align_pair sample working

apps/sample/common.pri

@@ -8,7 +8,7 @@ INCLUDEPATH += \
 	../../../eigenlib
 
 
-CONFIG += console c++11
+CONFIG += c++11
 TEMPLATE = app
 
 # Mac specific Config required to avoid to make application bundles

apps/sample/trimesh_align_pair/my_mesh.h

@@ -1,151 +0,0 @@
-/****************************************************************************
-* VCGLib                                                            o o     *
-* Visual and Computer Graphics Library                            o     o   *
-*                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
-* Visual Computing Lab                                            /\/|      *
-* ISTI - Italian National Research Council                           |      *
-*                                                                    \      *
-* All rights reserved.                                                      *
-*                                                                           *
-* This program is free software; you can redistribute it and/or modify      *
-* it under the terms of the GNU General Public License as published by      *
-* the Free Software Foundation; either version 2 of the License, or         *
-* (at your option) any later version.                                       *
-*                                                                           *
-* This program is distributed in the hope that it will be useful,           *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
-* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
-* for more details.                                                         *
-*                                                                           *
-****************************************************************************/
-#ifndef MY_MESH_H
-#define MY_MESH_H
-
-#include <vcg/complex/complex.h>
-
-typedef double Scalarm;
-typedef vcg::Point2<Scalarm>   Point2m;
-typedef vcg::Point3<Scalarm>   Point3m;
-typedef vcg::Point4<Scalarm>   Point4m;
-typedef vcg::Plane3<Scalarm>   Plane3m;
-typedef vcg::Segment2<Scalarm> Segment2m;
-typedef vcg::Segment3<Scalarm> Segment3m;
-typedef vcg::Box3<Scalarm>     Box3m;
-typedef vcg::Matrix44<Scalarm> Matrix44m;
-typedef vcg::Matrix33<Scalarm> Matrix33m;
-typedef vcg::Shot<Scalarm>     Shotm;
-typedef vcg::Similarity<Scalarm> Similaritym;
-
-namespace vcg
-{
-	namespace vertex
-	{
-		template <class T> class Coord3m: public Coord<vcg::Point3<Scalarm>, T> {
-		public:	static void Name(std::vector<std::string> & name){name.push_back(std::string("Coord3m"));T::Name(name);}
-		};
-
-		template <class T> class Normal3m: public Normal<vcg::Point3<Scalarm>, T> {
-		public:	static void Name(std::vector<std::string> & name){name.push_back(std::string("Normal3m"));T::Name(name);}
-		};
-
-		template <class T> class CurvatureDirmOcf: public CurvatureDirOcf<CurvatureDirTypeOcf<Scalarm>, T> {
-		public:	static void Name(std::vector<std::string> & name){name.push_back(std::string("CurvatureDirmOcf"));T::Name(name);}
-		};
-
-		template <class T> class RadiusmOcf: public RadiusOcf<Scalarm, T> {
-		public:	static void Name(std::vector<std::string> & name){name.push_back(std::string("RadiusmOcf"));T::Name(name);}
-		};
-
-	}//end namespace vertex
-	namespace face
-	{
-		template <class T> class Normal3m: public NormalAbs<vcg::Point3<Scalarm>, T> {
-		public:  static void Name(std::vector<std::string> & name){name.push_back(std::string("Normal3m"));T::Name(name);}
-		};
-
-		template <class T> class CurvatureDirmOcf: public CurvatureDirOcf<CurvatureDirOcfBaseType<Scalarm>, T> {
-		public:	static void Name(std::vector<std::string> & name){name.push_back(std::string("CurvatureDirdOcf"));T::Name(name);}
-		};
-
-	}//end namespace face
-}//end namespace vcg
-
-// Forward declarations needed for creating the used types
-class CVertexO;
-class CEdgeO;
-class CFaceO;
-
-// Declaration of the semantic of the used types
-class CUsedTypesO: public vcg::UsedTypes < vcg::Use<CVertexO>::AsVertexType,
-	vcg::Use<CEdgeO   >::AsEdgeType,
-	vcg::Use<CFaceO  >::AsFaceType >{};
-
-
-// The Main Vertex Class
-// Most of the attributes are optional and must be enabled before use.
-// Each vertex needs 40 byte, on 32bit arch. and 44 byte on 64bit arch.
-
-class CVertexO  : public vcg::Vertex< CUsedTypesO,
-	vcg::vertex::InfoOcf,           /*  4b */
-	vcg::vertex::Coord3m,           /* 12b */
-	vcg::vertex::BitFlags,          /*  4b */
-	vcg::vertex::Normal3m,          /* 12b */
-	vcg::vertex::Qualityf,          /*  4b */
-	vcg::vertex::Color4b,           /*  4b */
-	vcg::vertex::VFAdjOcf,          /*  0b */
-	vcg::vertex::MarkOcf,           /*  0b */
-	vcg::vertex::TexCoordfOcf,      /*  0b */
-	vcg::vertex::CurvaturefOcf,     /*  0b */
-	vcg::vertex::CurvatureDirmOcf,  /*  0b */
-	vcg::vertex::RadiusmOcf         /*  0b */
->{
-};
-
-
-// The Main Edge Class
-class CEdgeO : public vcg::Edge<CUsedTypesO,
-	vcg::edge::BitFlags,          /*  4b */
-	vcg::edge::EVAdj,
-	vcg::edge::EEAdj
->{
-};
-
-// Each face needs 32 byte, on 32bit arch. and 48 byte on 64bit arch.
-class CFaceO    : public vcg::Face<  CUsedTypesO,
-	vcg::face::InfoOcf,              /* 4b */
-	vcg::face::VertexRef,            /*12b */
-	vcg::face::BitFlags,             /* 4b */
-	vcg::face::Normal3m,             /*12b */
-	vcg::face::QualityfOcf,          /* 0b */
-	vcg::face::MarkOcf,              /* 0b */
-	vcg::face::Color4bOcf,           /* 0b */
-	vcg::face::FFAdjOcf,             /* 0b */
-	vcg::face::VFAdjOcf,             /* 0b */
-	vcg::face::CurvatureDirmOcf,     /* 0b */
-	vcg::face::WedgeTexCoordfOcf     /* 0b */
-> {};
-
-
-class MyMesh    : public vcg::tri::TriMesh< vcg::vertex::vector_ocf<CVertexO>, vcg::face::vector_ocf<CFaceO> >
-{
-public :
-	int sfn;    //The number of selected faces.
-	int svn;    //The number of selected vertices.
-
-	int pvn; //the number of the polygonal vertices
-	int pfn; //the number of the polygonal faces
-
-	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)
-
-	const Box3m &trBB()
-	{
-		static Box3m bb;
-		bb.SetNull();
-		bb.Add(Tr,bbox);
-		return bb;
-	}
-};
-
-#endif // MY_MESH_H

apps/sample/trimesh_align_pair/trimesh_align_pair.cpp

@@ -36,7 +36,14 @@ This file contain a minimal example of the library
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-#include "my_mesh.h"
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes : public vcg::UsedTypes<	vcg::Use<MyVertex>::AsVertexType,    vcg::Use<MyFace>::AsFaceType>{};
+
+class MyVertex  : public vcg::Vertex< MyUsedTypes, vcg::vertex::Coord3d, vcg::vertex::Normal3d, vcg::vertex::Color4b, vcg::vertex::BitFlags  >{};
+class MyFace    : public vcg::Face < MyUsedTypes, vcg::face::VertexRef, vcg::face::Normal3d, vcg::face::FFAdj, vcg::face::Mark, vcg::face::BitFlags > {};
+class MyMesh    : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> > {};
 
 using namespace vcg;
 using namespace std;
@@ -62,28 +69,30 @@ int main(int argc,char ** argv)
 	}
 
 	//open second mesh
-	err = tri::io::Importer<MyMesh>::Open(m1,argv[2]);
+	err = tri::io::Importer<MyMesh>::Open(m2,argv[2]);
 	if(err) { // all the importers return 0 in case of success
 		printf("Error in reading %s: '%s'\n", argv[2], tri::io::Importer<MyMesh>::ErrorMsg(err));
 		exit(-1);
 	}
 
+	vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m1);
+	vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m2);
+
 	////PARAMS
 	/////TODO
-	vcg::Matrix44d MovM;
 	vcg::AlignPair::Result result;
 	vcg::AlignPair::Param ap;
 
 	//MovM
-	vcg::Matrix44d FixM=vcg::Matrix44d::Construct(m1.Tr);
+	//vcg::Matrix44d FixM=vcg::Matrix44d::Construct(m1.Tr);
-	MovM=vcg::Matrix44d::Construct(m2.Tr);
+	//MovM=vcg::Matrix44d::Construct(m2.Tr);
-	MovM = Inverse(FixM) * MovM;
+	//MovM = Inverse(FixM) * MovM;
 
 	vcg::AlignPair::A2Mesh fix;
 	vcg::AlignPair aa;
 
 	// 1) Convert fixed mesh and put it into the grid.
-	m1.face.EnableMark();
+	//m1.face.EnableMark();
 	aa.convertMesh<MyMesh>(m1,fix);
 
 	vcg::AlignPair::A2Grid UG;
@@ -101,7 +110,7 @@ int main(int argc,char ** argv)
 
 	// 2) Convert the second mesh and sample a <ap.SampleNum> points on it.
 	//MM(movId)->updateDataMask(MeshModel::MM_FACEMARK);
-	m2.face.EnableMark();
+	//m2.face.EnableMark();
 	std::vector<vcg::AlignPair::A2Vertex> tmpmv;
 	aa.convertVertex(m2.vert,tmpmv);
 	aa.sampleMovVert(tmpmv, ap.SampleNum, ap.SampleMode);
@@ -110,14 +119,13 @@ int main(int argc,char ** argv)
 	aa.fix=&fix;
 	aa.ap = ap;
 
-	vcg::Matrix44d In=MovM;
+	vcg::Matrix44d In;
+	In.SetIdentity();
 	// Perform the ICP algorithm
 	aa.align(In,UG,VG,result);
 
-	m2.Tr = result.Tr;
+	tri::UpdatePosition<MyMesh>::Matrix(m2, result.Tr, true);
-	tri::UpdatePosition<MyMesh>::Matrix(m2, m2.Tr, true);
 	tri::UpdateBounding<MyMesh>::Box(m2);
-	m2.Tr.SetIdentity();
 
 	//result.FixName=fixId;
 	//result.MovName=movId;

apps/sample/trimesh_align_pair/trimesh_align_pair.pro

@@ -2,9 +2,6 @@ include(../common.pri)
 
 TARGET = trimesh_align_pair
 
-HEADERS += \
-	my_mesh.h
-
 SOURCES += \
 	trimesh_align_pair.cpp \
 	../../../wrap/ply/plylib.cpp

vcg/complex/algorithms/align_pair.h

@@ -24,6 +24,7 @@
 #define VCG_ALIGN_PAIR_H
 
 #include <ctime>
+#include <stdio.h>
 #include <vcg/math/histogram.h>
 #include <vcg/math/matrix44.h>
 #include <vcg/math/random_generator.h>
@@ -643,22 +644,22 @@ in
 	inline bool align(
 			A2Grid &u,
 			A2GridVert &uv,
-			const Matrix44d &in,			// trasformazione Iniziale che porta i punti di mov su fix
+			const Matrix44d &in,			// starting transformation that matches mov points to fix mesh
-			Matrix44d &out,					// trasformazione calcolata
+			Matrix44d &out,					// computed transformation
-			std::vector<Point3d> &pfix,		// vertici corrispondenti su src (rossi)
+			std::vector<Point3d> &pfix,		// (red) corresponding vertices on src
-			std::vector<Point3d> &nfix, 	// normali corrispondenti su src (rossi)
+			std::vector<Point3d> &nfix, 	// (red) corresponding normals on src
-			std::vector<Point3d> &opmov,	// vertici scelti su trg (verdi) prima della trasformazione in ingresso (Original Point Target)
+			std::vector<Point3d> &opmov,	// chosen vertices on trg (verdi) before the input transormation (Original Point Target)
-			std::vector<Point3d> &onmov, 	// normali scelti su trg (verdi)
+			std::vector<Point3d> &onmov, 	// chosen normals on trg (verdi)
 			Histogramf &h,
 			Stat &as)
 	{
-		std::vector<char> beyondCntVec; // vettore per marcare i movvert che sicuramente non si devono usare
+		std::vector<char> beyondCntVec; // flag vector to set the movverts that we should not use
-		// ogni volta che un vertice si trova a distanza oltre max dist viene incrementato il suo contatore;
+		// every time that a vertex is at a distance beyound max dist, its counter is incremented;
-		// i movvert che sono stati scartati piu' di MaxCntDist volte non si guardano piu';
+		// movverts that has been discarded more than MaxCntDist times will not be considered anymore
 		const int maxBeyondCnt = 3;
 		std::vector< Point3d > movvert;
 		std::vector< Point3d > movnorm;
-		std::vector<Point3d> pmov; // vertici scelti dopo la trasf iniziale
+		std::vector<Point3d> pmov; // vertices chosen after the transformation
 		status = SUCCESS;
 		int tt0 = clock();
 
@@ -746,7 +747,7 @@ in
 				}
 			} // End for each pmov
 			int tts1 = clock();
-			//printf("Found %d pairs\n",(int)pfix.size());
+			printf("Found %d pairs\n",(int)pfix.size());
 			if (!choosePoints(pfix, nfix, pmov, opmov, ap.PassHiFilter, h)) {
 				if (int(pfix.size()) < ap.MinPointNum){
 					status = TOO_FEW_POINTS;
@@ -778,8 +779,8 @@ in
 			//}
 			//printf("Distance %f -> %f\n",sum_before/double(pfix.size()),sum_after/double(pfix.size()) ) ;
 
-			// le passate successive utilizzano quindi come trasformazione iniziale questa appena trovata.
+			// the following tuns will use as a initial transformation, the one that has been just found.
-			// Nei prossimi cicli si parte da questa matrice come iniziale.
+			// in the next loops the starting matrix will be this one.
 			out = newout * out;
 
 			assert(pfix.size() == pmov.size());
@@ -798,6 +799,7 @@ in
 			// We use 5 times the <ReduceFactor> percentile of the found points.
 			if (ap.ReduceFactorPerc<1)
 				startMinDist = std::max(ap.MinDistAbs*ap.MinMinDistPerc, std::min(startMinDist, 5.0*h.Percentile(float(ap.ReduceFactorPerc))));
+			//as.dump(stderr);
 		} while (
 				nc <= ap.MaxIterNum &&
 				h.Percentile(.5) > ap.TrgDistAbs &&
@@ -826,10 +828,11 @@ in
 	}
 
 	/*
-	Funzione chiamata dalla Align ad ogni ciclo
+	 * Function called by Align at every cycle.
-	Riempie i vettori <MovVert> e <MovNorm> con i coordinate e normali presi dal vettore di vertici mov
+	 * It fills the <MovVert> and <MovNorm> vectors with the coordinates and normals
-	della mesh da muovere trasformata secondo la matrice <In>
+	 * taken from the the vertex vector "mov" of the mesh to move according to the
-	Calcola anche il nuovo bounding box di tali vertici trasformati.
+	 * matrix <In>.
+	 * It computes also the new bounding box of the transformed vertices
 	*/
 	inline bool initMov(
 			std::vector< Point3d > &movvert,