface = showBackface;
-    }
-    
 }

GUI/src/main/java/cz/fidentis/analyst/scene/Scene.java

@@ -29,7 +29,12 @@ public class Scene {
 
         faces.add(face);
         drawableFaces.add(new DrawableFace(face.getMeshModel()));
-        drawableFeaturePoints.add(null);
+        if (face.getFeaturePoints() != null) {
+            System.out.println("AAA"+face.getFeaturePoints());
+            drawableFeaturePoints.add(new DrawableFeaturePoints(face.getFeaturePoints()));
+        } else {
+            drawableFeaturePoints.add(null);
+        }
         drawableSymmetryPlanes.add(null);
     }
     
@@ -47,14 +52,27 @@ public class Scene {
         if (secondary == null) {
             throw new IllegalArgumentException("secondary");
         }
+        
         faces.add(primary);
         faces.add(secondary);
+        
         drawableFaces.add(new DrawableFace(primary.getMeshModel()));
         drawableFaces.add(new DrawableFace(secondary.getMeshModel()));
-        drawableFeaturePoints.add(null);
-        drawableFeaturePoints.add(null);
+        
+        if (primary.getFeaturePoints() != null) {
+            drawableFeaturePoints.add(new DrawableFeaturePoints(primary.getFeaturePoints()));
+        } else {
+            drawableFeaturePoints.add(null);
+        }
+        if (secondary.getFeaturePoints() != null) {
+            drawableFeaturePoints.add(new DrawableFeaturePoints(secondary.getFeaturePoints()));
+        } else {
+            drawableFeaturePoints.add(null);
+        }
+
         drawableSymmetryPlanes.add(null);
         drawableSymmetryPlanes.add(null);
+
         drawableFaces.get(1).setColor(DrawableFace.SKIN_COLOR_SECONDARY); 
     }
     

GUI/src/main/java/cz/fidentis/analyst/scene/SceneRenderer.java

@@ -4,6 +4,7 @@ import com.jogamp.opengl.GL;
 import com.jogamp.opengl.GL2;
 import com.jogamp.opengl.glu.GLU;
 import cz.fidentis.analyst.mesh.core.MeshFacet;
+import java.awt.Color;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Collections;
@@ -109,6 +110,11 @@ public class SceneRenderer {
      */
     public void renderScene(Camera camera, Collection<Drawable> drawables) {
         clearScene();
+        
+        // light backface
+        gl.glLightfv(GL2.GL_LIGHT1, GL2.GL_POSITION, new float[] {0f, 0f, -1f, 0f}, 0);
+        gl.glLightfv(GL2.GL_LIGHT1, GL2.GL_DIFFUSE, Color.white.getComponents(null), 0);
+        
         setPosition(camera);
         List<DrawableFace> faces = getOrderedFaces(drawables);
         
@@ -118,8 +124,9 @@ public class SceneRenderer {
             }
         }
         
-        for (Drawable obj: faces) {
+        for (DrawableFace obj: faces) {
             if (obj.isShown()) {
+                //showBackface(obj);
                 obj.render(gl);
             }
         }

GUI/src/main/java/cz/fidentis/analyst/toolbar/RenderingModeAction.java

@@ -4,6 +4,7 @@ import com.jogamp.opengl.GL2;
 import cz.fidentis.analyst.canvas.Canvas;
 import static cz.fidentis.analyst.toolbar.RenderingToolBar.REFLECTIONS_COLOR;
 import cz.fidentis.analyst.scene.Drawable;
+import cz.fidentis.analyst.scene.DrawableFeaturePoints;
 import java.awt.Color;
 import java.awt.event.ActionEvent;
 import javax.swing.AbstractAction;
@@ -23,9 +24,11 @@ public class RenderingModeAction extends AbstractAction {
     public static final String ACTION_COMMAND_REFLECTIONS_ON_OFF = "reflections";
     public static final String ACTION_COMMAND_SHOW_HIDE_PRIMARY_FACE = "primary face";
     public static final String ACTION_COMMAND_SHOW_HIDE_SECONDARY_FACES = "secondary faces";
+    public static final String ACTION_COMMAND_SHOW_HIDE_FEATURE_POINTS = "feature points";
     
     
     private final Canvas canvas;
+    private boolean showFPs = true;
     
     /**
      * Constructor.
@@ -71,18 +74,22 @@ public class RenderingModeAction extends AbstractAction {
                 }
                 break;
             case ACTION_COMMAND_SHOW_HIDE_PRIMARY_FACE:
-                if (((JToggleButton) ae.getSource()).isSelected()) {
-                    canvas.getScene().getDrawableFace(0).show();
-                } else {
-                    canvas.getScene().getDrawableFace(0).hide();
-                }
+                showHideFace(0, ((JToggleButton) ae.getSource()).isSelected());
                 break;
             case ACTION_COMMAND_SHOW_HIDE_SECONDARY_FACES:
                 for (int i = 1; i < canvas.getScene().getNumFaces(); i++) {
-                    if (((JToggleButton) ae.getSource()).isSelected()) {
-                        canvas.getScene().getDrawableFace(i).show();
-                    } else {
-                        canvas.getScene().getDrawableFace(i).hide();
+                    showHideFace(i, ((JToggleButton) ae.getSource()).isSelected());
+                }
+                break;
+            case ACTION_COMMAND_SHOW_HIDE_FEATURE_POINTS:
+                for (int i = 0; i < canvas.getScene().getNumFaces(); i++) {
+                    DrawableFeaturePoints fp = canvas.getScene().getDrawableFeaturePoints(i);
+                    if (((JToggleButton) ae.getSource()).isSelected()) { // show
+                        if (canvas.getScene().getDrawableFace(i).isShown() && fp != null) {
+                            fp.show();
+                        }
+                    } else if (fp != null) { // hide
+                        fp.hide();
                     }
                 }
                 break;
@@ -92,4 +99,18 @@ public class RenderingModeAction extends AbstractAction {
         canvas.renderScene();
     }
     
