328 lines
16 KiB
C++
328 lines
16 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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#ifndef OVERLAP_ESTIMATION_H
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#define OVERLAP_ESTIMATION_H
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#include <vcg/math/gen_normal.h>
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#include <vcg/math/random_generator.h>
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#include <vcg/space/index/grid_static_ptr.h>
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#include <vcg/complex/algorithms/closest.h>
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#include <vcg/complex/algorithms/point_sampling.h>
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#include <qdatetime.h>
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using namespace std;
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using namespace vcg;
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/** \brief This class provides a strategy to estimate the overlap percentage of two range maps/point clouds.
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*
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* This class can be used, for exemple, into an automatic alignment process to check the quality of the
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* transformation found; the idea is that bad alignments should have a small overlap. Two points are
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* considered 'overlapping in the righ way' if they are close (i.e distance is less then \c consensusDist)
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* and at the same time points' normals match quite well (i.e the angle between them is less then
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* \c consensusNormalsAngle). The test to compute the overlap is perfomed on a given number of points
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* (2500 is the default) sampled in a normal equalized way (default) or uniformly.
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* \author Francesco Tonarelli
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*/
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template<class MESH_TYPE> class OverlapEstimation
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{
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public:
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typedef MESH_TYPE MeshType;
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typedef typename MeshType::ScalarType ScalarType;
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typedef typename MeshType::CoordType CoordType;
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typedef typename MeshType::VertexType VertexType;
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typedef typename MeshType::FaceType FaceType;
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typedef typename MeshType::VertexPointer VertexPointer;
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typedef typename MeshType::VertexIterator VertexIterator;
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typedef typename vector<VertexPointer>::iterator VertexPointerIterator;
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typedef GridStaticPtr<VertexType, ScalarType > MeshGrid;
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typedef tri::EmptyTMark<MeshType> MarkerVertex;
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private:
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/** Private simple class needed to perform sampling of pointers to vertexes. */
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class VertexPointerSampler
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{
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public:
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MeshType* m; //this is needed for advanced sampling (i.e poisson sampling)
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VertexPointerSampler(){ m = new MeshType(); m->Tr.SetIdentity(); m->sfn=0; }
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~VertexPointerSampler(){ if(m) delete m; }
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vector<VertexType*> sampleVec;
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void AddVert(VertexType &p){ sampleVec.push_back(&p); } //this function is the only we really need
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void AddFace(const FaceType &f, const CoordType &p){}
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void AddTextureSample(const FaceType &, const CoordType &, const Point2i &){}
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};
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public:
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/** \brief Public class to hold parameters. Used to avoid endless list of parameters inside functions.
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* \author Francesco Tonarelli
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*/
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class Parameters
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{
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public:
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int samples; ///< Number of samples to check to compute the overlap. Higher values get more accurancy but requires more time.
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int bestScore; ///< Score to overcome to paint \c mMov . If overlap estimation is called many times inside a loop, you can set this value in each iteration to paint \c mMov and see only the best overlap achived.
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float consensusDist; ///< Consensus distance. Lower values should gat more accurancy; high values can lead to performance hit.
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float consensusNormalsAngle; ///< Holds the the consensus angle for normals, in gradients. Lower values decrease accurancy, particulary for range maps with many peaks and high frequencies.
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float threshold; ///< Consensus percentage requested to win consensus. Used to paint \c mMov. If the overlap overcames the \c threshold (and \c bestScore), \c mMov is painted.
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bool normalEqualization; ///< Allows to use normal equalization sampling in consensus. If set to \c false uniform sampling is used instead. Uniform sampling is faster but less accurate.
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bool paint; ///< Allows painting of \c mMov according to consensus. See Paint() for details.
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void (*log)(int level, const char * f, ... ); ///< Pointer to a log function.
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/** Constructor with default values. */
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Parameters()
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{
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samples = 2500;
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bestScore = 0;
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consensusDist = 2.0f;
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consensusNormalsAngle = 0.965f; //15 degrees.
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threshold = 0.0f;
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normalEqualization = true;
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paint = false;
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log = NULL;
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}
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};
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private:
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MeshType* mFix; /** Pointer to mesh \c mFix. */
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MeshType* mMov; /** Pointer to mesh \c mMov. */
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vector<vector<int> >* normBuckets; //structure to hold normals bucketing. Needed for normal equalized sampling during consensus
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MeshGrid* gridFix; //variable to manage uniform grid
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MarkerVertex markerFunctorFix; //variable to manage uniform grid
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public:
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/** Default constructor. */
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OverlapEstimation() : normBuckets(NULL), gridFix(NULL){}
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/** Default destructor. Deallocates structures. */
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~OverlapEstimation(){
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if(normBuckets) delete normBuckets;
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if(gridFix) delete gridFix;
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}
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/** Set the fix mesh \c mFix. */
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void SetFix(MeshType& m){ mFix = &m; }
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/** Set the move mesh \c mMov. */
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void SetMove(MeshType& m){ mMov = &m; }
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/** Paint \c mMov according to the overlap estimation result. Works only if \c Compute() or \c Check() have
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* been previously called with \c Parameters.paint=true .<br>Legend: \arg \e red: points overlaps correctly.
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* \arg \e blue: points are too far to overlap. \arg \e yellow: points are close, but normals mismatch.
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*/
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void Paint()
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{
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for(VertexIterator vi=mMov->vert.begin(); vi!=mMov->vert.end(); vi++){
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if(!(*vi).IsD()){
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if((*vi).Q()==0.0) (*vi).C() = Color4b::Red;
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if((*vi).Q()==1.0) (*vi).C() = Color4b::Yellow;
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if((*vi).Q()==2.0) (*vi).C() = Color4b::Blue;
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}
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}
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}
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/** Initializes structures.
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* @param param A reference to a \c Parameter class containing all the desidered options to estimate overlap.
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* \return \c true if everything goes right.
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*/
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bool Init(Parameters& param){
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//builds the uniform grid with mFix vertices
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gridFix = new MeshGrid();
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SetupGrid();
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//if requested, group normals of mMov into 30 buckets. Buckets are used for Vertex Normal Equalization
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//in consensus. Bucketing is done here once for all to speed up consensus.
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if(normBuckets) {normBuckets->clear(); delete normBuckets; }
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if(param.normalEqualization){
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normBuckets = BucketVertexNormal(mMov->vert, 30);
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assert(normBuckets);
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}
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return true;
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}
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/** Compute the overlap estimation between \c mFix and \c mMov.
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* @param param A reference to a \c Parameter class containing all the desidered options to estimate overlap.
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* \return The percentage of overlap in the range \c [0..1] .
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*/
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float Compute(Parameters& param)
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{
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return Check(param)/float(param.samples);
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}
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/** Compute the overlap estimation between \c mFix and \c mMov.
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* @param param A reference to a \c Parameter class containing all the desidered options to estimate overlap.
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* \return The number of points that overlap correctly. This number is in the range \c [0..param.samples] .
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*/
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//IMPORTANT: per vertex normals of mMov and mFix MUST BE PROVIDED YET NORMALIZED!!!
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int Check(Parameters& param)
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{
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//pointer to a function to compute distance beetween points
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vertex::PointDistanceFunctor<ScalarType> PDistFunct;
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//if no buckets are provided get a vector of vertex pointers sampled uniformly
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//else, get a vector of vertex pointers sampled in a normal equalized manner; used as query points
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vector<VertexPointer> queryVert;
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if(param.normalEqualization){
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assert(normBuckets);
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for(unsigned int i=0; i<mMov->vert.size(); i++) queryVert.push_back(&(mMov->vert[i]));//do a copy of pointers to vertexes
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SampleVertNormalEqualized(queryVert, param.samples);
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}
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else{
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SampleVertUniform(*mMov, queryVert, param.samples);
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}
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assert(queryVert.size()!=0);
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//init variables for consensus
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float consDist = param.consensusDist*(mMov->bbox.Diag()/100.0f); //consensus distance
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int cons_succ = int(param.threshold*(param.samples/100.0f)); //score needed to pass consensus
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int consensus = 0; //counts vertices in consensus
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float dist; //holds the distance of the closest vertex found
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VertexType* closestVertex = NULL; //pointer to the closest vertex
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Point3<ScalarType> queryNrm; //the query point normal for consensus
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CoordType queryPnt; //the query point for consensus
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CoordType closestPnt; //the closest point found in consensus
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Matrix33<ScalarType> inv33_matMov(mMov->Tr,3); //3x3 matrix needed to transform normals
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Matrix33<ScalarType> inv33_matFix(Inverse(mFix->Tr),3); //3x3 matrix needed to transform normals
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//consensus loop
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VertexPointerIterator vi; int i;
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for(i=0, vi=queryVert.begin(); vi!=queryVert.end(); vi++, i++)
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{
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dist = -1.0f;
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//set query point; vertex coord is transformed properly in fix mesh coordinates space; the same for normals
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queryPnt = