add meshtree.h
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gabryon99
gabryon99
parent
4595f32202
commit
16de5d341c
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@ -73,6 +73,7 @@ set(VCG_HEADERS
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vcg/complex/algorithms/inertia.h
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vcg/complex/algorithms/mesh_assert.h
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vcg/complex/algorithms/occupancy_grid.h
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vcg/complex/algorithms/meshtree.h.h
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vcg/complex/algorithms/cut_tree.h
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vcg/complex/algorithms/nring.h
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vcg/complex/algorithms/tetra/tetfuse_collapse.h
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@ -0,0 +1,352 @@
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#ifndef VCGLIB_MESHTREE_H
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#define VCGLIB_MESHTREE_H
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namespace vcg {
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template<class MeshType, class ScalarType>
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class MeshTree {
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public:
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class MeshNode {
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public:
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bool glued;
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MeshType *m;
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MeshNode(MeshType *_m) : m{_m}, glued{false} {}
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vcg::Matrix44<ScalarType> &tr() {
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return m->cm.Tr;
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}
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const vcg::Box3<ScalarType> &bbox() const {
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return m->cm.bbox;
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}
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int Id() {
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return m->id();
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}
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};
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class Param {
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public:
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int OGSize = 5000;
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float arcThreshold = 0.3f;
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float recalcThreshold = 0.1f;
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};
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std::map<int, MeshType*> nodeMap;
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std::list<vcg::AlignPair::Result> resultList;
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vcg::OccupancyGrid<CMeshO> OG;
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vcg::CallBackPos * cb;
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MeshType *MM(unsigned int i) {
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return nodeMap[i]->m;
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}
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MeshTree();
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void clear() {
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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delete ni->second;
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}
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nodeMap.clear();
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resultList.clear();
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}
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void deleteResult(MeshTree::MeshNode *mp) {
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auto li = std::begin(resultList);
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while (li != resultList.end()) {
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if (li->MovName==mp->Id() || li->FixName==mp->Id()) {
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li=resultList.erase(li);
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}
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else {
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++li;
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}
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}
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}
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vcg::AlignPair::Result* findResult(int id1, int id2) {
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for (auto li = std::begin(resultList); li != std::end(resultList); ++li) {
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if ((li->MovName==id1 && li->FixName==id2) || (li->MovName==id2 && li->FixName==id1) ) {
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return &*li;
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}
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}
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return 0;
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}
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MeshTree::MeshNode *find(int id) {
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MeshTree::MeshNode *mp = nodeMap[id];
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if (mp==0 || mp->Id()!=id) {
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assert("You are trying to find an unexistent mesh"==0);
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}
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return mp;
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}
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MeshTree::MeshNode *find(MeshType *m) {
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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if (ni->second->m==m) return ni->second;
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}
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assert("You are trying to find an unexistent mesh" ==0);
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return 0;
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}
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int gluedNum() {
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int cnt = 0;
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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MeshTree::MeshNode *mn=ni->second;
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if (mn->glued) ++cnt;
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}
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return cnt;
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}
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void Process(vcg::AlignPair::Param &ap, Param &mtp) {
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// QString buf;
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// cb(0,qUtf8Printable(buf.sprintf("Starting Processing of %i glued meshes out of %zu meshes\n",gluedNum(),nodeMap.size())));
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/******* Occupancy Grid Computation *************/
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// cb(0,qUtf8Printable(buf.sprintf("Computing Overlaps %i glued meshes...\n",gluedNum() )));
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OG.Init(static_cast<int>(nodeMap.size()), vcg::Box3d::Construct(gluedBBox()), mtp.OGSize);
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for(auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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MeshTree::MeshNode *mn = ni->second;
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if (mn->glued) {
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OG.AddMesh(mn->m->cm, vcg::Matrix44d::Construct(mn->tr()), mn->Id());
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}
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}
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OG.Compute();
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OG.Dump(stdout);
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// Note: the s and t of the OG translate into fix and mov, respectively.
