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remove ScalarType from MeshTree

This commit is contained in:
gabryon99 2021-09-14 14:17:07 +02:00
parent 76d2649a5e
commit cfc21cd8d2
1 changed files with 68 additions and 36 deletions
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104
vcg/complex/algorithms/meshtree.h
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@ -1,9 +1,17 @@
#ifndef VCGLIB_MESHTREE_H
#define VCGLIB_MESHTREE_H
#include <vcg/complex/algorithms/align_pair.h>
#include <vcg/complex/algorithms/align_global.h>
#include <vcg/complex/algorithms/occupancy_grid.h>
#ifdef _OPENMP
#include <omp.h>
#endif
namespace vcg {
template<class MeshType, class ScalarType>
template<class MeshType>
class MeshTree {
public:
@ -16,11 +24,11 @@ namespace vcg {
MeshNode(MeshType *_m) : m{_m}, glued{false} {}
vcg::Matrix44<ScalarType> &tr() {
vcg::Matrix44d &tr() {
return m->cm.Tr;
}
const vcg::Box3<ScalarType> &bbox() const {
const vcg::Box3d &bbox() const {
return m->cm.bbox;
}
@ -36,8 +44,8 @@ namespace vcg {
float recalcThreshold = 0.1f;
};
std::map<int, MeshType*> nodeMap;
std::list<vcg::AlignPair::Result> resultList;
std::map<int, MeshNode*> nodeMap;
std::vector<vcg::AlignPair::Result> resultList;
vcg::OccupancyGrid<CMeshO> OG;
vcg::CallBackPos * cb;
@ -46,7 +54,9 @@ namespace vcg {
return nodeMap[i]->m;
}
MeshTree();
MeshTree() {}
MeshTree(vcg::CallBackPos* _cb) : cb{_cb} {}
void clear() {
@ -116,13 +126,16 @@ namespace vcg {
return cnt;
}
void Process(vcg::AlignPair::Param &ap, Param &mtp) {
void Process(vcg::AlignPair::Param &ap, MeshTree::Param &mtp) {
// QString buf;
// cb(0,qUtf8Printable(buf.sprintf("Starting Processing of %i glued meshes out of %zu meshes\n",gluedNum(),nodeMap.size())));
char buf[1024];
std::sprintf(buf, "Starting Processing of %i glued meshes out of %zu meshes\n", gluedNum(), nodeMap.size());
cb(0, buf);
/******* Occupancy Grid Computation *************/
// cb(0,qUtf8Printable(buf.sprintf("Computing Overlaps %i glued meshes...\n",gluedNum() )));
std::memset(buf, '\0', 1024);
std::sprintf(buf, "Computing Overlaps %i glued meshes...\n", gluedNum());
cb(0, buf);
OG.Init(static_cast<int>(nodeMap.size()), vcg::Box3d::Construct(gluedBBox()), mtp.OGSize);
@ -140,8 +153,8 @@ namespace vcg {
/*************** The long loop of arc computing **************/
// count existing arcs within current error threshold
float percentileThr = 0f;
if (resultList.size() > 0) {
float percentileThr = 0;
if (!resultList.empty()) {
vcg::Distribution<float> H;
for (auto li = std::begin(resultList); li != std::end(resultList); ++li) {
@ -176,20 +189,27 @@ namespace vcg {
//if there are no arcs at all complain and return
if (totalArcNum == 0) {
// cb(0, qUtf8Printable(buf.sprintf("\n Failure. There are no overlapping meshes?\n No candidate alignment arcs. Nothing Done.\n")));
std::memset(buf, '\0', 1024);
std::sprintf(buf, "\n Failure. There are no overlapping meshes?\n No candidate alignment arcs. Nothing Done.\n");
cb(0, buf);
return;
}
int num_max_thread = 1;
#ifdef _OPENMP
#ifdef _OPENMP
if (totalArcNum > 32) num_max_thread = omp_get_max_threads();
#endif
// cb(0,qUtf8Printable(buf.sprintf("Arc with good overlap %6zu (on %6zu)\n",totalArcNum,OG.SVA.size())));
// cb(0,qUtf8Printable(buf.sprintf(" %6i preserved %i Recalc \n",preservedArcNum,recalcArcNum)));
#endif
std::memset(buf, '\0', 1024);
std::sprintf(buf, "Arc with good overlap %6zu (on %6zu)\n", totalArcNum, OG.SVA.size());
cb(0, buf);
std::memset(buf, '\0', 1024);
std::sprintf(buf, " %6i preserved %i Recalc \n", preservedArcNum, recalcArcNum);
cb(0, buf);
bool hasValidAlign = false;
#pragma omp parallel for schedule(dynamic, 1) num_threads(num_max_thread)
#pragma omp parallel for schedule(dynamic, 1) num_threads(num_max_thread)
// on windows, omp does not support unsigned types for indices on cycles
for (int i = 0 ;i < static_cast<int>(totalArcNum); ++i) {
@ -206,19 +226,26 @@ namespace vcg {
if (curResult->isValid()) {
hasValidAlign = true;
std::pair<double, double> dd = curResult->computeAvgErr();
#pragma omp critical
//cb(0,qUtf8Printable(buf.sprintf("(%3i/%3zu) %2i -> %2i Aligned AvgErr dd=%f -> dd=%f \n",i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,dd.first,dd.second)));
#pragma omp critical
std::memset(buf, '\0', 1024);
std::sprintf(buf, "(%3i/%3zu) %2i -> %2i Aligned AvgErr dd=%f -> dd=%f \n", i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,dd.first,dd.second);
cb(0, buf);
}
else {
#pragma omp critical
//cb(0,qUtf8Printable(buf.sprintf( "(%3i/%3zu) %2i -> %2i Failed Alignment of one arc %s\n",i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,vcg::AlignPair::errorMsg(curResult->status))));
#pragma omp critical
std::memset(buf, '\0', 1024);
std::sprintf(buf, "(%3i/%3zu) %2i -> %2i Failed Alignment of one arc %s\n",i+1,totalArcNum,OG.SVA[i].s,OG.SVA[i].t,vcg::AlignPair::errorMsg(curResult->status));
cb(0, buf);
}
}
}
//if there are no valid arcs complain and return
if (!hasValidAlign) {
// cb(0,qUtf8Printable(buf.sprintf("\n Failure. No successful arc among candidate Alignment arcs. Nothing Done.\n")));
std::memset(buf, '\0', 1024);
std::sprintf(buf, "\n Failure. No successful arc among candidate Alignment arcs. Nothing Done.\n");
cb(0, buf);
return;
}
@ -229,7 +256,9 @@ namespace vcg {
}
}
//cb(0,qUtf8Printable(buf.sprintf("Completed Mesh-Mesh Alignment: Avg Err %5.3f; Median %5.3f; 90%% %5.3f\n", H.Avg(), H.Percentile(0.5f), H.Percentile(0.9f))));
std::memset(buf, '\0', 1024);
std::sprintf(buf, "Completed Mesh-Mesh Alignment: Avg Err %5.3f; Median %5.3f; 90%% %5.3f\n", H.Avg(), H.Percentile(0.5f), H.Percentile(0.9f));
cb(0, buf);
ProcessGlobal(ap);
}
@ -262,7 +291,7 @@ namespace vcg {
AG.BuildGraph(ResVecPtr, GluedTrVec, GluedIdVec);
float StartGlobErr = 0.001f;
while (!AG.GlobalAlign(names, StartGlobErr, 100, ap.MatchMode==vcg::AlignPair::Param::MMRigid, stdout)){
while (!AG.GlobalAlign(names, StartGlobErr, 100, ap.MatchMode == vcg::AlignPair::Param::MMRigid, stdout, cb)) {
StartGlobErr *= 2;
AG.BuildGraph(ResVecPtr,GluedTrVec, GluedIdVec);
}
@ -286,16 +315,16 @@ namespace vcg {
vcg::Matrix44d MovM = vcg::Matrix44d::Construct(find(movId)->tr());
vcg::Matrix44d MovToFix = Inverse(FixM) * MovM;
ProcessArc(fixId,movId,MovToFix,result,ap);
ProcessArc(fixId, movId, MovToFix, result, ap);
}
void ProcessArc(int fixId, int movId, vcg::Matrix44d &MovToFix, vcg::AlignPair::Result &result, vcg::AlignPair::Param ap) {
void ProcessArc(int fixId, int movId, vcg::Matrix44d &MovM, vcg::AlignPair::Result &result, vcg::AlignPair::Param ap) {
vcg::AlignPair::A2Mesh Fix;
vcg::AlignPair aa;
// 1) Convert fixed mesh and put it into the grid.
MM(fixId)->updateDataMask(MeshModel::MM_FACEMARK);
MM(fixId)->updateDataMask(MeshType::MeshModel::MM_FACEMARK);
aa.convertMesh<CMeshO>(MM(fixId)->cm,Fix);
vcg::AlignPair::A2Grid UG;
@ -311,7 +340,7 @@ namespace vcg {
}
// 2) Convert the second mesh and sample a <ap.SampleNum> points on it.
MM(movId)->updateDataMask(MeshModel::MM_FACEMARK);
MM(movId)->updateDataMask(MeshType::MeshModel::MM_FACEMARK);
std::vector<vcg::AlignPair::A2Vertex> tmpmv;
aa.convertVertex(MM(movId)->cm.vert,tmpmv);
aa.sampleMovVert(tmpmv, ap.SampleNum, ap.SampleMode);
@ -320,7 +349,7 @@ namespace vcg {
aa.fix=&Fix;
aa.ap = ap;
vcg::Matrix44d In=MovM;
vcg::Matrix44d In = MovM;
// Perform the ICP algorithm
aa.align(In,UG,VG,result);
@ -328,19 +357,22 @@ namespace vcg {
result.MovName=movId;
}
inline Box3m bbox() {
Box3m FullBBox;
inline vcg::Box3d bbox() {
vcg::Box3d FullBBox;
for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
FullBBox.Add(Matrix44m::Construct(ni->second->tr()),ni->second->bbox());
FullBBox.Add(vcg::Matrix44d::Construct(ni->second->tr()),ni->second->bbox());
}
return FullBBox;
}
inline Box3m gluedBBox() {
Box3m FullBBox;
inline vcg::Box3d gluedBBox() {
vcg::Box3d FullBBox;
for (auto ni = std::begin(nodeMap); ni != std::end(nodeMap); ++ni) {
if (ni->second->glued) {
FullBBox.Add(Matrix44m::Construct(ni->second->tr()), ni->second->bbox());
FullBBox.Add(vcg::Matrix44d::Construct(ni->second->tr()), ni->second->bbox());
}
}
return FullBBox;