Added sample for point matching

This commit is contained in:
Paolo Cignoni 2012-11-22 23:30:42 +00:00
parent 039bc9bafa
commit 6990ec48d3
2 changed files with 106 additions and 0 deletions

View File

@ -0,0 +1,103 @@
/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2012 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/*! \file trimesh_fitting.cpp
\ingroup code_sample
\brief A small example about sampling and fitting
Given a mesh (an icosahedron) for each face we get a few random samples over it, and then we recover:
- the plane fitting them (that coincide with the face plane and exactly approximate all the sample points)
- the plane fitting the perturbed version of this set
- the plane fitting the perturbed version of the set but using a weighted fitting scheme.
*/
#include<vcg/complex/complex.h>
#include<vcg/complex/algorithms/update/topology.h>
#include<vcg/complex/algorithms/update/normal.h>
#include<vcg/complex/algorithms/create/platonic.h>
#include<vcg/complex/algorithms/point_sampling.h>
#include<wrap/io_trimesh/import_off.h>
#include<vcg/space/point_matching.h>
using namespace vcg;
using namespace std;
class MyEdge;
class MyFace;
class MyVertex;
struct MyUsedTypes : public vcg::UsedTypes< vcg::Use<MyVertex> ::AsVertexType,
vcg::Use<MyEdge> ::AsEdgeType,
vcg::Use<MyFace> ::AsFaceType>{};
class MyVertex : public vcg::Vertex<MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::BitFlags >{};
class MyFace : public vcg::Face< MyUsedTypes, vcg::face::FFAdj, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::BitFlags > {};
class MyEdge : public vcg::Edge<MyUsedTypes>{};
class MyMesh : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge> > {};
float EvalPlane(vcg::Plane3f &pl, vcg::Point3f &dir, std::vector<vcg::Point3f> posVec)
{
float off=0;
for(size_t i=0;i<posVec.size();++i)
off += fabs(vcg::SignedDistancePlanePoint(pl,posVec[i]));
off/=float(posVec.size());
return off;
}
int main( int argc, char **argv )
{
MyMesh m;
vcg::tri::Icosahedron(m);
vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(m);
vcg::tri::UpdateBounding<MyMesh>::Box(m);
// As a simple test we get a few random points on a mesh,
// we rot and trans them
// and we fit them
std::vector<vcg::Point3f> ExactVec;
std::vector<vcg::Point3f> PerturbVec;
tri::MontecarloSampling(m,ExactVec,10);
PerturbVec=ExactVec;
Matrix44f RotM;
Matrix44f TraM;
vcg::tri::SurfaceSampling<MyMesh>::RandomPoint3fBall01();
RotM.SetRotateDeg(rand()%360,vcg::tri::SurfaceSampling<MyMesh>::RandomPoint3fBall01());
TraM.SetTranslate(1,2,3);
Matrix44f RigidM = RotM*TraM;
for(int i=0;i<ExactVec.size();++i)
PerturbVec[i]=RigidM*ExactVec[i];
Quaternionf q;
Point3f tr;
Matrix44f res;
ComputeRigidMatchMatrix(PerturbVec,ExactVec,res);
res.print();
RigidM.print();
return 0;
}

View File

@ -0,0 +1,3 @@
include(../common.pri)
TARGET = trimesh_pointmatching
SOURCES += trimesh_pointmatching.cpp