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/*************** The long loop of arc computing **************/
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// count existing arcs within current error threshold
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float percentileThr = 0f;
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if (resultList.size() > 0) {
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vcg::Distribution<float> H;
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for (auto li = std::begin(resultList); li != std::end(resultList); ++li) {
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H.Add(li->err);
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}
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percentileThr = H.Percentile(1.0f - mtp.recalcThreshold);
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}
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std::size_t totalArcNum = 0;
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int preservedArcNum = 0, recalcArcNum = 0;
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while(totalArcNum<OG.SVA.size() && OG.SVA[totalArcNum].norm_area > mtp.arcThreshold)
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{
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AlignPair::Result *curResult = findResult(OG.SVA[totalArcNum].s, OG.SVA[totalArcNum].t);
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if (curResult) {
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if (curResult->err < percentileThr) {
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++preservedArcNum;
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}
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else {
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++recalcArcNum;
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}
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}
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else {
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resultList.push_back(AlignPair::Result());
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resultList.back().FixName = OG.SVA[totalArcNum].s;
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resultList.back().MovName = OG.SVA[totalArcNum].t;
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resultList.back().err = std::numeric_limits<double>::max();
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}
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++totalArcNum;
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}
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//if there are no arcs at all complain and return
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if (totalArcNum == 0) {
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// cb(0, qUtf8Printable(buf.sprintf("\n Failure. There are no overlapping meshes?\n No candidate alignment arcs. Nothing Done.\n")));
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return;
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}
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int num_max_thread = 1;
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#ifdef _OPENMP
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if (totalArcNum > 32) num_max_thread = omp_get_max_threads();
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#endif
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// cb(0,qUtf8Printable(buf.sprintf("Arc with good overlap %6zu (on %6zu)\n",totalArcNum,OG.SVA.size())));
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// cb(0,qUtf8Printable(buf.sprintf(" %6i preserved %i Recalc \n",preservedArcNum,recalcArcNum)));
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bool hasValidAlign = false;
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#pragma omp parallel for schedule(dynamic, 1) num_threads(num_max_thread)
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// on windows, omp does not support unsigned types for indices on cycles
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for (int i = 0 ;i < static_cast<int>(totalArcNum); ++i) {
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std::fprintf(stdout,"%4i -> %4i Area:%5i NormArea:%5.3f\n",OG.SVA[i].s,OG.SVA[i].t,OG.SVA[i].area,OG.SVA[i].norm_area);
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AlignPair::Result *curResult = findResult(OG.SVA[i].s,OG.SVA[i].t);
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// // missing arc and arc with great error must be recomputed.
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if (curResult->err >= percentileThr) {
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ProcessArc(OG.SVA[i].s, OG.SVA[i].t, *curResult, ap);
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curResult->area = OG.SVA[i].norm_area;
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if (curResult->isValid()) {
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hasValidAlign = true;
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std::pair<double, double> dd = curResult->computeAvgErr();
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#pragma omp critical
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//cb(0,qUtf8Printable(buf.sprintf("(%3i/%3zu) %2i -> %2i Aligned AvgErr dd=%f -> dd=%f \n",i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,dd.first,dd.second)));
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}
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else {
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#pragma omp critical
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//cb(0,qUtf8Printable(buf.sprintf( "(%3i/%3zu) %2i -> %2i Failed Alignment of one arc %s\n",i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,vcg::AlignPair::errorMsg(curResult->status))));
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}
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}
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}
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//if there are no valid arcs complain and return
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if (!hasValidAlign) {
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// cb(0,qUtf8Printable(buf.sprintf("\n Failure. No successful arc among candidate Alignment arcs. Nothing Done.\n")));
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return;
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}
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vcg::Distribution<float> H; // stat for printing
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for (auto li = std::begin(resultList); li != std::end(resultList); ++li) {
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if ((*li).isValid()) {
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H.Add(li->err);
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}
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}
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//cb(0,qUtf8Printable(buf.sprintf("Completed Mesh-Mesh Alignment: Avg Err %5.3f; Median %5.3f; 90%% %5.3f\n", H.Avg(), H.Percentile(0.5f), H.Percentile(0.9f))));
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ProcessGlobal(ap);
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}
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void ProcessGlobal(vcg::AlignPair::Param &ap) {
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/************** Preparing Matrices for global alignment *************/
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std::vector<int> GluedIdVec;
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std::vector<vcg::Matrix44d> GluedTrVec;
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std::map<int, std::string> names;
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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MeshTree::MeshNode *mn=ni->second;
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if (mn->glued) {
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GluedIdVec.push_back(mn->Id());
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GluedTrVec.push_back(vcg::Matrix44d::Construct(mn->tr()));
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names[mn->Id()]=qUtf8Printable(mn->m->label());
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}
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}
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vcg::AlignGlobal AG;
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std::vector<vcg::AlignPair::Result *> ResVecPtr;
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for (auto li = std::begin(resultList); li != std::end(resultList); ++li) {
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if ((*li).isValid()) {
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ResVecPtr.push_back(&*li);
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}
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}
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AG.BuildGraph(ResVecPtr, GluedTrVec, GluedIdVec);
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float StartGlobErr = 0.001f;
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while (!AG.GlobalAlign(names, StartGlobErr, 100, ap.MatchMode==vcg::AlignPair::Param::MMRigid, stdout)){
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StartGlobErr *= 2;
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AG.BuildGraph(ResVecPtr,GluedTrVec, GluedIdVec);
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}
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std::vector<vcg::Matrix44d> GluedTrVecOut(GluedTrVec.size());
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AG.GetMatrixVector(GluedTrVecOut,GluedIdVec);
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// Now get back the results!