+    private void showHideFace(int i, boolean show) {
+        DrawableFeaturePoints fp = canvas.getScene().getDrawableFeaturePoints(i);
+        if (show) {
+            canvas.getScene().getDrawableFace(i).show();
+            if (showFPs) {
+                fp.show();
+            }
+        } else { //hide
+            canvas.getScene().getDrawableFace(i).hide();
+            if (fp != null) {
+                fp.hide();
+            }
+        }
+    }
 }

GUI/src/main/java/cz/fidentis/analyst/toolbar/RenderingToolBar.java

@@ -31,7 +31,8 @@ public class RenderingToolBar extends JToolBar {
     public static final String POINTS_BUTTON_ICON = "points-tri28x28.png";
     public static final String PRIMARY_FACE_BUTTON_ICON = "primaryFace28x28.png";
     public static final String SECONDARY_FACE_BUTTON_ICON = "secondaryFace28x28.png";
-    
+    //public static final String FEATURE_POINTS_BUTTON_ICON = "wireframe-tri28x28.png";
+        
     private final Canvas canvas;
     
     /**
@@ -44,6 +45,7 @@ public class RenderingToolBar extends JToolBar {
         addRenderingModeButton();
         addBackgroundButton();
         addReflectionsButton();
+        addFeaturePointsButton();
     }
     
     protected Canvas getCanvas() {
@@ -142,4 +144,16 @@ public class RenderingToolBar extends JToolBar {
         button.setFocusable(false);
         add(button);
     }
+    
+    protected void addFeaturePointsButton() {
+        JToggleButton button = new JToggleButton();
+        button.addActionListener(new RenderingModeAction(canvas));
+        button.setActionCommand(RenderingModeAction.ACTION_COMMAND_SHOW_HIDE_FEATURE_POINTS);
+        //button.setIcon(new ImageIcon(getClass().getResource("/" + RenderingToolBar.FEATURE_POINTS_BUTTON_ICON)));
+        button.setToolTipText(NbBundle.getMessage(RenderingToolBar.class, "RenderingToolBar.secondaryfaces.text"));
+        button.setText("FPs");
+        button.setSelected(true);
+        button.setFocusable(false);
+        add(button);
+    }
 }

GUI/src/main/resources/cz/fidentis/analyst/registration/Bundle.properties

@@ -32,20 +32,17 @@ RegistrationPanel.lowShiftRB.toolTipText=set low shifting amount
 RegistrationPanel.lowShiftRB.text=low
 RegistrationPanel.shiftLabel.toolTipText=transformation amount
 RegistrationPanel.shiftLabel.text=shift
-RegistrationPanel.featurePointsLabel.text=Feature points:
+RegistrationPanel.featurePointsLabel.text=FP closeness treshold:
 RegistrationPanel.resetAllButton.toolTipText=reset all transformations
 RegistrationPanel.resetAllButton.text=reset all
 RegistrationPanel.scaleButton.toolTipText=reset scale
 RegistrationPanel.scaleButton.text=
 RegistrationPanel.scaleFTF.toolTipText=
-RegistrationPanel.thersholdButton.text=thershold
 RegistrationPanel.thersholdUpButton.text=
 RegistrationPanel.thresholdDownButton.text=
 RegistrationPanel.scaleMinusButton.text=
-RegistrationPanel.featurePointsButton.text=show
 RegistrationPanel.scalePlusButton.text=
 RegistrationPanel.jLabel4.text=Scale:
-RegistrationPanel.backfaceButton.text=hide backface
 RegistrationPanel.viewLabel.text=View:
 RegistrationPanel.jLabel3.text=Rotation:
 RegistrationPanel.frontButton.toolTipText=model front view
@@ -59,5 +56,10 @@ RegistrationPanel.profileButton.text=side
 RegistrationPanel.rightRotationXButton.text=
 RegistrationPanel.leftRotationZButton.text=
 RegistrationPanel.rightRotationYButton.text=
-RegistrationPanel.jButton1.text=ICP
-RegistrationPanel.jLabel1.text=Registration:
+RegistrationPanel.jButton1.text=(Re)compute
+RegistrationPanel.jLabel1.text=ICP:
+RegistrationPanel.jCheckBox1.text=scale
+RegistrationPanel.jFormattedTextField1.text=0,3
+RegistrationPanel.jLabel5.text=error
+RegistrationPanel.jFormattedTextField2.text=10
+RegistrationPanel.jLabel6.text=max iters