automatic rough alignment by using 4pcs (4-points congruent sets for Robust pairwise surface registration, Mitra et al. SIGGREAPH 08). First working draft
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#ifndef _4PCS_
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#define _4PCS_
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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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/**
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implementation of the 4PCS method from the paper:
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"4-Points Congruent Sets for Robust Pairwise Surface Registration"
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D.Aiger, N.Mitra D.Cohen-Or, SIGGRAPH 2008
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ps: the name of the variables are out of vcg standard but like the one
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used in the paper pseudocode.
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*/
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#include <vcg/space/point3.h>
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#include <vcg/space/point4.h>
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#include <vcg/space/line3.h>
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#include <vcg/space/plane3.h>
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#include <vcg/math/base.h>
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#include <vcg/math/point_matching.h>
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#include <vcg/math/matrix44.h>
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#include <vcg/space/index/grid_static_ptr.h>
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#include <vcg/complex/trimesh/closest.h>
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#include <vcg/complex/trimesh/update/bounding.h>
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#include <vcg/simplex/vertexplus/base.h>
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#include <vcg/simplex/faceplus/base.h>
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#include <vcg/complex/trimesh/base.h>
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#include <vcg/complex/trimesh/stat.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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typedef bool AACb( const int pos,const char * str );
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namespace vcg{
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namespace tri{
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template <class MeshType>
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class FourPCS {
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public:
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/* mesh only for using spatial indexing functions (to remove) */
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class PEdge; // dummy prototype never used
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class PFace;
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class PVertex : public vcg::VertexSimp2< PVertex, PEdge, PFace,vcg::vert::BitFlags,vcg::vert::Coord3f ,vcg::vert::Mark>{};
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/*same as for the vertes */
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class PFace : public vcg::FaceSimp2< PVertex, PEdge, PFace> {};
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/*the mesh is a container of vertices and a container of faces */
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class PMesh : public vcg::tri::TriMesh< std::vector<PVertex>, std::vector<PFace> > {};
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typedef typename MeshType::ScalarType ScalarType;
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typedef typename MeshType::CoordType CoordType;
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typedef typename MeshType::VertexIterator VertexIterator;
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typedef typename MeshType::VertexType VertexType;
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typedef vcg::Point4< vcg::Point3<ScalarType> > FourPoints ;
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typedef vcg::GridStaticPtr<typename PMesh::VertexType, ScalarType > GridType;
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/* class for Parameters */
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struct Parameters{
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ScalarType delta;
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int feetsize; // how many points in the neighborhood of each of the 4 points
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ScalarType f; // overlapping estimation
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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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scoreAln; // how good must be the alignement to end the process successfully
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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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}
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};
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Parameters prs; /// parameters
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public:
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void Init(MeshType &_P,MeshType &_Q);
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bool Align( int L, vcg::Matrix44f & result, AACb * cb = NULL ); // main function
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private:
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struct Couple: public std::pair<int,int>{
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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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Couple(float d):std::pair<int,int>(0,0),dist(d){}
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float dist;
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const bool & operator <(const Couple & o) const{return dist < o.dist;}
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int & operator[](const int &i){return (i==0)? first : second;}
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};
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/* returns the closest point between to segments x1-x2 and x3-x4. */
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void IntersectionLineLine( const CoordType & x1,const CoordType & x2,const CoordType & x3,const CoordType & x4,
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CoordType&x){
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CoordType a = x2-x1, b = x4-x3, c = x3-x1;
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x = x1 + a * ( (c^b)*(a^b)) / (a^b).SquaredNorm();
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}
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struct CandiType{
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CandiType(){};
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CandiType(FourPoints _p,vcg::Matrix44<ScalarType>_T):p(_p),T(_T){}
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FourPoints p;
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vcg::Matrix44<ScalarType> T;
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ScalarType err;
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int score;
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int base; // debug: for which base
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const bool & operator <(const CandiType & o) const {return score > o.score;}
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};
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MeshType *P, // mesh from which the coplanar base is selected
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*Q; // mesh where to find the correspondences
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std::vector<int> mapsub; // subset of index to the vertices in Q
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PMesh Invr; // invariants
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std::vector< CandiType > U;
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CandiType winner;
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int iwinner; // winner == U[iwinner]
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FourPoints B; // coplanar base
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std::vector<FourPoints> bases; // used bases
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ScalarType side; // side
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std::vector<VertexType*> ExtB[4]; // selection of vertices "close" to the four point
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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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ScalarType r1,r2;
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// class for the point 'ei'
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struct EPoint{
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EPoint(vcg::Point3<ScalarType> _p, int _i):pos(_p),pi(_i){}
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vcg::Point3<ScalarType> pos;
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int pi; //index to R[1|2]
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void GetBBox(vcg::Box3<ScalarType> & b){b.Add(pos);}
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};
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GridType *ugrid; // griglia
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridQ;
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridP;
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//FILE * f;
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//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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//private:
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void ComputeR1R2(ScalarType d1,ScalarType d2);
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bool IsTransfCongruent(FourPoints fp,vcg::Matrix44<ScalarType> & mat, float & trerr);
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int EvaluateSample(CandiType & fp, CoordType & tp, CoordType & np, const float & angle);
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void EvaluateAlignment(CandiType & fp);
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void TestAlignment(CandiType & fp);
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/* debug tools */
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public:
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std::vector<vcg::Matrix44f> allTr;// tutte le trasformazioni provate
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FILE * db;
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char namemesh1[255],namemesh2[255];
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int n_base;
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void InitDebug(const char * name1, const char * name2){
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db = fopen("debugPCS.txt","w");
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sprintf(&namemesh1[0],"%s",name1);
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sprintf(&namemesh2[0],"%s",name2);
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n_base = 0;
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}
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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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// for(int i = 0 ; i < 4; ++i)
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// fprintf(o,"%f %f %f %f\n",mat[i][0],mat[i][1],mat[i][2],mat[i][3]);
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// fprintf(o,"%s\n#\n",namemesh2);
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// fprintf(o,"1.0 0.0 0.0 0.0 \n");
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// fprintf(o,"0.0 1.0 0.0 0.0 \n");
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// fprintf(o,"0.0 0.0 1.0 0.0 \n");
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// fprintf(o,"0.0 0.0 0.0 1.0 \n");
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// fclose(o);
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//}
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};
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template <class MeshType>
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void
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FourPCS<MeshType>:: Init(MeshType &_P,MeshType &_Q){
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P = &_P;Q=&_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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int vi;
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// float areaP = vcg::tri::Stat<MeshType>::ComputeMeshArea(*P);
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// float areaQ = vcg::tri::Stat<MeshType>::ComputeMeshArea(*Q);
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float ratio = 800 / (float) Q->vert.size();
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for(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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for(vi = 0; vi < P->vert.size(); ++vi)
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if(rand()/(float) RAND_MAX < ratio)
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subsetP.push_back(&P->vert[vi]);
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// estimate neigh distance
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float avD = 0.0,dist;
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for(int i = 0 ; i < 100; ++i){
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int ri = rand()/(float) RAND_MAX * Q->vert.size() -1;
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std::vector< CoordType > samples,d_samples;
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std::vector<ScalarType > dists;
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std::vector<VertexType* > ress;
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vcg::trimesh::GetKClosestVertex<
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MeshType,
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType>,
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std::vector<VertexType*>,
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std::vector<ScalarType>,
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std::vector< CoordType > >(*Q,ugridQ,2,Q->vert[ri].cP(),Q->bbox.Diag(), ress,dists, samples);
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assert(ress.size() == 2);
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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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prs.delta = avD * prs.delta;
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side = P->bbox.Dim()[P->bbox.MaxDim()]*prs.f; //rough implementation
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}
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template <class MeshType>
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bool
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FourPCS<MeshType>::SelectCoplanarBase(){
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vcg::tri::UpdateBounding<MeshType>::Box(*P);
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// choose the inter point distance
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ScalarType dtol = side*0.1; //rough implementation
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//choose the first two points
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int i = 0,j,ch;bool good;
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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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if( ( dd < side + dtol) && (dd > side - dtol)){
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B[1] = P->vert[i].P();
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//printf("B[1] %d\n",i);
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break;
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}
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}
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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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int best = -1; ScalarType bestv=std::numeric_limits<float>::max();
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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]).Normalize() * (B[1]-B[0]).Normalize());
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if( angle < bestv){
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bestv = angle;
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best = id;
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}
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}
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}
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if(best == -1)
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return false;
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B[2] = P->vert[best].P();
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//printf("B[2] %d\n",best);
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CoordType n = ((B[0]-B[1]).Normalize() ^ (B[2]-B[1]).Normalize()).Normalize();
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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 dist,radius = dtol*4.0;
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std::vector<typename MeshType::VertexType*> closests;
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std::vector<ScalarType> distances;
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std::vector<CoordType> points;
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vcg::trimesh::GetInSphereVertex<
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MeshType,
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >,
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std::vector<typename MeshType::VertexType*>,
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std::vector<ScalarType>,
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std::vector<CoordType>
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>(*P,ugridP,B4,radius,closests,distances,points);
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if(closests.empty())
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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]).Normalize() * n);
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if( angle < bestv){
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bestv = angle;
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best = i;
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}
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}
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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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IntersectionLineLine(B[0],B[1],B[2],B[3],x);
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r1 = (x - B[0])*(B[1]-B[0]) / (B[1]-B[0]).SquaredNorm();
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r2 = (x - B[2])*(B[3]-B[2]) / (B[3]-B[2]).SquaredNorm();
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if( ((B[0]+(B[1]-B[0])*r1)-(B[2]+(B[3]-B[2])*r2)).Norm() > prs.delta )
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return false;
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radius =side*0.5;
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std::vector< CoordType > samples,d_samples;
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std::vector<ScalarType > dists;
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for(int i = 0 ; i< 4; ++i){
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vcg::trimesh::GetKClosestVertex<
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MeshType,
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vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >,
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std::vector<VertexType*>,
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||||||
|
std::vector<ScalarType>,
|
||||||
|
std::vector< CoordType > >(*P,ugridP, prs.feetsize ,B[i],radius, ExtB[i],dists, samples);
|
||||||
|
}
|
||||||
|
|
||||||
|
//for(int i = 0 ; i< 4; ++i)
|
||||||
|
// printf("%d ",ExtB[i].size());
|
||||||
|
// printf("\n");
|
||||||
|
return true;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
bool
|
||||||
|
FourPCS<MeshType>::IsTransfCongruent(FourPoints fp,vcg::Matrix44<ScalarType> & mat, float & trerr){
|
||||||
|
|
||||||
|
std::vector<vcg::Point3<ScalarType> > fix;
|
||||||
|
std::vector<vcg::Point3<ScalarType> > mov;
|
||||||
|
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]).Normalize() ^ ( B[2]- B[0]).Normalize())*( B[1]- B[0]).Norm();
|
||||||
|
p = B[0] + n;
|
||||||
|
mov.push_back(p);
|
||||||
|
n = (( fp[1]-fp[0]).Normalize() ^ (fp[2]- fp[0]).Normalize())*( fp[1]- fp[0]).Norm();
|
||||||
|
p = fp[0] + n;
|
||||||
|
fix.push_back(p);
|
||||||
|
|
||||||
|
vcg::PointMatching<ScalarType>::ComputeRigidMatchMatrix(mat,fix,mov);
|
||||||
|
|
||||||
|
ScalarType err = 0.0,derr;
|
||||||
|
for(int i = 0; i < 4; ++i) err+= (mat * mov[i] - fix[i]).SquaredNorm();
|
||||||
|
|
||||||
|
trerr = vcg::math::Sqrt(err);
|
||||||
|
return err < prs.delta* prs.delta*4.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
void
|
||||||
|
FourPCS<MeshType>::ComputeR1R2(ScalarType d1,ScalarType d2){
|
||||||
|
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))
|
||||||
|
{
|
||||||
|
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>
|
||||||
|
bool
|
||||||
|
FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation delta
|
||||||
|
bool done = false;
|
||||||
|
std::vector<EPoint> R2inv;
|
||||||
|
int n_closests = 0, n_congr = 0;
|
||||||
|
int ac =0 ,acf = 0,tr = 0,trf =0;
|
||||||
|
ScalarType d1,d2;
|
||||||
|
d1 = (B[1]-B[0]).Norm();
|
||||||
|
d2 = (B[3]-B[2]).Norm();
|
||||||
|
|
||||||
|
int start = clock();
|
||||||
|
int vi,vj;
|
||||||
|
|
||||||
|
typename PMesh::VertexIterator vii;
|
||||||
|
std::vector<Couple>::iterator bR1,eR1,bR2,eR2,ite,cite;
|
||||||
|
bR1 = std::lower_bound<std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1-prs.delta*2.0));
|
||||||
|
eR1 = std::lower_bound<std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d1+prs.delta*2.0));
|
||||||
|
bR2 = std::lower_bound<std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2-prs.delta*2.0));
|
||||||
|
eR2 = std::lower_bound<std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(d2+prs.delta*2.0));
|
||||||
|
|
||||||
|
// in [bR1,eR1) there are all the pairs ad a distance d1 +- prs.delta
|
||||||
|
// in [bR1,eR1) there are all the pairs ad a distance d2 +- prs.delta
|
||||||
|
|
||||||
|
if(bR1 == R1.end()) return false;// if there are no such pairs return
|
||||||
|
if(bR2 == R1.end()) return false; // if there are no such pairs return
|
||||||
|
|
||||||
|
// put [bR1,eR1) in a mesh to have the search operator for free (lazy me)
|
||||||
|
Invr.Clear();
|
||||||
|
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;
|
||||||
|
++i;
|
||||||
|
}
|
||||||
|
if(Invr.vert.empty() ) return false;
|
||||||
|
|
||||||
|
// index remaps a vertex of Invr to its corresponding point in R1
|
||||||
|
PMesh::PerVertexAttributeHandle<int> id = vcg::tri::Allocator<PMesh>::AddPerVertexAttribute<int>(Invr,std::string("index"));
|
||||||
|
i = &(*bR1)-&(*R1.begin());
|
||||||
|
for(vii = Invr.vert.begin(); vii != Invr.vert.end();++vii,++i) id[vii] = i;
|
||||||
|
|
||||||
|
vcg::tri::UpdateBounding<PMesh>::Box(Invr);
|
||||||
|
// printf("Invr size %d\n",Invr.vn);
|
||||||
|
|
||||||
|
ugrid = new GridType();
|
||||||
|
ugrid->Set(Invr.vert.begin(),Invr.vert.end());
|
||||||
|
|
||||||
|
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));
|
||||||
|
++i;
|
||||||
|
}
|
||||||
|
|
||||||
|
n_closests = 0; n_congr = 0; ac =0 ; acf = 0; tr = 0; trf = 0;
|
||||||
|
// fprintf(db,"R2Inv.size = %d \n",R2inv.size());
|
||||||
|
for(int i = 0 ; i < R2inv.size() ; ++i){
|
||||||
|
|
||||||
|
std::vector<typename PMesh::VertexType*> closests;
|
||||||
|
std::vector<ScalarType> distances;
|
||||||
|
std::vector<CoordType> points;
|
||||||
|
|
||||||
|
// for each point in R2inv get all the points in R1 closer than prs.delta
|
||||||
|
vcg::Matrix44<ScalarType> mat;
|
||||||
|
vcg::Box3f bb;
|
||||||
|
bb.Add(R2inv[i].pos+vcg::Point3f(prs.delta * 0.1,prs.delta * 0.1 , prs.delta * 0.1 ));
|
||||||
|
bb.Add(R2inv[i].pos-vcg::Point3f(prs.delta * 0.1,prs.delta* 0.1 , prs.delta* 0.1));
|
||||||
|
|
||||||
|
vcg::trimesh::GetInBoxVertex<PMesh,GridType,std::vector<typename PMesh::VertexType*> >
|
||||||
|
(Invr,*ugrid,bb,closests);
|
||||||
|
|
||||||
|
n_closests+=closests.size();
|
||||||
|
for(int 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();
|
||||||
|
|
||||||
|
float trerr;
|
||||||
|
n_base++;
|
||||||
|
if(!IsTransfCongruent(p,mat,trerr)) {
|
||||||
|
trf++;
|
||||||
|
//char name[255];
|
||||||
|
//sprintf(name,"faileTR_%d_%f.aln",n_base,trerr);
|
||||||
|
//fprintf(db,"TransCongruent %s\n", name);
|
||||||
|
//SaveALN(name, mat);
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
tr++;
|
||||||
|
n_congr++;
|
||||||
|
U.push_back(CandiType(p,mat));
|
||||||
|
EvaluateAlignment(U.back());
|
||||||
|
U.back().base = bases.size()-1;
|
||||||
|
|
||||||
|
if( U.back().score > prs.scoreFeet){
|
||||||
|
TestAlignment(U.back());
|
||||||
|
if(U.back().score > prs.scoreAln)
|
||||||
|
{
|
||||||
|
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);
|
||||||
|
//SaveALN(name, mat);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
delete ugrid;
|
||||||
|
vcg::tri::Allocator<PMesh>::DeletePerVertexAttribute<int>(Invr,id);
|
||||||
|
printf("n_closests %5d = (An %5d ) + ( Tr %5d ) + (OK) %5d\n",n_closests,acf,trf,n_congr);
|
||||||
|
|
||||||
|
return done;
|
||||||
|
// printf("done n_closests %d congr %d in %f s\n ",n_closests,n_congr,(clock()-start)/(float)CLOCKS_PER_SEC);
|
||||||
|
// printf("angle:%d %d, trasf %d %d\n",ac,acf,tr,trf);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
int FourPCS<MeshType>::EvaluateSample(CandiType & fp, CoordType & tp, CoordType & np, const float & angle){
|
||||||
|
VertexType* v;
|
||||||
|
ScalarType dist ;
|
||||||
|
radius = prs.delta;
|
||||||
|
tp = fp.T * tp;
|
||||||
|
|
||||||
|
vcg::Point4<ScalarType> np4;
|
||||||
|
np4 = fp.T * vcg::Point4<ScalarType>(np[0],np[1],np[2],0.0);
|
||||||
|
np[0] = np4[0]; np[1] = np4[1]; np[2] = np4[2];
|
||||||
|
|
||||||
|
v = 0;
|
||||||
|
//v = vcg::trimesh::GetClosestVertex<
|
||||||
|
// MeshType,
|
||||||
|
// vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
|
||||||
|
// >(*Q,ugridQ,tp,radius, dist );
|
||||||
|
typename MeshType::VertexType vq;
|
||||||
|
vq.P() = tp;
|
||||||
|
vq.N() = np;
|
||||||
|
v = vcg::trimesh::GetClosestVertexNormal<
|
||||||
|
MeshType,
|
||||||
|
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType >
|
||||||
|
>(*Q,ugridQ,vq,radius, dist );
|
||||||
|
|
||||||
|
if(v!=0)
|
||||||
|
if( v->N() * np -angle >0) return 1; else return -1;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
void
|
||||||
|
FourPCS<MeshType>::EvaluateAlignment(CandiType & fp){
|
||||||
|
int n_delta_close = 0;
|
||||||
|
for(int i = 0 ; i< 4; ++i) {
|
||||||
|
for(int j = 0; j < ExtB[i].size();++j){
|
||||||
|
CoordType np = ExtB[i][j]->cN();;
|
||||||
|
CoordType tp = ExtB[i][j]->P();
|
||||||
|
n_delta_close+=EvaluateSample(fp,tp,np,0.9);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
fp.score = n_delta_close;
|
||||||
|
}
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
void
|
||||||
|
FourPCS<MeshType>::TestAlignment(CandiType & fp){
|
||||||
|
VertexType* v;
|
||||||
|
ScalarType dist ;
|
||||||
|
radius = prs.delta;
|
||||||
|
int n_delta_close = 0;
|
||||||
|
for(int 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;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
template <class MeshType>
|
||||||
|
bool
|
||||||
|
FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, AACb * cb ){ // main loop
|
||||||
|
|
||||||
|
int bestv = 0;
|
||||||
|
bool found;
|
||||||
|
int n_tries = 0;
|
||||||
|
U.clear();
|
||||||
|
|
||||||
|
if(L==0)
|
||||||
|
{
|
||||||
|
L = (log(1.0-0.9999) / log(1.0-pow((float)prs.f,3.f)))+1;
|
||||||
|
printf("using %d bases\n",L);
|
||||||
|
}
|
||||||
|
|
||||||
|
ComputeR1R2(side*1.4,side*1.4);
|
||||||
|
|
||||||
|
for(int t = 0; t < L; ++t ){
|
||||||
|
do{
|
||||||
|
n_tries = 0;
|
||||||
|
do{
|
||||||
|
n_tries++;
|
||||||
|
found = SelectCoplanarBase();
|
||||||
|
}
|
||||||
|
while(!found && (n_tries <50));
|
||||||
|
if(!found) {
|
||||||
|
prs.f*=0.98;
|
||||||
|
side = P->bbox.Dim()[P->bbox.MaxDim()]*prs.f; //rough implementation
|
||||||
|
ComputeR1R2(side*1.4,side*1.4);
|
||||||
|
}
|
||||||
|
} while (!found && (prs.f >0.1));
|
||||||
|
|
||||||
|
if(prs.f <0.1) {
|
||||||
|
printf("FAILED");
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
bases.push_back(B);
|
||||||
|
if(cb) cb(t*100/L,"trying bases");
|
||||||
|
if(FindCongruent())
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(U.empty()) return false;
|
||||||
|
|
||||||
|
std::sort(U.begin(),U.end());
|
||||||
|
|
||||||
|
bestv = -std::numeric_limits<float>::max();
|
||||||
|
iwinner = 0;
|
||||||
|
|
||||||
|
for(int i = 0 ; i < U.size() ;++i)
|
||||||
|
{
|
||||||
|
TestAlignment(U[i]);
|
||||||
|
if(U[i].score > bestv){
|
||||||
|
bestv = U[i].score;
|
||||||
|
iwinner = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
printf("Best score: %d \n", bestv);
|
||||||
|
|
||||||
|
winner = U[iwinner];
|
||||||
|
result = winner.T;
|
||||||
|
|
||||||
|
// deallocations
|
||||||
|
Invr.Clear();
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace tri
|
||||||
|
} // namespace vcg
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue