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Still refactoring. Now substituted montecarlo with poisson disk sampling

This commit is contained in:
Paolo Cignoni 2014-04-18 06:04:18 +00:00
parent e353355f12
commit 245931d93d
1 changed files with 29 additions and 31 deletions
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60
vcg/complex/algorithms/autoalign_4pcs.h
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@ -34,6 +34,7 @@ used in the paper pseudocode.
#include <vcg/complex/complex.h>
#include <vcg/space/point_matching.h>
#include <vcg/complex/algorithms/closest.h>
#include <vcg/complex/algorithms/point_sampling.h>
#include <vcg/math/random_generator.h>
namespace vcg{
namespace tri{
@ -55,6 +56,7 @@ public:
typedef typename MeshType::ScalarType ScalarType;
typedef typename MeshType::CoordType CoordType;
typedef typename MeshType::VertexIterator VertexIterator;
typedef typename MeshType::VertexPointer VertexPointer;
typedef typename MeshType::VertexType VertexType;
typedef vcg::Point4< vcg::Point3<ScalarType> > FourPoints;
typedef vcg::GridStaticPtr<typename PMesh::VertexType, ScalarType > GridType;
@ -80,13 +82,13 @@ public:
}
};
struct Couple: public std::pair<int,int>
struct Couple: public std::pair<VertexPointer,VertexPointer>
{
Couple(const int & i, const int & j, float d):std::pair<int,int>(i,j),dist(d){}
Couple(float d):std::pair<int,int>(0,0),dist(d){}
Couple(VertexPointer i, VertexPointer j, float d) : std::pair<VertexPointer,VertexPointer>(i,j),dist(d){}
Couple(float d):std::pair<VertexPointer,VertexPointer>(0,0),dist(d){}
float dist;
const bool operator < (const Couple & o) const {return dist < o.dist;}
int & operator[](const int &i){return (i==0)? first : second;}
VertexPointer operator[](const int &i){return (i==0)? this->first : this->second;}
};
struct Candidate
@ -105,7 +107,10 @@ public:
MeshType *P; // mesh from which the coplanar base is selected
MeshType *Q; // mesh where to find the correspondences
std::vector<int> mapsub; // subset of index to the vertices in Q
std::vector<VertexPointer> subsetQ; // subset of the vertices in Q
std::vector<VertexPointer> subsetP; // random selection on P
PMesh Invr; // invariants
math::MarsenneTwisterRNG rnd;
@ -116,7 +121,6 @@ public:
std::vector<FourPoints> bases; // used bases
ScalarType side; // side
std::vector<VertexType*> ExtB[4]; // selection of vertices "close" to the four point
std::vector<VertexType*> subsetP; // random selection on P
ScalarType radius;
std::vector<Couple > R1;
@ -185,16 +189,10 @@ void FourPCS<MeshType>:: Init(MeshType &_movP,MeshType &_fixQ)
ugridQ.Set(Q->vert.begin(),Q->vert.end());
ugridP.Set(P->vert.begin(),P->vert.end());
float radius=0;
tri::PoissonPruning(*Q,subsetQ,radius,par.n_samples_on_Q);
tri::PoissonPruning(*P,subsetP,radius,par.n_samples_on_Q);
float ratio = std::min<int>(Q->vert.size(),par.n_samples_on_Q) / (float) Q->vert.size();
for(int vi = 0; vi < Q->vert.size(); ++vi)
if(rnd.generate01() < ratio)
mapsub.push_back(vi);
for(int vi = 0; vi < P->vert.size(); ++vi)
if(rnd.generate01() < ratio)
