145 lines
5.9 KiB
C++
145 lines
5.9 KiB
C++
/****************************************************************************
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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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#include<vcg/complex/complex.h>
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#include<wrap/io_trimesh/import.h>
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#include<wrap/io_trimesh/export.h>
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#include<vcg/complex/algorithms/update/topology.h>
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#include<vcg/complex/algorithms/update/normal.h>
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#include<vcg/complex/algorithms/update/color.h>
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#include<vcg/complex/algorithms/inertia.h>
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#include<vcg/complex/algorithms/point_sampling.h>
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#include<vcg/complex/algorithms/ransac_matching.h>
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#include<vcg/space/index/kdtree/kdtree.h>
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#include<vcg/space/point_matching.h>
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using namespace vcg;
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class MyVertex; class MyEdge; class MyFace;
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struct MyUsedTypes : public UsedTypes<Use<MyVertex> ::AsVertexType,
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Use<MyEdge> ::AsEdgeType,
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Use<MyFace> ::AsFaceType>{};
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class MyVertex : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::Color4b, vertex::Qualityf, vertex::BitFlags >{};
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class MyFace : public Face< MyUsedTypes, face::FFAdj, face::Color4b, face::Normal3f, face::VertexRef, face::BitFlags > {};
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class MyEdge : public Edge< MyUsedTypes, edge::VertexRef, edge::VEAdj, edge::EEAdj, edge::BitFlags> {};
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class MyMesh : public tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge> > {};
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int main( int argc, char **argv )
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{
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setvbuf(stdout, NULL, _IONBF, 0);
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if(argc<3)
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{
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printf("Usage alignmeshmesh <meshfilename2.ply> <meshfilename2.ply>\n");
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return -1;
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}
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MyMesh fixM,movM;
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tri::io::Importer<MyMesh>::Open(fixM,argv[1]);
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printf( "Mesh0 has %i vert and %i faces\n", fixM.VN(), fixM.FN() );
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tri::io::Importer<MyMesh>::Open(movM,argv[2]);
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printf( "Mesh1 has %i vert and %i faces\n", movM.VN(), movM.FN() );
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math::MarsenneTwisterRNG rnd;
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tri::UpdateBounding<MyMesh>::Box(fixM);
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tri::UpdateBounding<MyMesh>::Box(movM);
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Point3f delta = math::GeneratePointInUnitBallUniform<float>(rnd) * fixM.bbox.Diag();
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tri::UpdatePosition<MyMesh>::Translate(movM,delta);
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Point3f axis = math::GeneratePointOnUnitSphereUniform<float>(rnd);
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float angle = rnd.generate01() * M_PI;
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Matrix44f rot; rot.SetRotateRad(angle,axis);
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tri::UpdatePosition<MyMesh>::Matrix(movM,rot);
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tri::io::ExporterPLY<MyMesh>::Save(movM,"out.ply");
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int randSeed = clock();
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RansacFramework<MyMesh,BaseFeatureSet<MyMesh> > Ran;
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RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Param pp;
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BaseFeatureSet<MyMesh>::Param fpp;
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pp.samplingRadiusPerc=0.008;
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pp.evalSize=50;
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pp.inlierRatioThr = 0.5;
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pp.iterMax = 400;
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pp.maxMatchingFeatureNum = 500;
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fpp.featureSampleRatio=0.5;
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std::vector<RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Candidate> cVec;
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// RansacFramework<MyMesh,NDFeatureSet<MyMesh> > Ran;
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// RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Param pp;
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// NDFeatureSet<MyMesh>::Param fpp;
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// std::vector<RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Candidate> cVec;
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// pp.samplingRadiusPerc=0.01;
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// pp.evalSize=100;
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// pp.inlierRatioThr = 0.4;
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// pp.iterMax = 1000;
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// int t0=clock();
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// fpp.levAbs[0]=pp.samplingRadiusAbs*2.0;
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// fpp.levAbs[0]=pp.samplingRadiusAbs*4.0;
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// fpp.levAbs[0]=pp.samplingRadiusAbs*8.0;
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// Ran.Init(fixM,movM,pp,fpp);
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// Ran.EvaluateFeature(30,"featureTest30.ply",pp);
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// fpp.levAbs[0]=pp.samplingRadiusAbs*3.0;
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// fpp.levAbs[0]=pp.samplingRadiusAbs*6.0;
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// fpp.levAbs[0]=pp.samplingRadiusAbs*9.0;
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// Ran.Init(fixM,movM,pp,fpp);
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// Ran.EvaluateFeature(30,"featureTest30a.ply",pp);
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// exit(-1);
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int t0=clock();
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Ran.Init(fixM,movM,pp,fpp);
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int t1=clock();
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Ran.Process_SearchEvaluateTriple(cVec,pp);
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int t2=clock();
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printf("Completed Search (%5.2f init %5.2f search)\n",float(t1-t0)/CLOCKS_PER_SEC, float(t2-t1)/CLOCKS_PER_SEC);
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MyMesh out0; tri::Append<MyMesh,MyMesh>::MeshCopy(out0,fixM);
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//tri::UpdatePosition<MyMesh>::Matrix(out0,cVec[0].Tr);
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tri::io::ExporterPLY<MyMesh>::Save(out0,"out0.ply");
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MyMesh inlierMesh0;
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Ran.DumpInlier(inlierMesh0,cVec[0],pp);
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tri::io::ExporterPLY<MyMesh>::Save(inlierMesh0,"inlier0.ply");
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MyMesh out1; tri::Append<MyMesh,MyMesh>::MeshCopy(out1,movM);
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tri::UpdatePosition<MyMesh>::Matrix(out1,cVec[1].Tr);
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tri::io::ExporterPLY<MyMesh>::Save(out1,"out1.ply");
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MyMesh inlierMesh1;
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Ran.DumpInlier(inlierMesh1,cVec[1],pp);
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tri::io::ExporterPLY<MyMesh>::Save(inlierMesh1,"inlier1.ply");
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return 0;
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}
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