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for (std::size_t ii = 0; ii < GluedTrVecOut.size(); ++ii) {
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MM(GluedIdVec[ii])->cm.Tr.Import(GluedTrVecOut[ii]);
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}
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}
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void ProcessArc(int fixId, int movId, vcg::AlignPair::Result &result, vcg::AlignPair::Param ap) {
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// l'allineatore globale cambia le varie matrici di posizione di base delle mesh
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// per questo motivo si aspetta i punti nel sistema di riferimento locale della mesh fix
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// Si fanno tutti i conti rispetto al sistema di riferimento locale della mesh fix
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vcg::Matrix44d FixM = vcg::Matrix44d::Construct(find(fixId)->tr());
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vcg::Matrix44d MovM = vcg::Matrix44d::Construct(find(movId)->tr());
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vcg::Matrix44d MovToFix = Inverse(FixM) * MovM;
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ProcessArc(fixId,movId,MovToFix,result,ap);
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}
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void ProcessArc(int fixId, int movId, vcg::Matrix44d &MovToFix, vcg::AlignPair::Result &result, vcg::AlignPair::Param ap) {
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vcg::AlignPair::A2Mesh Fix;
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vcg::AlignPair aa;
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// 1) Convert fixed mesh and put it into the grid.
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MM(fixId)->updateDataMask(MeshModel::MM_FACEMARK);
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aa.convertMesh<CMeshO>(MM(fixId)->cm,Fix);
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vcg::AlignPair::A2Grid UG;
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vcg::AlignPair::A2GridVert VG;
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if (MM(fixId)->cm.fn==0 || ap.UseVertexOnly) {
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Fix.initVert(vcg::Matrix44d::Identity());
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vcg::AlignPair::InitFixVert(&Fix,ap,VG);
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}
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else {
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Fix.init(vcg::Matrix44d::Identity());
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vcg::AlignPair::initFix(&Fix, ap, UG);
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}
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// 2) Convert the second mesh and sample a <ap.SampleNum> points on it.
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MM(movId)->updateDataMask(MeshModel::MM_FACEMARK);
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std::vector<vcg::AlignPair::A2Vertex> tmpmv;
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aa.convertVertex(MM(movId)->cm.vert,tmpmv);
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aa.sampleMovVert(tmpmv, ap.SampleNum, ap.SampleMode);
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aa.mov=&tmpmv;
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aa.fix=&Fix;
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aa.ap = ap;
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vcg::Matrix44d In=MovM;
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// Perform the ICP algorithm
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aa.align(In,UG,VG,result);
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result.FixName=fixId;
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result.MovName=movId;
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}
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inline Box3m bbox() {
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Box3m FullBBox;
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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FullBBox.Add(Matrix44m::Construct(ni->second->tr()),ni->second->bbox());
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}
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return FullBBox;
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}
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inline Box3m gluedBBox() {
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Box3m FullBBox;
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for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
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if (ni->second->glued) {
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FullBBox.Add(Matrix44m::Construct(ni->second->tr()), ni->second->bbox());
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}
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}
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return FullBBox;
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}
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};
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}
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#endif //VCGLIB_MESHTREE_H
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