subsetP.push_back(&P->vert[vi]);
// estimate neigh distance
float avD = 0.0;
@ -353,13 +351,14 @@ void
FourPCS<MeshType>::ComputeR1()
{
R1.clear();
for(int vi = 0; vi < mapsub.size(); ++vi)
for(int vj = vi; vj < mapsub.size(); ++vj){
ScalarType d = ((Q->vert[mapsub[vi]]).P()-(Q->vert[mapsub[vj]]).P()).Norm();
for(int vi = 0; vi < subsetQ.size(); ++vi)
for(int vj = vi; vj < subsetQ.size(); ++vj){
// ScalarType d = ((Q->vert[subsetQ[vi]]).P()-(Q->vert[subsetQ[vj]]).P()).Norm();
ScalarType d = (subsetQ[vi]->P()- subsetQ[vj]->P()).Norm();
if( (d < side+par.delta))
{
R1.push_back(Couple(mapsub[vi],mapsub[vj],d ));
R1.push_back(Couple(mapsub[vj],mapsub[vi],d));
R1.push_back(Couple(subsetQ[vi],subsetQ[vj],d ));
R1.push_back(Couple(subsetQ[vj],subsetQ[vi],d));
}
}
@ -376,9 +375,6 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
d1 = (B[1]-B[0]).Norm();
d2 = (B[3]-B[2]).Norm();
int start = clock();
//int vi,vj;
typename PMesh::VertexIterator vii;
typename std::vector<Couple>::iterator bR1,eR1,bR2,eR2,ite,cite;
bR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1-par.delta));
@ -397,7 +393,8 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
int i = &(*bR1)-&(*R1.begin());
for(ite = bR1; ite != eR1;++ite){
vii = vcg::tri::Allocator<PMesh>::AddVertices(Invr,1);
(*vii).P() = Q->vert[R1[i][0]].P() + (Q->vert[R1[i][1]].P()-Q->vert[R1[i][0]].P()) * r1;
// (*vii).P() = Q->vert[R1[i][0]].P() + (Q->vert[R1[i][1]].P()-Q->vert[R1[i][0]].P()) * r1;
(*vii).P() = R1[i][0]->P() + ( R1[i][1]->P() - R1[i][0]->P()) * r1;
++i;
}
if(Invr.vert.empty() ) return false;
@ -416,7 +413,8 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
i = &(*bR2)-&(*R1.begin());
// R2inv contains all the points generated by the couples in R2 (with the reference to remap into R2)
for(ite = bR2; ite != eR2;++ite){
R2inv.push_back( EPoint( Q->vert[R1[i][0]].P() + (Q->vert[R1[i][1]].P()-Q->vert[R1[i][0]].P()) * r2,i));
// R2inv.push_back( EPoint( Q->vert[R1[i][0]].P() + (Q->vert[R1[i][1]].P()-Q->vert[R1[i][0]].P()) * r2,i));
R2inv.push_back( EPoint( R1[i][0]->P() + (R1[i][1]->P() - R1[i][0]->P()) * r2,i));
++i;
}
@ -441,10 +439,10 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
n_closests+=closests.size();
for(uint ip = 0; ip < closests.size(); ++ip){
FourPoints p;
p[0] = Q->vert[R1[id[closests[ip]]][0]].P();
p[1] = Q->vert[R1[id[closests[ip]]][1]].P();
p[2] = Q->vert[R1[ R2inv[i].pi][0]].P();
p[3] = Q->vert[R1[ R2inv[i].pi][1]].P();
p[0] = R1[id[closests[ip]]][0]->P();
p[1] = R1[id[closests[ip]]][1]->P();
p[2] = R1[ R2inv[i].pi][0]->P();
p[3] = R1[ R2inv[i].pi][1]->P();
float trerr;
n_base++;
@ -599,7 +597,7 @@ bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBa
return false;
}
bases.push_back(B);
if(cb) cb(t*100/L,"trying bases");
if(cb) cb(t*100/L,"Trying bases");
if(FindCongruent())
break;
}
@ -607,7 +605,7 @@ bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBa
if(U.empty()) return false;
// std::sort(U.begin(),U.end());
if(cb) cb(90,"TestAlignment");
bestv = -std::numeric_limits<float>::max();
iwinner = 0;