align_pair sample working
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alemuntoni
parent
5b6d6ec767
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fcdf421f47
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@ -8,7 +8,7 @@ INCLUDEPATH += \
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../../../eigenlib
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CONFIG += console c++11
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CONFIG += c++11
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TEMPLATE = app
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# Mac specific Config required to avoid to make application bundles
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@ -1,151 +0,0 @@
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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) 2004-2016 \/)\/ *
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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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#ifndef MY_MESH_H
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#define MY_MESH_H
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#include <vcg/complex/complex.h>
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typedef double Scalarm;
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typedef vcg::Point2<Scalarm> Point2m;
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typedef vcg::Point3<Scalarm> Point3m;
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typedef vcg::Point4<Scalarm> Point4m;
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typedef vcg::Plane3<Scalarm> Plane3m;
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typedef vcg::Segment2<Scalarm> Segment2m;
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typedef vcg::Segment3<Scalarm> Segment3m;
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typedef vcg::Box3<Scalarm> Box3m;
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typedef vcg::Matrix44<Scalarm> Matrix44m;
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typedef vcg::Matrix33<Scalarm> Matrix33m;
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typedef vcg::Shot<Scalarm> Shotm;
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typedef vcg::Similarity<Scalarm> Similaritym;
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namespace vcg
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{
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namespace vertex
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{
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template <class T> class Coord3m: public Coord<vcg::Point3<Scalarm>, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Coord3m"));T::Name(name);}
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};
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template <class T> class Normal3m: public Normal<vcg::Point3<Scalarm>, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Normal3m"));T::Name(name);}
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};
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template <class T> class CurvatureDirmOcf: public CurvatureDirOcf<CurvatureDirTypeOcf<Scalarm>, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("CurvatureDirmOcf"));T::Name(name);}
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};
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template <class T> class RadiusmOcf: public RadiusOcf<Scalarm, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("RadiusmOcf"));T::Name(name);}
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};
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}//end namespace vertex
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namespace face
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{
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template <class T> class Normal3m: public NormalAbs<vcg::Point3<Scalarm>, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Normal3m"));T::Name(name);}
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};
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template <class T> class CurvatureDirmOcf: public CurvatureDirOcf<CurvatureDirOcfBaseType<Scalarm>, T> {
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public: static void Name(std::vector<std::string> & name){name.push_back(std::string("CurvatureDirdOcf"));T::Name(name);}
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};
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}//end namespace face
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}//end namespace vcg
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// Forward declarations needed for creating the used types
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class CVertexO;
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class CEdgeO;
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class CFaceO;
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// Declaration of the semantic of the used types
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class CUsedTypesO: public vcg::UsedTypes < vcg::Use<CVertexO>::AsVertexType,
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vcg::Use<CEdgeO >::AsEdgeType,
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vcg::Use<CFaceO >::AsFaceType >{};
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// The Main Vertex Class
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// Most of the attributes are optional and must be enabled before use.
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// Each vertex needs 40 byte, on 32bit arch. and 44 byte on 64bit arch.
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class CVertexO : public vcg::Vertex< CUsedTypesO,
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vcg::vertex::InfoOcf, /* 4b */
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vcg::vertex::Coord3m, /* 12b */
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vcg::vertex::BitFlags, /* 4b */
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vcg::vertex::Normal3m, /* 12b */
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vcg::vertex::Qualityf, /* 4b */
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vcg::vertex::Color4b, /* 4b */
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vcg::vertex::VFAdjOcf, /* 0b */
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vcg::vertex::MarkOcf, /* 0b */
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vcg::vertex::TexCoordfOcf, /* 0b */
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vcg::vertex::CurvaturefOcf, /* 0b */
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vcg::vertex::CurvatureDirmOcf, /* 0b */
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vcg::vertex::RadiusmOcf /* 0b */
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>{
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};
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// The Main Edge Class
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class CEdgeO : public vcg::Edge<CUsedTypesO,
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vcg::edge::BitFlags, /* 4b */
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vcg::edge::EVAdj,
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vcg::edge::EEAdj
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>{
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};
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// Each face needs 32 byte, on 32bit arch. and 48 byte on 64bit arch.
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class CFaceO : public vcg::Face< CUsedTypesO,
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vcg::face::InfoOcf, /* 4b */
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vcg::face::VertexRef, /*12b */
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vcg::face::BitFlags, /* 4b */
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vcg::face::Normal3m, /*12b */
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vcg::face::QualityfOcf, /* 0b */
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vcg::face::MarkOcf, /* 0b */
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vcg::face::Color4bOcf, /* 0b */
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vcg::face::FFAdjOcf, /* 0b */
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vcg::face::VFAdjOcf, /* 0b */
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vcg::face::CurvatureDirmOcf, /* 0b */
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vcg::face::WedgeTexCoordfOcf /* 0b */
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> {};
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class MyMesh : public vcg::tri::TriMesh< vcg::vertex::vector_ocf<CVertexO>, vcg::face::vector_ocf<CFaceO> >
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{
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public :
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int sfn; //The number of selected faces.
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int svn; //The number of selected vertices.
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int pvn; //the number of the polygonal vertices
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int pfn; //the number of the polygonal faces
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Matrix44m Tr; // Usually it is the identity. It is applied in rendering and filters can or cannot use it. (most of the filter will ignore this)
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const Box3m &trBB()
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{
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static Box3m bb;
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bb.SetNull();
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bb.Add(Tr,bbox);
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return bb;
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}
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};
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#endif // MY_MESH_H
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@ -36,7 +36,14 @@ This file contain a minimal example of the library
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#include <wrap/io_trimesh/import.h>
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#include <wrap/io_trimesh/export_ply.h>
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#include "my_mesh.h"
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class MyFace;
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class MyVertex;
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struct MyUsedTypes : public vcg::UsedTypes< vcg::Use<MyVertex>::AsVertexType, vcg::Use<MyFace>::AsFaceType>{};
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class MyVertex : public vcg::Vertex< MyUsedTypes, vcg::vertex::Coord3d, vcg::vertex::Normal3d, vcg::vertex::Color4b, vcg::vertex::BitFlags >{};
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class MyFace : public vcg::Face < MyUsedTypes, vcg::face::VertexRef, vcg::face::Normal3d, vcg::face::FFAdj, vcg::face::Mark, vcg::face::BitFlags > {};
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class MyMesh : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> > {};
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using namespace vcg;
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using namespace std;
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@ -62,28 +69,30 @@ int main(int argc,char ** argv)
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}
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//open second mesh
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err = tri::io::Importer<MyMesh>::Open(m1,argv[2]);
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err = tri::io::Importer<MyMesh>::Open(m2,argv[2]);
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if(err) { // all the importers return 0 in case of success
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printf("Error in reading %s: '%s'\n", argv[2], tri::io::Importer<MyMesh>::ErrorMsg(err));
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exit(-1);
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}
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vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m1);
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vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m2);
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////PARAMS
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/////TODO
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vcg::Matrix44d MovM;
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vcg::AlignPair::Result result;
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vcg::AlignPair::Param ap;
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//MovM
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vcg::Matrix44d FixM=vcg::Matrix44d::Construct(m1.Tr);
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MovM=vcg::Matrix44d::Construct(m2.Tr);
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MovM = Inverse(FixM) * MovM;
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//vcg::Matrix44d FixM=vcg::Matrix44d::Construct(m1.Tr);
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//MovM=vcg::Matrix44d::Construct(m2.Tr);
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//MovM = Inverse(FixM) * MovM;
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vcg::AlignPair::A2Mesh fix;
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vcg::AlignPair aa;
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// 1) Convert fixed mesh and put it into the grid.
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m1.face.EnableMark();
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//m1.face.EnableMark();
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aa.convertMesh<MyMesh>(m1,fix);
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vcg::AlignPair::A2Grid UG;
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@ -101,7 +110,7 @@ int main(int argc,char ** argv)
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// 2) Convert the second mesh and sample a <ap.SampleNum> points on it.
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//MM(movId)->updateDataMask(MeshModel::MM_FACEMARK);
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m2.face.EnableMark();
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//m2.face.EnableMark();
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std::vector<vcg::AlignPair::A2Vertex> tmpmv;
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aa.convertVertex(m2.vert,tmpmv);
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aa.sampleMovVert(tmpmv, ap.SampleNum, ap.SampleMode);
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@ -110,14 +119,13 @@ int main(int argc,char ** argv)
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aa.fix=&fix;
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aa.ap = ap;
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vcg::Matrix44d In=MovM;
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vcg::Matrix44d In;
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In.SetIdentity();
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// Perform the ICP algorithm
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aa.align(In,UG,VG,result);
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m2.Tr = result.Tr;
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tri::UpdatePosition<MyMesh>::Matrix(m2, m2.Tr, true);
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tri::UpdatePosition<MyMesh>::Matrix(m2, result.Tr, true);
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tri::UpdateBounding<MyMesh>::Box(m2);
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m2.Tr.SetIdentity();
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//result.FixName=fixId;
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//result.MovName=movId;
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@ -2,9 +2,6 @@ include(../common.pri)
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TARGET = trimesh_align_pair
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HEADERS += \
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my_mesh.h
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SOURCES += \
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trimesh_align_pair.cpp \
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../../../wrap/ply/plylib.cpp
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@ -24,6 +24,7 @@
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#define VCG_ALIGN_PAIR_H
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#include <ctime>
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#include <stdio.h>
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#include <vcg/math/histogram.h>
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#include <vcg/math/matrix44.h>
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#include <vcg/math/random_generator.h>
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@ -643,22 +644,22 @@ in
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inline bool align(
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A2Grid &u,
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A2GridVert &uv,
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const Matrix44d &in, // trasformazione Iniziale che porta i punti di mov su fix
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Matrix44d &out, // trasformazione calcolata
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std::vector<Point3d> &pfix, // vertici corrispondenti su src (rossi)
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std::vector<Point3d> &nfix, // normali corrispondenti su src (rossi)
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std::vector<Point3d> &opmov, // vertici scelti su trg (verdi) prima della trasformazione in ingresso (Original Point Target)
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std::vector<Point3d> &onmov, // normali scelti su trg (verdi)
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const Matrix44d &in, // starting transformation that matches mov points to fix mesh
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Matrix44d &out, // computed transformation
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std::vector<Point3d> &pfix, // (red) corresponding vertices on src
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std::vector<Point3d> &nfix, // (red) corresponding normals on src
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std::vector<Point3d> &opmov, // chosen vertices on trg (verdi) before the input transormation (Original Point Target)
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std::vector<Point3d> &onmov, // chosen normals on trg (verdi)
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Histogramf &h,
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Stat &as)
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{
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std::vector<char> beyondCntVec; // vettore per marcare i movvert che sicuramente non si devono usare
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// ogni volta che un vertice si trova a distanza oltre max dist viene incrementato il suo contatore;
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// i movvert che sono stati scartati piu' di MaxCntDist volte non si guardano piu';
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std::vector<char> beyondCntVec; // flag vector to set the movverts that we should not use
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// every time that a vertex is at a distance beyound max dist, its counter is incremented;
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// movverts that has been discarded more than MaxCntDist times will not be considered anymore
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const int maxBeyondCnt = 3;
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std::vector< Point3d > movvert;
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std::vector< Point3d > movnorm;
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std::vector<Point3d> pmov; // vertici scelti dopo la trasf iniziale
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std::vector<Point3d> pmov; // vertices chosen after the transformation
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status = SUCCESS;
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int tt0 = clock();
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@ -746,7 +747,7 @@ in
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}
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} // End for each pmov
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int tts1 = clock();
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//printf("Found %d pairs\n",(int)pfix.size());
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printf("Found %d pairs\n",(int)pfix.size());
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if (!choosePoints(pfix, nfix, pmov, opmov, ap.PassHiFilter, h)) {
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if (int(pfix.size()) < ap.MinPointNum){
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status = TOO_FEW_POINTS;
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@ -778,8 +779,8 @@ in
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//}
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//printf("Distance %f -> %f\n",sum_before/double(pfix.size()),sum_after/double(pfix.size()) ) ;
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// le passate successive utilizzano quindi come trasformazione iniziale questa appena trovata.
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// Nei prossimi cicli si parte da questa matrice come iniziale.
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// the following tuns will use as a initial transformation, the one that has been just found.
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// in the next loops the starting matrix will be this one.
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out = newout * out;
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assert(pfix.size() == pmov.size());
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@ -798,6 +799,7 @@ in
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// We use 5 times the <ReduceFactor> percentile of the found points.
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if (ap.ReduceFactorPerc<1)
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startMinDist = std::max(ap.MinDistAbs*ap.MinMinDistPerc, std::min(startMinDist, 5.0*h.Percentile(float(ap.ReduceFactorPerc))));
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//as.dump(stderr);
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} while (
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nc <= ap.MaxIterNum &&
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h.Percentile(.5) > ap.TrgDistAbs &&
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@ -826,10 +828,11 @@ in
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}
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/*
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Funzione chiamata dalla Align ad ogni ciclo
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Riempie i vettori <MovVert> e <MovNorm> con i coordinate e normali presi dal vettore di vertici mov
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della mesh da muovere trasformata secondo la matrice <In>
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Calcola anche il nuovo bounding box di tali vertici trasformati.
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* Function called by Align at every cycle.
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* It fills the <MovVert> and <MovNorm> vectors with the coordinates and normals
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* taken from the the vertex vector "mov" of the mesh to move according to the
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* matrix <In>.
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* It computes also the new bounding box of the transformed vertices
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*/
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inline bool initMov(
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std::vector< Point3d > &movvert,
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