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cleaning am some tuning

This commit is contained in:
ganovelli 2014-04-16 10:29:05 +00:00
parent 9f6d5f1d84
commit 5a4b97a559
1 changed files with 76 additions and 58 deletions
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134
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/create/resampler.h>
#include <wrap/io_trimesh/export_ply.h>
// note: temporary (callback.h should be moved inside vcg)
@ -71,13 +72,15 @@ public:
ScalarType f; // overlap estimation as a percentage
int scoreFeet; // how many of the feetsize points must match (max feetsize*4) to try an early interrupt
int scoreAln; // how good must be the alignement to end the process successfully
int n_samples_on_Q; // number of samples on P
void Default(){
delta = 0.5;
feetsize = 25;
f = 0.5;
scoreFeet = 50;
scoreAln = 200;
n_samples_on_Q=500;
scoreAln = n_samples_on_Q/8;
}
};
@ -87,7 +90,7 @@ public:
void Init(MeshType &_P,MeshType &_Q);
bool Align( int L, vcg::Matrix44f & result, vcg::CallBackPos * cb = NULL ); // main function
private:
//private:
struct Couple: public std::pair<int,int>
{
Couple(const int & i, const int & j, float d):std::pair<int,int>(i,j),dist(d){}
@ -138,8 +141,7 @@ private:
std::vector<VertexType*> subsetP; // random selection on P
ScalarType radius;
ScalarType Bangle;
std::vector<Couple > R1/*,R2*/;
std::vector<Couple > R1;
ScalarType r1,r2;
// class for the point 'ei'
@ -156,7 +158,7 @@ private:
bool SelectCoplanarBase(); // on P
bool FindCongruent() ; // of base B, on Q, with approximation delta
void ComputeR1R2(ScalarType d1,ScalarType d2);
void ComputeR1();
bool IsTransfCongruent(FourPoints fp,vcg::Matrix44<ScalarType> & mat, float & trerr);
int EvaluateSample(Candidate & fp, CoordType & tp, CoordType & np, const float & angle);
@ -179,6 +181,11 @@ public:
void FinishDebug(){
fclose(db);
}
//void SaveALN(char * name,vcg::Matrix44f mat ){
// FILE * o = fopen(name,"w");
// fprintf(o,"2\n%s\n#\n",namemesh1);
@ -202,7 +209,7 @@ void FourPCS<MeshType>:: Init(MeshType &_P,MeshType &_Q)
ugridQ.Set(Q->vert.begin(),Q->vert.end());
ugridP.Set(P->vert.begin(),P->vert.end());
float ratio = 800 / (float) Q->vert.size();
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(rand()/(float) RAND_MAX < ratio)
mapsub.push_back(vi);
@ -228,7 +235,7 @@ void FourPCS<MeshType>:: Init(MeshType &_P,MeshType &_Q)
avD+=dists[1];
}
avD /=100; // average vertex-vertex distance
avD /= sqrt(ratio); // take into account the ratio
avD /= sqrt(ratio);
par.delta = avD * par.delta;
side = P->bbox.Dim()[P->bbox.MaxDim()]*par.f; //rough implementation
@ -250,12 +257,13 @@ FourPCS<MeshType>::SelectCoplanarBase(){
// first point random
ch = (rand()/(float)RAND_MAX)*(P->vert.size()-2);
B[0] = P->vert[ch].P();
//printf("B[0] %d\n",ch);
// second a point at distance d+-dtol
for(i = 0; i < P->vert.size(); ++i){
ScalarType dd = (P->vert[i].P() - B[0]).Norm();
int id = rand()/(float)RAND_MAX * (P->vert.size()-1);
ScalarType dd = (P->vert[id].P() - B[0]).Norm();
if( ( dd < side + dtol) && (dd > side - dtol)){
B[1] = P->vert[i].P();
B[1] = P->vert[id].P();
//printf("B[1] %d\n",i);
break;
}
@ -263,28 +271,30 @@ FourPCS<MeshType>::SelectCoplanarBase(){
if(i == P->vert.size())
return false;
// third point at distance d from B[1] and forming a right angle
// third point at distance side*0.8 from middle way between B[0] and B[1]
int best = -1; ScalarType bestv=std::numeric_limits<float>::max();
vcg::Point3f middle = (B[0]+B[1])/2.0;
for(i = 0; i < P->vert.size(); ++i){
int id = rand()/(float)RAND_MAX * (P->vert.size()-1);
ScalarType dd = (P->vert[id].P() - B[1]).Norm();
if( ( dd < side + dtol) && (dd > side - dtol)){
