manolas
/
vcglib
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

last implementations moved from meshlab

This commit is contained in:
alemuntoni 2020-05-29 15:18:33 +02:00
parent 074a89c588
commit 64e352374a
1 changed files with 89 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

105
vcg/complex/algorithms/align_pair.h
View File

@ -511,11 +511,14 @@ public:
return true;
}
/*
* Una volta trovati <SampleNum> coppie di punti corrispondenti se ne sceglie
* al piu' <PointNum> per calcolare la trasformazione che li fa coincidere.
* La scelta viene fatta in base ai due parametri PassLo e PassHi;
*/
This function is used to choose remove outliers after each ICP iteration.
All the points with a distance over the given Percentile are discarded.
It uses two parameters
MaxPointNum an (unused) hard limit on the number of points that are chosen
MinPointNum the minimum number of points that have to be chosen to be usable
*/
inline bool choosePoints(
std::vector<Point3d> &ps, // vertici corrispondenti su fix (rossi)
std::vector<Point3d> &ns, // normali corrispondenti su fix (rossi)
@ -625,6 +628,18 @@ in
************************************************************************************/
/*
The Main ICP alignment Function:
It assumes that:
we have two meshes:
- Fix the mesh that does not move and stays in the spatial indexing structure.
- Mov the mesh we 'move' e.g. the one for which we search the transforamtion.
requires normalize normals for vertices AND faces
Allinea due mesh;
Assume che:
la uniform grid sia gia' inizializzata con la mesh fix
*/
inline bool align(
A2Grid &u,
A2GridVert &uv,
@ -666,7 +681,7 @@ in
do {
Stat::IterInfo ii;
Box3d movbox;
InitMov(movvert, movnorm, movbox, out);
initMov(movvert, movnorm, movbox, out);
h.SetRange(0.0f, float(startMinDist), 512, 2.5f);
pfix.clear();
nfix.clear();
@ -810,22 +825,80 @@ in
return true;
}
bool InitMov(
/*
Funzione chiamata dalla Align ad ogni ciclo
Riempie i vettori <MovVert> e <MovNorm> con i coordinate e normali presi dal vettore di vertici mov
della mesh da muovere trasformata secondo la matrice <In>
Calcola anche il nuovo bounding box di tali vertici trasformati.
*/
inline bool initMov(
std::vector< Point3d > &movvert,
std::vector< Point3d > &movnorm,
Box3d &movbox,
const Matrix44d &in );
const Matrix44d &in )
{
Point3d pp, nn;
static bool InitFixVert(A2Mesh *fm,
AlignPair::Param &pp,
A2GridVert &u,
int PreferredGridSize=0);
movvert.clear();
movnorm.clear();
movbox.SetNull();
static bool InitFix(A2Mesh *fm,
AlignPair::Param &pp,
A2Grid &u,
int PreferredGridSize=0);
A2Mesh::VertexIterator vi;
for (vi = mov->begin(); vi != mov->end(); vi++) {
pp = in*(*vi).P();
nn = in*Point3d((*vi).P() + (*vi).N()) - pp;
nn.Normalize();
movvert.push_back(pp);
movnorm.push_back(nn);
movbox.Add(pp);
}
return true;
}
static inline bool InitFixVert(
A2Mesh *fm,
AlignPair::Param &pp,
A2GridVert &u,
int preferredGridSize=0)
{
Box3d bb2 = fm->bbox;
double minDist = pp.MinDistAbs*1.1;
//the bbox of the grid should be enflated of the mindist used in the ICP search
bb2.Offset(Point3d(minDist, minDist, minDist));
u.SetBBox(bb2);
//Inserisco la src nella griglia
if (preferredGridSize == 0)
preferredGridSize = int(fm->vert.size())*pp.UGExpansionFactor;
u.Set(fm->vert.begin(), fm->vert.end());//, PreferredGridSize);
printf("UG %i %i %i\n", u.siz[0], u.siz[1], u.siz[2]);
return true;
}
static inline bool initFix(
A2Mesh *fm,
AlignPair::Param &pp,
A2Grid &u,
int preferredGridSize=0)
{
tri::InitFaceIMark(*fm);
Box3d bb2 = fm->bbox;
// double MinDist= fm->bbox.Diag()*pp.MinDistPerc;
double minDist = pp.MinDistAbs*1.1;
//gonfio della distanza utente il BBox della seconda mesh
bb2.Offset(Point3d(minDist, minDist, minDist));
u.SetBBox(bb2);
//Inserisco la src nella griglia
if (preferredGridSize == 0)
preferredGridSize = int(fm->face.size())*pp.UGExpansionFactor;
u.Set(fm->face.begin(), fm->face.end(), preferredGridSize);
printf("UG %i %i %i\n", u.siz[0], u.siz[1], u.siz[2]);
return true;
}
}; // end class