cleaning am some tuning
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9f6d5f1d84
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5a4b97a559
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@ -34,6 +34,7 @@ used in the paper pseudocode.
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#include <vcg/complex/complex.h>
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#include <vcg/space/point_matching.h>
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#include <vcg/complex/algorithms/closest.h>
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#include <vcg/complex/algorithms/create/resampler.h>
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#include <wrap/io_trimesh/export_ply.h>
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// note: temporary (callback.h should be moved inside vcg)
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@ -71,13 +72,15 @@ public:
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ScalarType f; // overlap estimation as a percentage
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int scoreFeet; // how many of the feetsize points must match (max feetsize*4) to try an early interrupt
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int scoreAln; // how good must be the alignement to end the process successfully
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int n_samples_on_Q; // number of samples on P
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void Default(){
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delta = 0.5;
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feetsize = 25;
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f = 0.5;
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scoreFeet = 50;
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scoreAln = 200;
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n_samples_on_Q=500;
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scoreAln = n_samples_on_Q/8;
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}
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};
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@ -87,7 +90,7 @@ public:
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void Init(MeshType &_P,MeshType &_Q);
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bool Align( int L, vcg::Matrix44f & result, vcg::CallBackPos * cb = NULL ); // main function
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private:
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//private:
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struct Couple: public std::pair<int,int>
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{
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Couple(const int & i, const int & j, float d):std::pair<int,int>(i,j),dist(d){}
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@ -138,8 +141,7 @@ private:
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std::vector<VertexType*> subsetP; // random selection on P
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ScalarType radius;
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ScalarType Bangle;
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std::vector<Couple > R1/*,R2*/;
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std::vector<Couple > R1;
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ScalarType r1,r2;
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// class for the point 'ei'
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@ -156,7 +158,7 @@ private:
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bool SelectCoplanarBase(); // on P
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bool FindCongruent() ; // of base B, on Q, with approximation delta
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void ComputeR1R2(ScalarType d1,ScalarType d2);
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void ComputeR1();
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bool IsTransfCongruent(FourPoints fp,vcg::Matrix44<ScalarType> & mat, float & trerr);
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int EvaluateSample(Candidate & fp, CoordType & tp, CoordType & np, const float & angle);
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@ -179,6 +181,11 @@ public:
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void FinishDebug(){
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fclose(db);
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}
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//void SaveALN(char * name,vcg::Matrix44f mat ){
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// FILE * o = fopen(name,"w");
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// fprintf(o,"2\n%s\n#\n",namemesh1);
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@ -202,7 +209,7 @@ void FourPCS<MeshType>:: Init(MeshType &_P,MeshType &_Q)
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ugridQ.Set(Q->vert.begin(),Q->vert.end());
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ugridP.Set(P->vert.begin(),P->vert.end());
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float ratio = 800 / (float) Q->vert.size();
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float ratio = std::min<int>(Q->vert.size(),par.n_samples_on_Q) / (float) Q->vert.size();
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for(int vi = 0; vi < Q->vert.size(); ++vi)
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if(rand()/(float) RAND_MAX < ratio)
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mapsub.push_back(vi);
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@ -228,7 +235,7 @@ void FourPCS<MeshType>:: Init(MeshType &_P,MeshType &_Q)
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avD+=dists[1];
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}
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avD /=100; // average vertex-vertex distance
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avD /= sqrt(ratio); // take into account the ratio
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avD /= sqrt(ratio);
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par.delta = avD * par.delta;
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side = P->bbox.Dim()[P->bbox.MaxDim()]*par.f; //rough implementation
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@ -250,12 +257,13 @@ FourPCS<MeshType>::SelectCoplanarBase(){
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// first point random
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ch = (rand()/(float)RAND_MAX)*(P->vert.size()-2);
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B[0] = P->vert[ch].P();
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//printf("B[0] %d\n",ch);
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// second a point at distance d+-dtol
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for(i = 0; i < P->vert.size(); ++i){
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ScalarType dd = (P->vert[i].P() - B[0]).Norm();
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int id = rand()/(float)RAND_MAX * (P->vert.size()-1);
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ScalarType dd = (P->vert[id].P() - B[0]).Norm();
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if( ( dd < side + dtol) && (dd > side - dtol)){
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B[1] = P->vert[i].P();
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B[1] = P->vert[id].P();
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//printf("B[1] %d\n",i);
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break;
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}
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@ -263,17 +271,16 @@ FourPCS<MeshType>::SelectCoplanarBase(){
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if(i == P->vert.size())
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return false;
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// third point at distance d from B[1] and forming a right angle
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// third point at distance side*0.8 from middle way between B[0] and B[1]
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int best = -1; ScalarType bestv=std::numeric_limits<float>::max();
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vcg::Point3f middle = (B[0]+B[1])/2.0;
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for(i = 0; i < P->vert.size(); ++i){
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int id = rand()/(float)RAND_MAX * (P->vert.size()-1);
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ScalarType dd = (P->vert[id].P() - B[1]).Norm();
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if( ( dd < side + dtol) && (dd > side - dtol)){
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ScalarType angle = fabs( ( P->vert[id].P()-B[1]).normalized().dot((B[1]-B[0]).normalized()));
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if( angle < bestv){
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bestv = angle;
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ScalarType dd = (P->vert[id].P() - middle).Norm();
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if( ( dd < side*0.8) ){
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best = id;
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}
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break;
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}
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}
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if(best == -1)
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@ -281,10 +288,13 @@ FourPCS<MeshType>::SelectCoplanarBase(){
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B[2] = P->vert[best].P() ;
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//printf("B[2] %d\n",best);
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//fourt point
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float cpr = (rand()/(float)RAND_MAX);
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vcg::Point3f crossP = B[0] *(1-cpr)+B[1]*cpr;
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CoordType B4 = B[2]+(crossP-B[2]).Normalize()*side;
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CoordType n = ((B[0]-B[1]).normalized() ^ (B[2]-B[1]).normalized()).normalized();
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CoordType B4 = B[1] + (B[0]-B[1]) + (B[2]-B[1]);
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VertexType * v =0;
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ScalarType radius = dtol*4.0;
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ScalarType radius = dtol;
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std::vector<typename MeshType::VertexType*> closests;
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std::vector<ScalarType> distances;
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@ -302,19 +312,21 @@ FourPCS<MeshType>::SelectCoplanarBase(){
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return false;
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best = -1; bestv=std::numeric_limits<float>::max();
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for(i = 0; i <closests.size(); ++i){
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ScalarType angle = fabs((closests[i]->P() - B[1]).normalized().dot(n));
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if( angle < bestv){
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bestv = angle;
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ScalarType dist_from_plane = fabs((closests[i]->P() - B[1]).normalized().dot(n));
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if( dist_from_plane < bestv){
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bestv = dist_from_plane;
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best = i;
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}
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}
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if(bestv >dtol)
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return false;
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B[3] = closests[best]->P();
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//printf("B[3] %d\n", (typename MeshType::VertexType*)closests[best] - &(*P->vert.begin()));
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// compute r1 and r2
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CoordType x;
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std::swap(B[1],B[2]);
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// std::swap(B[1],B[2]);
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IntersectionLineLine(B[0],B[1],B[2],B[3],x);
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r1 = (x - B[0]).dot(B[1]-B[0]) / (B[1]-B[0]).SquaredNorm();
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@ -352,6 +364,7 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
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for(int i = 0 ; i < 4; ++i) mov.push_back(B[i]);
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for(int i = 0 ; i < 4; ++i) fix.push_back(fp[i]);
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/*
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vcg::Point3<ScalarType> n,p;
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n = (( B[1]-B[0]).normalized() ^ ( B[2]- B[0]).normalized())*( B[1]- B[0]).Norm();
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p = B[0] + n;
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@ -359,6 +372,7 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
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n = (( fp[1]-fp[0]).normalized() ^ (fp[2]- fp[0]).normalized())*( fp[1]- fp[0]).Norm();
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p = fp[0] + n;
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fix.push_back(p);
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*/
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vcg::ComputeRigidMatchMatrix(fix,mov,mat);
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@ -366,35 +380,25 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
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for(int i = 0; i < 4; ++i) err+= (mat * mov[i] - fix[i]).SquaredNorm();
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trerr = vcg::math::Sqrt(err);
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return err < par.delta* par.delta*4.0;
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return trerr < par.delta;
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}
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template <class MeshType>
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void
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FourPCS<MeshType>::ComputeR1R2(ScalarType d1,ScalarType d2){
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FourPCS<MeshType>::ComputeR1(){
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int vi,vj;
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R1.clear();
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//R2.clear();
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int start = clock();
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for(vi = 0; vi < mapsub.size(); ++vi) for(vj = vi; vj < mapsub.size(); ++vj){
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ScalarType d = ((Q->vert[mapsub[vi]]).P()-(Q->vert[mapsub[vj]]).P()).Norm();
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if( (d < d1+ side*0.5) && (d > d1-side*0.5))
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if( (d < side+par.delta))
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{
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R1.push_back(Couple(mapsub[vi],mapsub[vj],d ));
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R1.push_back(Couple(mapsub[vj],mapsub[vi],d));
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}
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}
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//for( vi = 0; vi < mapsub.size(); ++ vi ) for( vj = vi ; vj < mapsub.size(); ++ vj ){
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// ScalarType d = ((Q->vert[mapsub[vi]]).P()-(Q->vert[mapsub[vj]]).P()).Norm();
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// if( (d < d2+side*0.5) && (d > d2-side*0.5))
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// {
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// R2.push_back(Couple(mapsub[vi],mapsub[vj],d));
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// R2.push_back(Couple(mapsub[vj],mapsub[vi],d));
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// }
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//}
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std::sort(R1.begin(),R1.end());
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// std::sort(R2.begin(),R2.end());
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}
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template <class MeshType>
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@ -412,10 +416,10 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
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typename PMesh::VertexIterator vii;
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typename std::vector<Couple>::iterator bR1,eR1,bR2,eR2,ite,cite;
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bR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1-par.delta*2.0));
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eR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1+par.delta*2.0));
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bR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2-par.delta*2.0));
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eR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2+par.delta*2.0));
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bR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1-par.delta));
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eR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1+par.delta));
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bR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2-par.delta));
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eR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2+par.delta));
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// in [bR1,eR1) there are all the pairs ad a distance d1 +- par.delta
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// in [bR1,eR1) there are all the pairs ad a distance d2 +- par.delta
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@ -460,12 +464,15 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
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// for each point in R2inv get all the points in R1 closer than par.delta
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vcg::Matrix44<ScalarType> mat;
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vcg::Box3f bb;
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bb.Add(R2inv[i].pos+vcg::Point3f(par.delta * 0.1,par.delta * 0.1 , par.delta * 0.1 ));
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bb.Add(R2inv[i].pos-vcg::Point3f(par.delta * 0.1,par.delta* 0.1 , par.delta* 0.1));
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bb.Add(R2inv[i].pos+vcg::Point3f(par.delta,par.delta, par.delta));
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bb.Add(R2inv[i].pos-vcg::Point3f(par.delta,par.delta, par.delta));
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vcg::tri::GetInBoxVertex<PMesh,GridType,std::vector<typename PMesh::VertexType*> >
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(Invr,*ugrid,bb,closests);
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if(closests.size() > 5)
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closests.resize(5);
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n_closests+=closests.size();
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for(uint ip = 0; ip < closests.size(); ++ip){
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FourPoints p;
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@ -486,7 +493,13 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
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else{
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tr++;
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n_congr++;
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U.push_back(Candidate(p,mat));
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Candidate c(p,mat);
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EvaluateAlignment(c);
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if( c.score > par.scoreFeet)
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U.push_back(c);
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/*
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EvaluateAlignment(U.back());
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U.back().base = bases.size()-1;
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@ -497,6 +510,7 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
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done = true; break;
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}
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}
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*/
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//char name[255];
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//sprintf(name,"passed_score_%5d_%d.aln",U.back().score,n_base);
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//fprintf(db,"OK TransCongruent %s, score: %d \n", name,U.back().score);
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@ -529,10 +543,12 @@ int FourPCS<MeshType>::EvaluateSample(Candidate & fp, CoordType & tp, CoordType
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np[0] = np4[0]; np[1] = np4[1]; np[2] = np4[2];
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v = 0;
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//v = vcg::tri::GetClosestVertex<
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// MeshType,
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// vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
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// >(*Q,ugridQ,tp,radius, dist );
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if(ugridQ.bbox.IsIn(tp))
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v = vcg::tri::GetClosestVertex<
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MeshType,
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
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>(*Q,ugridQ,tp,radius, dist );
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/*
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typename MeshType::VertexType vq;
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vq.P() = tp;
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vq.N() = np;
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@ -540,6 +556,7 @@ int FourPCS<MeshType>::EvaluateSample(Candidate & fp, CoordType & tp, CoordType
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MeshType,
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
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>(*Q,ugridQ,vq,radius, dist );
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*/
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if(v!=0)
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if( v->N().dot(np) - cosAngle >0) return 1; else return -1;
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@ -571,6 +588,7 @@ FourPCS<MeshType>::TestAlignment(Candidate & fp){
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CoordType tp = subsetP[j]->P();
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n_delta_close+=EvaluateSample(fp,tp,np,0.6);
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}
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fp.score = n_delta_close;
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}
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@ -586,11 +604,11 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
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if(L==0)
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{
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L = (log(1.0-0.9999) / log(1.0-pow((float)par.f,3.f)))+1;
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L = (log(1.0-0.9) / log(1.0-pow((float)par.f,3.f)))+1;
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printf("using %d bases\n",L);
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}
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ComputeR1R2(side*1.4,side*1.4);
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ComputeR1();
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for(int t = 0; t < L; ++t ){
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do{
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@ -601,9 +619,9 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
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}
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while(!found && (n_tries <50));
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if(!found) {
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par.f*=0.98;
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par.f*=0.9;
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side = P->bbox.Dim()[P->bbox.MaxDim()]*par.f; //rough implementation
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ComputeR1R2(side*1.4,side*1.4);
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ComputeR1();
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}
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} while (!found && (par.f >0.1));
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@ -619,7 +637,7 @@ FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos *
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if(U.empty()) return false;
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std::sort(U.begin(),U.end());
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// std::sort(U.begin(),U.end());
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bestv = -std::numeric_limits<float>::max();
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iwinner = 0;
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