ScalarType angle = fabs( ( P->vert[id].P()-B[1]).normalized().dot((B[1]-B[0]).normalized()));
if( angle < bestv){
bestv = angle;
ScalarType dd = (P->vert[id].P() - middle).Norm();
if( ( dd < side*0.8) ){
best = id;
break;
}
}
}
if(best == -1)
return false;
B[2] = P->vert[best].P();
B[2] = P->vert[best].P() ;
//printf("B[2] %d\n",best);
CoordType n = ((B[0]-B[1]).normalized() ^ (B[2]-B[1]).normalized()).normalized();
CoordType B4 = B[1] + (B[0]-B[1]) + (B[2]-B[1]);
VertexType * v =0;
ScalarType radius = dtol*4.0;
//fourt point
float cpr = (rand()/(float)RAND_MAX);
vcg::Point3f crossP = B[0] *(1-cpr)+B[1]*cpr;
CoordType B4 = B[2]+(crossP-B[2]).Normalize()*side;
CoordType n = ((B[0]-B[1]).normalized() ^ (B[2]-B[1]).normalized()).normalized();
VertexType * v =0;
ScalarType radius = dtol;
std::vector<typename MeshType::VertexType*> closests;
std::vector<ScalarType> distances;
@ -300,21 +310,23 @@ FourPCS<MeshType>::SelectCoplanarBase(){
if(closests.empty())
return false;
best = -1; bestv=std::numeric_limits<float>::max();
best = -1; bestv=std::numeric_limits<float>::max();
for(i = 0; i <closests.size(); ++i){
ScalarType angle = fabs((closests[i]->P() - B[1]).normalized().dot(n));
if( angle < bestv){
bestv = angle;
ScalarType dist_from_plane = fabs((closests[i]->P() - B[1]).normalized().dot(n));
if( dist_from_plane < bestv){
bestv = dist_from_plane;
best = i;
}
}
if(bestv >dtol)
return false;
B[3] = closests[best]->P();
//printf("B[3] %d\n", (typename MeshType::VertexType*)closests[best] - &(*P->vert.begin()));
// compute r1 and r2
CoordType x;
std::swap(B[1],B[2]);
// std::swap(B[1],B[2]);
IntersectionLineLine(B[0],B[1],B[2],B[3],x);
r1 = (x - B[0]).dot(B[1]-B[0]) / (B[1]-B[0]).SquaredNorm();
@ -352,6 +364,7 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
for(int i = 0 ; i < 4; ++i) mov.push_back(B[i]);
for(int i = 0 ; i < 4; ++i) fix.push_back(fp[i]);
/*
vcg::Point3<ScalarType> n,p;
n = (( B[1]-B[0]).normalized() ^ ( B[2]- B[0]).normalized())*( B[1]- B[0]).Norm();
p = B[0] + n;
@ -359,6 +372,7 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
n = (( fp[1]-fp[0]).normalized() ^ (fp[2]- fp[0]).normalized())*( fp[1]- fp[0]).Norm();
p = fp[0] + n;
fix.push_back(p);
*/
vcg::ComputeRigidMatchMatrix(fix,mov,mat);
@ -366,35 +380,25 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
for(int i = 0; i < 4; ++i) err+= (mat * mov[i] - fix[i]).SquaredNorm();
trerr = vcg::math::Sqrt(err);
return err < par.delta* par.delta*4.0;
return trerr < par.delta;
}
template <class MeshType>
void
FourPCS<MeshType>::ComputeR1R2(ScalarType d1,ScalarType d2){
FourPCS<MeshType>::ComputeR1(){
int vi,vj;
R1.clear();
//R2.clear();
int start = clock();
for(vi = 0; vi < mapsub.size(); ++vi) for(vj = vi; vj < mapsub.size(); ++vj){
ScalarType d = ((Q->vert[mapsub[vi]]).P()-(Q->vert[mapsub[vj]]).P()).Norm();
if( (d < d1+ side*0.5) && (d > d1-side*0.5))
if( (d < side+par.delta))
{
R1.push_back(Couple(mapsub[vi],mapsub[vj],d ));
R1.push_back(Couple(mapsub[vj],mapsub[vi],d));
}
}
//for( vi = 0; vi < mapsub.size(); ++ vi ) for( vj = vi ; vj < mapsub.size(); ++ vj ){
// ScalarType d = ((Q->vert[mapsub[vi]]).P()-(Q->vert[mapsub[vj]]).P()).Norm();
// if( (d < d2+side*0.5) && (d > d2-side*0.5))
// {
// R2.push_back(Couple(mapsub[vi],mapsub[vj],d));
// R2.push_back(Couple(mapsub[vj],mapsub[vi],d));
// }
//}
std::sort(R1.begin(),R1.end());
// std::sort(R2.begin(),R2.end());
}
template <class MeshType>
@ -412,10 +416,10 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
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*2.0));
eR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1+par.delta*2.0));
bR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2-par.delta*2.0));
eR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2+par.delta*2.0));
bR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1-par.delta));
eR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1+par.delta));
bR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2-par.delta));
eR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2+par.delta));
// in [bR1,eR1) there are all the pairs ad a distance d1 +- par.delta
// in [bR1,eR1) there are all the pairs ad a distance d2 +- par.delta
@ -460,12 +464,15 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
// for each point in R2inv get all the points in R1 closer than par.delta
vcg::Matrix44<ScalarType> mat;
vcg::Box3f bb;
bb.Add(R2inv[i].pos+vcg::Point3f(par.delta * 0.1,par.delta * 0.1 , par.delta * 0.1 ));
bb.Add(R2inv[i].pos-vcg::Point3f(par.delta * 0.1,par.delta* 0.1 , par.delta* 0.1));
bb.Add(R2inv[i].pos+vcg::Point3f(par.delta,par.delta, par.delta));
bb.Add(R2inv[i].pos-vcg::Point3f(par.delta,par.delta, par.delta));
vcg::tri::GetInBoxVertex<PMesh,GridType,std::vector<typename PMesh::VertexType*> >
(Invr,*ugrid,bb,closests);
if(closests.size() > 5)
closests.resize(5);
n_closests+=closests.size();
for(uint ip = 0; ip < closests.size(); ++ip){
FourPoints p;
@ -485,8 +492,14 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
}
else{
tr++;
n_congr++;
U.push_back(Candidate(p,mat));
n_congr++;
Candidate c(p,mat);
EvaluateAlignment(c);
if( c.score > par.scoreFeet)
U.push_back(c);
/*
EvaluateAlignment(U.back());
U.back().base = bases.size()-1;
@ -497,6 +510,7 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
done = true; break;
}
}
*/
//char name[255];
//sprintf(name,"passed_score_%5d_%d.aln",U.back().score,n_base);
//fprintf(db,"OK TransCongruent %s, score: %d \n", name,U.back().score);
@ -529,10 +543,12 @@ int FourPCS<MeshType>::EvaluateSample(Candidate & fp, CoordType & tp, CoordType
np[0] = np4[0]; np[1] = np4[1]; np[2] = np4[2];
v = 0;
//v = vcg::tri::GetClosestVertex<
// MeshType,
// vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
// >(*Q,ugridQ,tp,radius, dist );
if(ugridQ.bbox.IsIn(tp))
v = vcg::tri::GetClosestVertex<
MeshType,
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
>(*Q,ugridQ,tp,radius, dist );
/*
typename MeshType::VertexType vq;
vq.P() = tp;
vq.N() = np;
@ -540,6 +556,7 @@ int FourPCS<MeshType>::EvaluateSample(Candidate & fp, CoordType & tp, CoordType
MeshType,
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
>(*Q,ugridQ,vq,radius, dist );
*/
if(v!=0)
if( v->N().dot(np) - cosAngle >0) return 1; else return -1;
@ -566,11 +583,12 @@ void
FourPCS<MeshType>::TestAlignment(Candidate & fp){
radius = par.delta;
int n_delta_close = 0;
for(uint j = 0; j < subsetP.size();++j){
for(uint j = 0; j < subsetP.size();++j){
CoordType np = subsetP[j]->N();
CoordType tp = subsetP[j]->P();
n_delta_close+=EvaluateSample(fp,tp,np,0.6);
}
fp.score = n_delta_close;
}
@ -586,11 +604,11 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
if(L==0)
{
L = (log(1.0-0.9999) / log(1.0-pow((float)par.f,3.f)))+1;
L = (log(1.0-0.9) / log(1.0-pow((float)par.f,3.f)))+1;
printf("using %d bases\n",L);
}
ComputeR1R2(side*1.4,side*1.4);
ComputeR1();
for(int t = 0; t < L; ++t ){
do{
@ -601,9 +619,9 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
}
while(!found && (n_tries <50));
if(!found) {
par.f*=0.98;
par.f*=0.9;
side = P->bbox.Dim()[P->bbox.MaxDim()]*par.f; //rough implementation
ComputeR1R2(side*1.4,side*1.4);
ComputeR1();
}
} while (!found && (par.f >0.1));
@ -619,7 +637,7 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
if(U.empty()) return false;
std::sort(U.begin(),U.end());
// std::sort(U.begin(),U.end());
bestv = -std::numeric_limits<float>::max();
iwinner = 0;