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Significant refactoring of the 4pcs class (uniform naming, clearer init etc)

This commit is contained in:
Paolo Cignoni 2014-05-23 12:38:20 +00:00
parent 34fb35c6c7
commit b17fa09b37
1 changed files with 317 additions and 360 deletions
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369
vcg/complex/algorithms/autoalign_4pcs.h
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@ -64,25 +64,46 @@ public:
/* class for Parameters */ /* class for Parameters */
struct Param struct Param
{ {
ScalarType delta; // Approximation Level ScalarType overlap; // overlap estimation as a percentage of overlapping points.
int sampleNumP; // number of samples on moving mesh P (it determines the sampling radius to be used to sample Q too)
float samplingRadius;
ScalarType deltaPerc; // Approximation Level (expressed as a percentage of the avg distance between samples)
ScalarType deltaAbs; // Approximation Level
int feetSize; // how many points in the neighborhood of each of the 4 points int feetSize; // how many points in the neighborhood of each of the 4 points
ScalarType overlap; // overlap estimation as a percentage
int scoreFeet; // how many of the feetsize points must match (max feetsize*4) to try an early interrupt int scoreFeet; // how many of the feetsize points must match (max feetsize*4) to try an early interrupt
int n_samples_on_Q; // number of samples on P
int seed;
ScalarType cosAngle; // max admittable angle that can be admitted between matching points in alignments (expressed as cos(ang) ) ScalarType cosAngle; // max admittable angle that can be admitted between matching points in alignments (expressed as cos(ang) )
int seed; // random seed used. Need for repeatability.
void Default(){ void Default(){
delta = 0.5;
feetSize = 25;
overlap = 0.5; overlap = 0.5;
sampleNumP=500;
samplingRadius=0;
deltaPerc = 0.5;
deltaAbs = 0;
feetSize = 25;
scoreFeet = 50; scoreFeet = 50;
n_samples_on_Q=500;
seed =0; seed =0;
cosAngle = 0; // normals must differ more than 90 degree to be considered bad. cosAngle = 0; // normals must differ more than 90 degree to be considered bad.
} }
}; };
struct Stat
{
Stat() : initTime(0),selectCoplanarBaseTime(0),findCongruentTime(0),testAlignmentTime(0)
{}
clock_t initTime;
clock_t selectCoplanarBaseTime;
clock_t findCongruentTime;
clock_t testAlignmentTime;
float init() {return 1000.0f*float(initTime)/float(CLOCKS_PER_SEC);}
float select() {return 1000.0f*float(selectCoplanarBaseTime)/float(CLOCKS_PER_SEC);}
float findCongruent() {return 1000.0f*float(findCongruentTime)/float(CLOCKS_PER_SEC);}
float testAlignment() {return 1000.0f*float(testAlignmentTime)/float(CLOCKS_PER_SEC);}
};
class Couple class Couple
{ {
public: public:
@ -90,17 +111,16 @@ public:
Couple(VertexPointer i, VertexPointer j, float d) : p0(i),p1(j),dist(d){} Couple(VertexPointer i, VertexPointer j, float d) : p0(i),p1(j),dist(d){}
float dist; float dist;
const bool operator < (const Couple & o) const {return dist < o.dist;} const bool operator < (const Couple & o) const {return dist < o.dist;}
VertexPointer operator[](const int &i){return (i==0)? this->p0 : this->p1;} VertexPointer operator[](const int &i) const {return (i==0)? this->p0 : this->p1;}
}; };
struct Candidate struct Candidate
{ {
Candidate(){} Candidate():score(0){}
Candidate(FourPoints _p, vcg::Matrix44<ScalarType>_T):p(_p),T(_T){} Candidate(FourPoints _p, vcg::Matrix44<ScalarType>_T):p(_p),T(_T){}
FourPoints p; FourPoints p;
vcg::Matrix44<ScalarType> T; vcg::Matrix44<ScalarType> T;
