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more implementation and some refactoring

This commit is contained in:
alemuntoni 2020-05-29 13:20:57 +02:00
parent 6cd9d7aa91
commit a374e959ee
1 changed files with 61 additions and 27 deletions
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88
vcg/complex/algorithms/align_pair.h
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@ -88,7 +88,7 @@ public:
//bool Import(const char *filename) { Matrix44d Tr; Tr.SetIdentity(); return Import(filename,Tr);} //bool Import(const char *filename) { Matrix44d Tr; Tr.SetIdentity(); return Import(filename,Tr);}
//bool Import(const char *filename, Matrix44d &Tr); //bool Import(const char *filename, Matrix44d &Tr);
inline bool InitVert(const Matrix44d &Tr) { inline bool initVert(const Matrix44d &Tr) {
Matrix44d Idn; Idn.SetIdentity(); Matrix44d Idn; Idn.SetIdentity();
if (Tr != Idn) if (Tr != Idn)
tri::UpdatePosition<A2Mesh>::Matrix(*this, Tr); tri::UpdatePosition<A2Mesh>::Matrix(*this, Tr);
@ -96,7 +96,7 @@ public:
tri::UpdateBounding<A2Mesh>::Box(*this); tri::UpdateBounding<A2Mesh>::Box(*this);
return true; return true;
} }
inline bool Init(const Matrix44d &Tr) { inline bool init(const Matrix44d &Tr) {
Matrix44d Idn; Idn.SetIdentity(); Matrix44d Idn; Idn.SetIdentity();
tri::Clean<A2Mesh>::RemoveUnreferencedVertex(*this); tri::Clean<A2Mesh>::RemoveUnreferencedVertex(*this);
if (Tr != Idn) if (Tr != Idn)
@ -143,12 +143,12 @@ public:
std::vector<IterInfo> I; std::vector<IterInfo> I;
double LastPcl50() const double lastPcl50() const
{ {
return I.back().pcl50; return I.back().pcl50;
} }
int LastSampleUsed() const { int lastSampleUsed() const {
return I.back().SampleUsed; return I.back().SampleUsed;
} }
@ -156,11 +156,11 @@ public:
int FixVertNum; int FixVertNum;
int FixFaceNum; int FixFaceNum;
int TotTime() { int totTime() {
return I.back().Time-StartTime; return I.back().Time-StartTime;
} }
int IterTime(unsigned int i) const int iterTime(unsigned int i) const
{ {
const int clock_per_ms = std::max<int>(CLOCKS_PER_SEC / 1000,1); const int clock_per_ms = std::max<int>(CLOCKS_PER_SEC / 1000,1);
assert(i<I.size()); assert(i<I.size());
@ -178,13 +178,13 @@ public:
FixFaceNum = 0; FixFaceNum = 0;
} }
inline void Dump(FILE *fp) inline void dump(FILE *fp)
{ {
if (I.size() == 0) { if (I.size() == 0) {
fprintf(fp, "Empty AlignPair::Stat\n"); fprintf(fp, "Empty AlignPair::Stat\n");
return; return;
} }
fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", LastPcl50(), (int)I.size(), TotTime()); fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", lastPcl50(), (int)I.size(), totTime());
fprintf(fp, "Mindist Med Hi Avg RMS StdDev Time Tested Used Dist Bord Angl \n"); fprintf(fp, "Mindist Med Hi Avg RMS StdDev Time Tested Used Dist Bord Angl \n");
for (unsigned int qi = 0; qi < I.size(); ++qi) for (unsigned int qi = 0; qi < I.size(); ++qi)
fprintf( fprintf(
@ -193,14 +193,14 @@ public:
I[qi].MinDistAbs, I[qi].MinDistAbs,
I[qi].pcl50, I[qi].pclhi, I[qi].pcl50, I[qi].pclhi,
I[qi].AVG, I[qi].RMS, I[qi].StdDev, I[qi].AVG, I[qi].RMS, I[qi].StdDev,
IterTime(qi), iterTime(qi),
I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded); I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded);
} }
// Scrive una tabella con tutti i valori // Scrive una tabella con tutti i valori
inline void HTMLDump(FILE *fp) inline void htmlDump(FILE *fp)
{ {
fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", LastPcl50(), (int)I.size(), TotTime()); fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", lastPcl50(), (int)I.size(), totTime());
fprintf(fp, "<table border>\n"); fprintf(fp, "<table border>\n");
fprintf(fp, "<tr> <th>Mindist</th><th> 50ile </th><th> Hi </th><th> Avg </th><th> RMS </th><th> StdDev </th><th> Time </th><th> Tested </th><th> Used </th><th> Dist </th><th> Bord </th><th> Angl \n"); fprintf(fp, "<tr> <th>Mindist</th><th> 50ile </th><th> Hi </th><th> Avg </th><th> RMS </th><th> StdDev </th><th> Time </th><th> Tested </th><th> Used </th><th> Dist </th><th> Bord </th><th> Angl \n");
for (unsigned int qi = 0; qi < I.size(); ++qi) for (unsigned int qi = 0; qi < I.size(); ++qi)
@ -209,14 +209,14 @@ public:
I[qi].MinDistAbs, I[qi].MinDistAbs,
I[qi].pcl50, I[qi].pclhi, I[qi].pcl50, I[qi].pclhi,
I[qi].AVG, I[qi].RMS, I[qi].StdDev, I[qi].AVG, I[qi].RMS, I[qi].StdDev,
IterTime(qi), iterTime(qi),
I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded); I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded);
fprintf(fp, "</table>\n"); fprintf(fp, "</table>\n");
} }
// Restituisce true se nelle ultime <lastiter> iterazioni non e' diminuito // Restituisce true se nelle ultime <lastiter> iterazioni non e' diminuito
// l'errore // l'errore
inline bool Stable(int lastiter) inline bool stable(int lastiter)
{ {
if (I.empty()) if (I.empty())
return false; return false;
@ -304,7 +304,7 @@ public:
double MaxScale; double MaxScale;
MatchModeEnum MatchMode; MatchModeEnum MatchMode;
SampleModeEnum SampleMode; SampleModeEnum SampleMode;
void Dump(FILE *fp,double BoxDiag); //void Dump(FILE *fp,double BoxDiag);
}; };
@ -334,7 +334,10 @@ public:
Stat as; Stat as;
Param ap; Param ap;
ErrorCode status; ErrorCode status;
bool IsValid() {return status==SUCCESS;} bool IsValid()
{
return status==SUCCESS;
}
double err; double err;
float area; // the overlapping area, a percentage as computed in Occupancy Grid. float area; // the overlapping area, a percentage as computed in Occupancy Grid.
@ -345,12 +348,11 @@ public:
bool operator == (const Result & rr) const {return (err==rr.err);} bool operator == (const Result & rr) const {return (err==rr.err);}
bool operator != (const Result & rr) const {return (err!=rr.err);} bool operator != (const Result & rr) const {return (err!=rr.err);}
std::pair<double,double> ComputeAvgErr() const std::pair<double,double> computeAvgErr() const
{ {
double sum_before=0; double sum_before=0;
double sum_after=0; double sum_after=0;
for(unsigned int ii=0;ii<Pfix.size();++ii) for(unsigned int ii=0;ii<Pfix.size();++ii) {
{
sum_before+=Distance(Pfix[ii], Pmov[ii]); sum_before+=Distance(Pfix[ii], Pmov[ii]);
sum_after+=Distance(Pfix[ii], Tr*Pmov[ii]); sum_after+=Distance(Pfix[ii], Tr*Pmov[ii]);
} }
@ -361,9 +363,40 @@ public:
/******************* Fine Classi Accessorie ************************/ /******************* Fine Classi Accessorie ************************/
static const char *ErrorMsg( ErrorCode code); static inline const char* errorMsg(ErrorCode code)
void Clear(){status=SUCCESS;} {
AlignPair() { Clear(); myrnd.initialize(time(NULL)); } switch (code){
case SUCCESS:
return "Success";
case NO_COMMON_BBOX:
return "No Common BBox";
case TOO_FEW_POINTS:
return "Too few points";
case LSQ_DIVERGE:
return "LSQ not converge";
case TOO_MUCH_SHEAR:
return "Too much shear";
case TOO_MUCH_SCALE:
return "Too much scale";
case UNKNOWN_MODE:
return "Unknown mode ";
default:
assert(0);
return "Catastrophic Error";
}
return 0;
}
void clear()
{
status=SUCCESS;
}
AlignPair()
{
clear();
myrnd.initialize(time(NULL));
}
/******* Data Members *********/ /******* Data Members *********/
@ -378,15 +411,14 @@ public:
/**** End Data Members *********/ /**** End Data Members *********/
template < class MESH > template < class MESH >
void ConvertMesh(MESH &M1, A2Mesh &M2) void convertMesh(MESH &M1, A2Mesh &M2)
{ {
tri::Append<A2Mesh,MESH>::MeshCopy(M2,M1); tri::Append<A2Mesh,MESH>::MeshCopy(M2,M1);
} }
template < class VERTEX > template < class VERTEX >
void ConvertVertex(const std::vector<VERTEX> &vert1, std::vector<A2Vertex> &vert2, Box3d *Clip=0) void convertVertex(const std::vector<VERTEX> &vert1, std::vector<A2Vertex> &vert2, Box3d *Clip=0)
{ {
vert2.clear(); vert2.clear();
typename std::vector<VERTEX>::const_iterator vi; typename std::vector<VERTEX>::const_iterator vi;
A2Vertex tv; A2Vertex tv;
@ -400,14 +432,16 @@ public:
vert2.push_back(tv); vert2.push_back(tv);
} }
} }
else else {
for(vi=vert1.begin();vi<vert1.end();++vi) for(vi=vert1.begin();vi<vert1.end();++vi) {
if(!(*vi).IsD()){ if(!(*vi).IsD()){
tv.P().Import((*vi).cP()); tv.P().Import((*vi).cP());
tv.N().Import((*vi).cN()); tv.N().Import((*vi).cN());
vert2.push_back(tv); vert2.push_back(tv);
} }
} }
}
}
bool SampleMovVert(std::vector<A2Vertex> &vert, int SampleNum, AlignPair::Param::SampleModeEnum SampleMode); bool SampleMovVert(std::vector<A2Vertex> &vert, int SampleNum, AlignPair::Param::SampleModeEnum SampleMode);
bool SampleMovVertRandom(std::vector<A2Vertex> &vert, int SampleNum); bool SampleMovVertRandom(std::vector<A2Vertex> &vert, int SampleNum);
@ -463,7 +497,7 @@ res.as.Dump(stdout);
bool ret=Align(UG, UGV, in, res.Tr, res.Pfix, res.Nfix, res.Pmov, res.Nmov, res.H, res.as); bool ret=Align(UG, UGV, in, res.Tr, res.Pfix, res.Nfix, res.Pmov, res.Nmov, res.H, res.as);
res.err=res.as.LastPcl50(); res.err=res.as.lastPcl50();
res.status=status; res.status=status;
return ret; return ret;
} }