105 lines
4.2 KiB
C++
105 lines
4.2 KiB
C++
/****************************************************************************
|
|
* 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. *
|
|
* *
|
|
****************************************************************************/
|
|
/*! \file trimesh_fitting.cpp
|
|
\ingroup code_sample
|
|
|
|
\brief A small example about sampling and fitting
|
|
|
|
Given a mesh (an icosahedron) for each face we get a few random samples over it, and then we recover:
|
|
- the plane fitting them (that coincide with the face plane and exactly approximate all the sample points)
|
|
- the plane fitting the perturbed version of this set
|
|
- the plane fitting the perturbed version of the set but using a weighted fitting scheme.
|
|
*/
|
|
|
|
#include<vcg/complex/complex.h>
|
|
#include<vcg/complex/algorithms/create/platonic.h>
|
|
#include<vcg/complex/algorithms/point_sampling.h>
|
|
#include<wrap/io_trimesh/import_off.h>
|
|
#include<vcg/space/point_matching.h>
|
|
|
|
using namespace vcg;
|
|
using namespace std;
|
|
|
|
class MyEdge;
|
|
class MyFace;
|
|
class MyVertex;
|
|
struct MyUsedTypes : public vcg::UsedTypes< vcg::Use<MyVertex> ::AsVertexType,
|
|
vcg::Use<MyEdge> ::AsEdgeType,
|
|
vcg::Use<MyFace> ::AsFaceType>{};
|
|
|
|
class MyVertex : public vcg::Vertex<MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::BitFlags >{};
|
|
class MyFace : public vcg::Face< MyUsedTypes, vcg::face::FFAdj, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::BitFlags > {};
|
|
class MyEdge : public vcg::Edge<MyUsedTypes>{};
|
|
class MyMesh : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge> > {};
|
|
|
|
float EvalPlane(vcg::Plane3f &pl, std::vector<vcg::Point3f> posVec)
|
|
{
|
|
float off=0;
|
|
for(size_t i=0;i<posVec.size();++i)
|
|
off += fabs(vcg::SignedDistancePlanePoint(pl,posVec[i]));
|
|
|
|
off/=float(posVec.size());
|
|
return off;
|
|
}
|
|
|
|
|
|
int main( )
|
|
{
|
|
MyMesh m;
|
|
vcg::tri::Icosahedron(m);
|
|
vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(m);
|
|
vcg::tri::UpdateBounding<MyMesh>::Box(m);
|
|
|
|
// As a simple test we get a few random points on a mesh,
|
|
// we rot and trans them
|
|
// and we fit them
|
|
|
|
std::vector<vcg::Point3f> ExactVec;
|
|
std::vector<vcg::Point3f> PerturbVec;
|
|
tri::MontecarloSampling(m,ExactVec,10);
|
|
PerturbVec=ExactVec;
|
|
|
|
Matrix44f RotM;
|
|
Matrix44f TraM;
|
|
Point3f dir;
|
|
vcg::math::MarsenneTwisterRNG rnd;
|
|
|
|
vcg::math::GeneratePointInUnitBallUniform<float>(rnd);
|
|
RotM.SetRotateDeg(rand()%360,dir);
|
|
TraM.SetTranslate(1,2,3);
|
|
Matrix44f RigidM = RotM*TraM;
|
|
|
|
for(size_t i=0;i<ExactVec.size();++i)
|
|
PerturbVec[i]=RigidM*ExactVec[i];
|
|
|
|
Quaternionf q;
|
|
Point3f tr;
|
|
Matrix44f res;
|
|
ComputeRigidMatchMatrix(PerturbVec,ExactVec,res);
|
|
|
|
res.print();
|
|
RigidM.print();
|
|
|
|
return 0;
|
|
}
|