int score; int score;
int base; // debug: for which base
inline bool operator <(const Candidate & o) const {return score > o.score;} inline bool operator <(const Candidate & o) const {return score > o.score;}
}; };
@ -115,9 +135,12 @@ public:
Param par; /// parameters Param par; /// parameters
Stat stat;
MeshType *P; // mesh from which the coplanar base is selected MeshType *P; // Moving Mesh (from which the coplanar base is selected)
MeshType *Q; // mesh where to find the correspondences MeshType *Q; // Fixed Mesh (mesh where to find the correspondences)
math::MarsenneTwisterRNG rnd;
std::vector<VertexPointer> subsetQ; // subset of the vertices in Q std::vector<VertexPointer> subsetQ; // subset of the vertices in Q
std::vector<VertexPointer> subsetP; // random selection on P std::vector<VertexPointer> subsetP; // random selection on P
@ -125,34 +148,14 @@ public:
ScalarType side; // side ScalarType side; // side
PMesh Invr; // invariants PMesh Invr; // invariants
math::MarsenneTwisterRNG rnd;
std::vector< Candidate > U; // the std::vector< Candidate > U; // the
int iwinner; // winner == U[iwinner] int iwinner; // winner == U[iwinner]
FourPoints B; // coplanar base
std::vector<FourPoints> bases; // used bases std::vector<FourPoints> bases; // used bases
std::vector<VertexType*> ExtB[4]; // selection of vertices "close" to the four point std::vector<VertexType*> ExtB[4]; // selection of vertices "close" to the four point
ScalarType radius;
std::vector<Couple > R1;
ScalarType r1,r2;
GridType *ugrid; // griglia
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridQ; vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridQ;
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridP; vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType > ugridP;
// the two main functions to be used
void Init(MeshType &Mov, MeshType &Fix);
bool Align( int L, vcg::Matrix44f & result, vcg::CallBackPos * cb = NULL );
// ---- auxiliary functions
bool SelectCoplanarBase(); // on P
bool FindCongruent(); // of base B, on Q, with approximation delta
void ComputeR1();
bool IsTransfCongruent(FourPoints fp,vcg::Matrix44<ScalarType> & mat, float & trerr);
int EvaluateSample(Candidate & fp, CoordType & tp, CoordType & np);
void EvaluateAlignment(Candidate & fp);
void TestAlignment(Candidate & fp);
/* returns the closest point between to segments x1-x2 and x3-x4. */ /* returns the closest point between to segments x1-x2 and x3-x4. */
void IntersectionLineLine(const CoordType & x1,const CoordType & x2,const CoordType & x3,const CoordType & x4, CoordType&x) void IntersectionLineLine(const CoordType & x1,const CoordType & x2,const CoordType & x3,const CoordType & x4, CoordType&x)
{ {
@ -161,78 +164,45 @@ public:
} }
/* debug tools */ void Init(MeshType &_movP,MeshType &_fixQ)
public:
std::vector<vcg::Matrix44f> allTr;// tutte le trasformazioni provate
FILE * db;
char namemesh1[255],namemesh2[255];
int n_base;
void InitDebug(const char * name1, const char * name2){
db = fopen("debugPCS.txt","w");
sprintf(&namemesh1[0],"%s",name1);
sprintf(&namemesh2[0],"%s",name2);
n_base = 0;
}
void FinishDebug(){
fclose(db);
}
};
template <class MeshType>
void FourPCS<MeshType>:: Init(MeshType &_movP,MeshType &_fixQ)
{ {
clock_t t0= clock();
P = &_movP; P = &_movP;
Q = &_fixQ; Q = &_fixQ;
tri::UpdateBounding<MeshType>::Box(*P); tri::UpdateBounding<MeshType>::Box(*P);
if(par.seed==0) rnd.initialize(time(0)); if(par.seed==0) rnd.initialize(time(0));
else rnd.initialize(par.seed); else rnd.initialize(par.seed);
