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updated ransac sample (Still to be completed)

This commit is contained in:
Paolo Cignoni 2016-02-09 09:35:11 +00:00
parent 83f0deca4d
commit a43fd22a50
2 changed files with 45 additions and 21 deletions
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63
apps/sample/trimesh_ransac/trimesh_ransac.cpp
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@ -31,6 +31,7 @@
#include<vcg/complex/algorithms/point_sampling.h>
#include<vcg/complex/algorithms/ransac_matching.h>
#include<vcg/space/index/kdtree/kdtree.h>
#include<vcg/space/point_matching.h>
@ -69,42 +70,63 @@ int main( int argc, char **argv )
tri::UpdateBounding<MyMesh>::Box(fixM);
tri::UpdateBounding<MyMesh>::Box(movM);
float featureRad = fixM.bbox.Diag() * 0.005;
// RansacFramework<MyMesh,BaseFeatureSet<MeshType> >::EvalNormalVariation(movM,featureRad*5.0);
// tri::io::ExporterPLY<MyMesh>::Save(movM,"mv0.ply",tri::io::Mask::IOM_VERTQUALITY + tri::io::Mask::IOM_VERTCOLOR);
// RansacFramework<MyMesh,BaseFeatureSet>::EvalNormalVariation(movM,featureRad*10.0);
// tri::io::ExporterPLY<MyMesh>::Save(movM,"mv1.ply",tri::io::Mask::IOM_VERTQUALITY + tri::io::Mask::IOM_VERTCOLOR);
// RansacFramework<MyMesh,BaseFeatureSet>::EvalNormalVariation(fixM,featureRad*5.0);
// tri::io::ExporterPLY<MyMesh>::Save(fixM,"fv0.ply",tri::io::Mask::IOM_VERTQUALITY + tri::io::Mask::IOM_VERTCOLOR);
// RansacFramework<MyMesh,BaseFeatureSet>::EvalNormalVariation(fixM,featureRad*10.0);
// tri::io::ExporterPLY<MyMesh>::Save(fixM,"fv1.ply",tri::io::Mask::IOM_VERTQUALITY + tri::io::Mask::IOM_VERTCOLOR);
Point3f delta = math::GeneratePointInUnitBallUniform<float>(rnd) * fixM.bbox.Diag();
tri::UpdatePosition<MyMesh>::Translate(movM,delta);
tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(fixM);
tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(movM);
Point3f axis = math::GeneratePointOnUnitSphereUniform<float>(rnd);
float angle = rnd.generate01() * M_PI;
Matrix44f rot; rot.SetRotateRad(angle,axis);
tri::UpdatePosition<MyMesh>::Matrix(movM,rot);
tri::io::ExporterPLY<MyMesh>::Save(movM,"out.ply");
int randSeed = clock();
RansacFramework<MyMesh,BaseFeatureSet<MyMesh> > Ran;
RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Param pp;
pp.samplingRadiusPerc=0.005;
BaseFeatureSet<MyMesh>::Param fpp;
pp.samplingRadiusPerc=0.01;
pp.evalSize=50;
pp.inlierRatioThr = 0.4;
Ran.Init(fixM,movM,pp);
pp.iterMax = 100;
pp.maxMatchingFeatureNum = 400;
fpp.featureSampleRatio=0.5;
std::vector<RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Candidate> cVec;
// RansacFramework<MyMesh,NDFeatureSet<MyMesh> > Ran;
// RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Param pp;
// NDFeatureSet<MyMesh>::Param fpp;
// std::vector<RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Candidate> cVec;
// pp.samplingRadiusPerc=0.01;
// pp.evalSize=100;
// pp.inlierRatioThr = 0.4;
// pp.iterMax = 1000;
// int t0=clock();
// fpp.levAbs[0]=pp.samplingRadiusAbs*2.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*4.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*8.0;
// Ran.Init(fixM,movM,pp,fpp);
// Ran.EvaluateFeature(30,"featureTest30.ply",pp);
// fpp.levAbs[0]=pp.samplingRadiusAbs*3.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*6.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*9.0;
// Ran.Init(fixM,movM,pp,fpp);
// Ran.EvaluateFeature(30,"featureTest30a.ply",pp);
// exit(-1);
int t0=clock();
Ran.Init(fixM,movM,pp,fpp);
int t1=clock();
Ran.Process_SearchEvaluateTriple(cVec,pp);
int t2=clock();
printf("Completed Search (%5.2f init %5.2f search)\n",float(t1-t0)/CLOCKS_PER_SEC, float(t2-t1)/CLOCKS_PER_SEC);
MyMesh out0; tri::Append<MyMesh,MyMesh>::MeshCopy(out0,movM);
tri::UpdatePosition<MyMesh>::Matrix(out0,cVec[0].Tr);
tri::io::ExporterPLY<MyMesh>::Save(out0,"out0.ply");
MyMesh inlierMesh0;
Ran.DumpInlier(inlierMesh0,cVec[0],pp);
tri::io::ExporterPLY<MyMesh>::Save(inlierMesh0,"inlier0.ply");
@ -112,6 +134,7 @@ int main( int argc, char **argv )
MyMesh out1; tri::Append<MyMesh,MyMesh>::MeshCopy(out1,movM);
tri::UpdatePosition<MyMesh>::Matrix(out1,cVec[1].Tr);
tri::io::ExporterPLY<MyMesh>::Save(out1,"out1.ply");
MyMesh inlierMesh1;
Ran.DumpInlier(inlierMesh1,cVec[1],pp);
tri::io::ExporterPLY<MyMesh>::Save(inlierMesh1,"inlier1.ply");

3
apps/sample/trimesh_ransac/trimesh_ransac.pro
View File

@ -1,4 +1,5 @@
include(../common.pri)
TARGET = trimesh_ransac
SOURCES += ../../../wrap/ply/plylib.cpp \
trimesh_ransac.cpp
../../../vcg/complex/algorithms/ransac_matching.h \
trimesh_ransac.cpp