ugridQ.Set(Q->vert.begin(),Q->vert.end()); ugridQ.Set(Q->vert.begin(),Q->vert.end());
ugridP.Set(P->vert.begin(),P->vert.end()); ugridP.Set(P->vert.begin(),P->vert.end());
float radius=0; if(par.samplingRadius==0)
tri::PoissonPruning(*Q,subsetQ,radius,par.n_samples_on_Q,par.seed); par.samplingRadius = tri::ComputePoissonDiskRadius(*P,par.sampleNumP);
tri::PoissonPruning(*P,subsetP,radius,par.n_samples_on_Q,par.seed); tri::PoissonPruning(*P, subsetP, par.samplingRadius, par.seed);
float ratio = std::min<int>(Q->vert.size(),par.n_samples_on_Q) / (float) Q->vert.size(); tri::PoissonPruning(*Q, subsetQ, par.samplingRadius, par.seed);
par.deltaAbs = par.samplingRadius * par.deltaPerc;
// estimate neigh distance
float avD = 0.0;
for(int i = 0 ; i < 100; ++i){
int ri = rnd.generate(Q->vert.size());
std::vector< CoordType > samples;
std::vector<ScalarType > dists;
std::vector<VertexType* > ress;
vcg::tri::GetKClosestVertex<
MeshType,
vcg::GridStaticPtr<typename MeshType::VertexType, ScalarType>,
std::vector<VertexType*>,
std::vector<ScalarType>,
std::vector< CoordType > >(*Q,ugridQ,2,Q->vert[ri].cP(),Q->bbox.Diag(), ress,dists, samples);
assert(ress.size() == 2);
avD+=dists[1];
}
avD /=100; // average vertex-vertex distance
avD /= sqrt(ratio);
par.delta = avD * par.delta;
side = P->bbox.Dim()[P->bbox.MaxDim()]*par.overlap; //rough implementation side = P->bbox.Dim()[P->bbox.MaxDim()]*par.overlap; //rough implementation
stat.initTime+=clock()-t0;
} }
template <class MeshType>
bool FourPCS<MeshType>::SelectCoplanarBase() // Try to select four coplanar points such that they are at least side distance and
//
bool SelectCoplanarBase(FourPoints &B, ScalarType &r1, ScalarType &r2)
{ {
clock_t t0= clock();
// choose the inter point distance // choose the inter point distance
ScalarType dtol = side*0.1; //rough implementation ScalarType dtol = side*0.1; //rough implementation
//choose the first two points
// first point random // **** first point: random
B[0] = P->vert[ rnd.generate(P->vert.size())].P(); B[0] = P->vert[ rnd.generate(P->vert.size())].P();
// second a point at distance d+-dtol // **** second point: a random point at distance side +-dtol
int i; int i;
for(i = 0; i < P->vert.size(); ++i){ for(i = 0; i < P->vert.size(); ++i){
int id = rnd.generate(P->vert.size()-1); int id = rnd.generate(P->vert.size());
ScalarType dd = (P->vert[id].P() - B[0]).Norm(); ScalarType dd = (P->vert[id].P() - B[0]).Norm();
if( ( dd < side + dtol) && (dd > side - dtol)){ if( ( dd < side + dtol) && (dd > side - dtol)){
B[1] = P->vert[id].P(); B[1] = P->vert[id].P();
@ -241,19 +211,18 @@ bool FourPCS<MeshType>::SelectCoplanarBase()
} }
if(i == P->vert.size()) return false; if(i == P->vert.size()) return false;
// third point at distance side*0.8 from middle way between B[0] and B[1] // **** third point: at distance less than side*0.8 from middle way between B[0] and B[1]
const vcg::Point3f middle = (B[0]+B[1])/2.0; const vcg::Point3f middle = (B[0]+B[1])/2.0;
for(i = 0; i < P->vert.size(); ++i){ for(i = 0; i < P->vert.size(); ++i){
int id = rnd.generate(P->vert.size()-1); int id = rnd.generate(P->vert.size());
ScalarType dd = (P->vert[id].P() - middle).Norm(); if( Distance(P->vert[id].P(),middle) < side*0.8 ){
if( ( dd < side*0.8) ){
B[2] = P->vert[id].P(); B[2] = P->vert[id].P();
break; break;
} }
} }
if(i == P->vert.size()) return false; if(i == P->vert.size()) return false;
//fourth point // **** fourth point:
float cpr = rnd.generate01(); float cpr = rnd.generate01();
vcg::Point3f crossP = B[0] *(1-cpr)+B[1]*cpr; vcg::Point3f crossP = B[0] *(1-cpr)+B[1]*cpr;
CoordType B4 = B[2]+(crossP-B[2]).Normalize()*side; CoordType B4 = B[2]+(crossP-B[2]).Normalize()*side;
@ -296,7 +265,7 @@ bool FourPCS<MeshType>::SelectCoplanarBase()
r1 = (x - B[0]).dot(B[1]-B[0]) / (B[1]-B[0]).SquaredNorm(); r1 = (x - B[0]).dot(B[1]-B[0]) / (B[1]-B[0]).SquaredNorm();
r2 = (x - B[2]).dot(B[3]-B[2]) / (B[3]-B[2]).SquaredNorm(); r2 = (x - B[2]).dot(B[3]-B[2]) / (B[3]-B[2]).SquaredNorm();
if( ((B[0]+(B[1]-B[0])*r1)-(B[2]+(B[3]-B[2])*r2)).Norm() > par.delta ) if( ((B[0]+(B[1]-B[0])*r1)-(B[2]+(B[3]-B[2])*r2)).Norm() > par.deltaAbs )
return false; return false;
radius = side*0.5; radius = side*0.5;
@ -312,16 +281,12 @@ bool FourPCS<MeshType>::SelectCoplanarBase()
std::vector< CoordType > >(*P,ugridP, par.feetSize ,B[i],radius, ExtB[i], dists, samples); std::vector< CoordType > >(*P,ugridP, par.feetSize ,B[i],radius, ExtB[i], dists, samples);
} }
//for(int i = 0 ; i< 4; ++i) qDebug("ExtB %i",ExtB[0].size()+ExtB[1].size()+ExtB[2].size()+ExtB[3].size());
// printf("%d ",ExtB[i].size()); stat.selectCoplanarBaseTime+=clock()-t0;
// printf("\n");
return true; return true;
} }
bool IsTransfCongruent(const FourPoints &B, const FourPoints &fp, vcg::Matrix44<ScalarType> & mat)
template <class MeshType>
bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarType> & mat, float & trerr)
{ {
std::vector<vcg::Point3<ScalarType> > fix(4); std::vector<vcg::Point3<ScalarType> > fix(4);
std::vector<vcg::Point3<ScalarType> > mov(4); std::vector<vcg::Point3<ScalarType> > mov(4);
@ -330,42 +295,30 @@ bool FourPCS<MeshType>::IsTransfCongruent(FourPoints fp, vcg::Matrix44<ScalarTyp
fix[i]=fp[i]; fix[i]=fp[i];
} }
if(fabs( Distance(fix[0],fix[1]) - Distance(mov[0],mov[1]) ) > par.delta) return false; if(fabs( Distance(fix[0],fix[1]) - Distance(mov[0],mov[1]) ) > par.deltaAbs) return false;
if(fabs( Distance(fix[0],fix[2]) - Distance(mov[0],mov[2]) ) > par.delta) return false; if(fabs( Distance(fix[0],fix[2]) - Distance(mov[0],mov[2]) ) > par.deltaAbs) return false;
if(fabs( Distance(fix[0],fix[3]) - Distance(mov[0],mov[3]) ) > par.delta) return false; if(fabs( Distance(fix[0],fix[3]) - Distance(mov[0],mov[3]) ) > par.deltaAbs) return false;
if(fabs( Distance(fix[1],fix[2]) - Distance(mov[1],mov[2]) ) > par.delta) return false; if(fabs( Distance(fix[1],fix[2]) - Distance(mov[1],mov[2]) ) > par.deltaAbs) return false;
if(fabs( Distance(fix[1],fix[3]) - Distance(mov[1],mov[3]) ) > par.delta) return false; if(fabs( Distance(fix[1],fix[3]) - Distance(mov[1],mov[3]) ) > par.deltaAbs) return false;
if(fabs( Distance(fix[2],fix[3]) - Distance(mov[2],mov[3]) ) > par.delta) return false; if(fabs( Distance(fix[2],fix[3]) - Distance(mov[2],mov[3]) ) > par.deltaAbs) return false;
/*
vcg::Point3<ScalarType> n,p;
n = (( B[1]-B[0]).normalized() ^ ( B[2]- B[0]).normalized())*( B[1]- B[0]).Norm();
p = B[0] + n;
mov.push_back(p);
n = (( fp[1]-fp[0]).normalized() ^ (fp[2]- fp[0]).normalized())*( fp[1]- fp[0]).Norm();
p = fp[0] + n;
fix.push_back(p);
*/
vcg::ComputeRigidMatchMatrix(fix,mov,mat); vcg::ComputeRigidMatchMatrix(fix,mov,mat);
ScalarType err = 0.0; ScalarType maxSquaredDistance = 0.0;
for(int i = 0; i < 4; ++i) err+= (mat * mov[i] - fix[i]).SquaredNorm(); for(int i = 0; i < 4; ++i)
maxSquaredDistance =std::max(maxSquaredDistance, SquaredDistance(mat * mov[i] ,fix[i]));
trerr = vcg::math::Sqrt(err); return sqrt(maxSquaredDistance) < par.deltaAbs;
return trerr < par.delta;
} }
template <class MeshType> /// Compute the vector R1 of couple of points on FixQ at a given distance.
void /// Used by FindCongruent
FourPCS<MeshType>::ComputeR1() void ComputeR1(std::vector<Couple > &R1)
{ {
R1.clear(); R1.clear();
for(int vi = 0; vi < subsetQ.size(); ++vi) for(int vi = 0; vi < subsetQ.size(); ++vi)
for(int vj = vi; vj < subsetQ.size(); ++vj){ for(int vj = vi; vj < subsetQ.size(); ++vj){
// ScalarType d = ((Q->vert[subsetQ[vi]]).P()-(Q->vert[subsetQ[vj]]).P()).Norm(); ScalarType d = Distance(subsetQ[vi]->P(),subsetQ[vj]->P());
ScalarType d = (subsetQ[vi]->P()- subsetQ[vj]->P()).Norm(); if( (d < side+par.deltaAbs))
if( (d < side+par.delta))
{ {
R1.push_back(Couple(subsetQ[vi],subsetQ[vj], d)); R1.push_back(Couple(subsetQ[vi],subsetQ[vj], d));
R1.push_back(Couple(subsetQ[vj],subsetQ[vi], d)); R1.push_back(Couple(subsetQ[vj],subsetQ[vi], d));
@ -375,51 +328,52 @@ FourPCS<MeshType>::ComputeR1()
std::sort(R1.begin(),R1.end()); std::sort(R1.begin(),R1.end());
} }
template <class MeshType> // Find congruent elements of a base B, on Q, with approximation delta
bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation delta // and put them in the U vector.
bool FindCongruent(const std::vector<Couple > &R1, const FourPoints &B, const ScalarType r1, const ScalarType r2)
{
clock_t t0=clock();
int n_base=0;
bool done = false; bool done = false;
std::vector<EPoint> R2inv;
int n_closests = 0, n_congr = 0; int n_closests = 0, n_congr = 0;
int ac =0 ,acf = 0,tr = 0,trf =0; int ac =0 ,acf = 0,tr = 0,trf =0;
ScalarType d1,d2; ScalarType d1,d2;
d1 = (B[1]-B[0]).Norm(); d1 = (B[1]-B[0]).Norm();
d2 = (B[3]-B[2]).Norm(); d2 = (B[3]-B[2]).Norm();
typename PMesh::VertexIterator vii; typename std::vector<Couple>::const_iterator bR1,eR1,bR2,eR2,ite;
typename std::vector<Couple>::iterator bR1,eR1,bR2,eR2,ite; bR1 = std::lower_bound(R1.begin(),R1.end(),Couple(0,0,d1-par.deltaAbs));
bR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(0,0,d1-par.delta)); eR1 = std::lower_bound(R1.begin(),R1.end(),Couple(0,0,d1+par.deltaAbs));
eR1 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(0,0,d1+par.delta)); bR2 = std::lower_bound(R1.begin(),R1.end(),Couple(0,0,d2-par.deltaAbs));
bR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(0,0,d2-par.delta)); eR2 = std::lower_bound(R1.begin(),R1.end(),Couple(0,0,d2+par.deltaAbs));
eR2 = std::lower_bound<typename std::vector<Couple>::iterator,Couple>(R1.begin(),R1.end(),Couple(0,0,d2+par.delta));
// in [bR1,eR1) there are all the pairs ad a distance d1 +- par.delta // in [bR1,eR1) there are all the pairs at a distance d1 +- par.delta
// in [bR1,eR1) there are all the pairs ad a distance d2 +- par.delta // in [bR1,eR1) there are all the pairs at a distance d2 +- par.delta
if(bR1 == R1.end()) return false;// if there are no such pairs return 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 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) // put [bR1,eR1) in a mesh to have the search operator for free (lazy me)
Invr.Clear(); Invr.Clear();
typename PMesh::VertexIterator vii;
int i = &(*bR1)-&(*R1.begin()); int i = &(*bR1)-&(*R1.begin());
for(ite = bR1; ite != eR1;++ite){ for(ite = bR1; ite != eR1;++ite){
vii = vcg::tri::Allocator<PMesh>::AddVertices(Invr,1); 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; // (*vii).P() = Q->vert[R1[i][0]].P() + (Q->vert[R1[i][1]].P()-Q->vert[R1[i][0]].P()) * r1;
(*vii).P() = R1[i].p0->P() + ( R1[i].p1->P() - R1[i].p0->P()) * r1; (*vii).P() = ite->p0->P() + ( ite->p1->P() - ite->p0->P()) * r1;
++i; ++i;
} }
if(Invr.vert.empty() ) return false; if(Invr.vert.empty() ) return false;
// index remaps a vertex of Invr to its corresponding point in R1 // per vertex attribute 'index' remaps a vertex of Invr to its corresponding point in R1
typename PMesh::template PerVertexAttributeHandle<int> id = vcg::tri::Allocator<PMesh>::template AddPerVertexAttribute<int>(Invr,std::string("index")); typename PMesh::template PerVertexAttributeHandle<int> id = vcg::tri::Allocator<PMesh>::template AddPerVertexAttribute<int>(Invr,std::string("index"));
i = &(*bR1)-&(*R1.begin()); i = &(*bR1)-&(*R1.begin());
for(vii = Invr.vert.begin(); vii != Invr.vert.end();++vii,++i) id[vii] = i; for(vii = Invr.vert.begin(); vii != Invr.vert.end();++vii,++i) id[vii] = i;
vcg::tri::UpdateBounding<PMesh>::Box(Invr); vcg::tri::UpdateBounding<PMesh>::Box(Invr);
// printf("Invr size %d\n",Invr.vn);
ugrid = new GridType();
ugrid->Set(Invr.vert.begin(),Invr.vert.end());
std::vector<EPoint> R2inv;
i = &(*bR2)-&(*R1.begin()); i = &(*bR2)-&(*R1.begin());
// R2inv contains all the points generated by the couples in R2 (with the reference to remap into R2) // R2inv contains all the points generated by the couples in R2 (with the reference to remap into R2)
for(ite = bR2; ite != eR2;++ite){ for(ite = bR2; ite != eR2;++ite){
@ -428,40 +382,38 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
++i; ++i;
} }
GridType ugrid; // griglia
ugrid.Set(Invr.vert.begin(),Invr.vert.end());
n_closests = 0; n_congr = 0; ac =0 ; acf = 0; tr = 0; trf = 0; n_closests = 0; n_congr = 0; ac =0 ; acf = 0; tr = 0; trf = 0;
printf("R2Inv.size = %d \n",R2inv.size()); printf("R2Inv.size = %d \n",R2inv.size());
for(uint i = 0 ; i < R2inv.size() ; ++i){ for(uint i = 0 ; i < R2inv.size() ; ++i)
{
std::vector<typename PMesh::VertexType*> closests; std::vector<typename PMesh::VertexType*> closests;
// for each point in R2inv get all the points in R1 closer than par.delta // for each point in R2inv get all the points in R1 closer than par.delta
vcg::Matrix44<ScalarType> mat; vcg::Matrix44<ScalarType> mat;
vcg::Box3f bb; vcg::Box3f bb;
bb.Add(R2inv[i].pos+vcg::Point3f(par.delta,par.delta, par.delta)); bb.Add(R2inv[i].pos+vcg::Point3f(par.deltaAbs,par.deltaAbs, par.deltaAbs));
bb.Add(R2inv[i].pos-vcg::Point3f(par.delta,par.delta, par.delta)); bb.Add(R2inv[i].pos-vcg::Point3f(par.deltaAbs,par.deltaAbs, par.deltaAbs));
vcg::tri::GetInBoxVertex<PMesh,GridType,std::vector<typename PMesh::VertexType*> > vcg::tri::GetInBoxVertex<PMesh,GridType,std::vector<typename PMesh::VertexType*> >
(Invr,*ugrid,bb,closests); (Invr,ugrid,bb,closests);
if(closests.size() > 5) if(closests.size() > 5)
closests.resize(5); closests.resize(5);
n_closests+=closests.size(); n_closests+=closests.size();
for(uint ip = 0; ip < closests.size(); ++ip){ for(uint ip = 0; ip < closests.size(); ++ip)
{
FourPoints p; FourPoints p;
p[0] = R1[id[closests[ip]]][0]->P(); p[0] = R1[id[closests[ip]]][0]->cP();
p[1] = R1[id[closests[ip]]][1]->P(); p[1] = R1[id[closests[ip]]][1]->cP();
p[2] = R1[ R2inv[i].pi][0]->P(); p[2] = R1[ R2inv[i].pi][0]->cP();
p[3] = R1[ R2inv[i].pi][1]->P(); p[3] = R1[ R2inv[i].pi][1]->cP();
float trerr;
n_base++; n_base++;
if(!IsTransfCongruent(p,mat,trerr)) { if(!IsTransfCongruent(B,p,mat)) {
trf++; trf++;
//char name[255];
//sprintf(name,"faileTR_%d_%f.aln",n_base,trerr);
//fprintf(db,"TransCongruent %s\n", name);
//SaveALN(name, mat);
} }
else{ else{
tr++; tr++;
@ -471,79 +423,49 @@ bool FourPCS<MeshType>::FindCongruent() { // of base B, on Q, with approximation
if( c.score > par.scoreFeet) if( c.score > par.scoreFeet)
U.push_back(c); U.push_back(c);
/*
EvaluateAlignment(U.back());
U.back().base = bases.size()-1;
if( U.back().score > par.scoreFeet){
TestAlignment(U.back());
if(U.back().score > par.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(Invr,id); vcg::tri::Allocator<PMesh>::DeletePerVertexAttribute(Invr,id);
printf("n_closests %5d = (An %5d ) + ( Tr %5d ) + (OK) %5d\n",n_closests,acf,trf,n_congr); printf("n_closests %5d = (An %5d ) + ( Tr %5d ) + (OK) %5d\n",n_closests,acf,trf,n_congr);
stat.findCongruentTime += clock()-t0;
return done; 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);
} }
int EvaluateSample(Candidate & fp, const CoordType & tp, const CoordType & np)
template <class MeshType>
int FourPCS<MeshType>::EvaluateSample(Candidate & fp, CoordType & tp, CoordType & np)
{ {
VertexType* v=0; CoordType ttp = fp.T * tp;
vcg::Point4<ScalarType> np4 = fp.T * vcg::Point4<ScalarType>(np[0],np[1],np[2],0.0);
CoordType tnp(np4[0],np4[1],np4[2]);
ScalarType dist ; ScalarType dist ;
radius = par.delta; VertexType* v = vcg::tri::GetClosestVertex(*Q, ugridQ, ttp, par.deltaAbs*2.0, dist );
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];
if(ugridQ.bbox.IsIn(tp))
v = vcg::tri::GetClosestVertex(*Q, ugridQ, tp, radius, dist );
if(v!=0) if(v!=0)
{ {
if( v->N().dot(np) > par.cosAngle ) return 1; if( v->N().dot(tnp) > par.cosAngle ) return 1;
else return -1; else return -1;
} }
else return 0; else return 0;
} }
// Check a candidate against the small subset of points ExtB
template <class MeshType> void EvaluateAlignment(Candidate & fp){
void
FourPCS<MeshType>::EvaluateAlignment(Candidate & fp){
int n_delta_close = 0; int n_delta_close = 0;
for(int i = 0 ; i< 4; ++i) { for(int i = 0 ; i< 4; ++i) {
for(uint j = 0; j < ExtB[i].size();++j){ for(uint j = 0; j < ExtB[i].size();++j){
CoordType np = ExtB[i][j]->cN();; n_delta_close+=EvaluateSample(fp, ExtB[i][j]->P(), ExtB[i][j]->cN());
CoordType tp = ExtB[i][j]->P();
n_delta_close+=EvaluateSample(fp,tp,np);
} }
} }
fp.score = n_delta_close; fp.score = n_delta_close;
} }
template <class MeshType> void TestAlignment(Candidate & fp)
void FourPCS<MeshType>::TestAlignment(Candidate & fp){ {
radius = par.delta; clock_t t0 = clock();
int n_delta_close = 0; int n_delta_close = 0;
for(uint j = 0; j < subsetP.size();++j){ for(uint j = 0; j < subsetP.size();++j){
CoordType np = subsetP[j]->N(); CoordType np = subsetP[j]->N();
@ -551,11 +473,41 @@ void FourPCS<MeshType>::TestAlignment(Candidate & fp){
n_delta_close+=EvaluateSample(fp,tp,np); n_delta_close+=EvaluateSample(fp,tp,np);
} }
fp.score = n_delta_close; fp.score = n_delta_close;
stat.testAlignmentTime += clock()-t0;
} }
template <class MeshType> bool Align(vcg::Matrix44f & result, vcg::CallBackPos * cb )
bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBackPos * cb ) {
int maxAttempt =100;
int scoreThr = par.sampleNumP*0.8;
Candidate bestC;
std::vector<Couple > R1;
ComputeR1(R1);
for(int i = 0; i < maxAttempt && bestC.score<scoreThr ; ++i )
{
FourPoints B;
ScalarType r1,r2;
if(SelectCoplanarBase(B,r1,r2))
{
U.clear();
FindCongruent(R1,B,r1,r2);
qDebug("Attempt %i found %i candidate best score %i",i,U.size(),bestC.score);
for(int i = 0 ; i < U.size() ;++i)
{
TestAlignment(U[i]);
if(U[i].score > bestC.score)
bestC = U[i];
}
}
}
result = bestC.T;
return bestC.score >0;
}
bool Align(int L, vcg::Matrix44f & result, vcg::CallBackPos * cb )
{ {
int bestv = 0; int bestv = 0;
bool found; bool found;
@ -564,27 +516,30 @@ bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBa
if(L==0) if(L==0)
{ {
// overlap is expressed as the probability that a point in P(mov) can be found in Q (fix)
L = (log(1.0-0.9) / log(1.0-pow((float)par.overlap,3.f)))+1; L = (log(1.0-0.9) / log(1.0-pow((float)par.overlap,3.f)))+1;
printf("using %d bases\n",L); printf("using %d bases\n",L);
} }
std::vector<Couple > R1;
ComputeR1(); ComputeR1(R1);
for(int t = 0; t < L; ++t ) for(int t = 0; t < L; ++t )
{ {
FourPoints B;
ScalarType r1,r2;
do do
{ {
n_tries = 0; n_tries = 0;
do do
{ {
n_tries++; n_tries++;
found = SelectCoplanarBase(); found = SelectCoplanarBase(B,r1,r2);
} }
while(!found && (n_tries < 50)); while(!found && (n_tries < 50));
if(!found) { if(!found) {
par.overlap*=0.9; par.overlap*=0.9;
side = P->bbox.Dim()[P->bbox.MaxDim()]*par.overlap; //rough implementation side = P->bbox.Dim()[P->bbox.MaxDim()]*par.overlap; //rough implementation
ComputeR1(); ComputeR1(R1);
} }
} while (!found && (par.overlap >0.1)); } while (!found && (par.overlap >0.1));
@ -594,7 +549,7 @@ bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBa
} }
bases.push_back(B); bases.push_back(B);
if(cb) cb(t*100/L,"Trying bases"); if(cb) cb(t*100/L,"Trying bases");
if(FindCongruent()) if(FindCongruent(R1,B,r1,r2))
break; break;
} }
@ -619,6 +574,8 @@ bool FourPCS<MeshType>:: Align( int L, vcg::Matrix44f & result, vcg::CallBa
return true; return true;
} }
}; // end class
} // namespace tri } // namespace tri
} // namespace vcg } // namespace vcg
#endif #endif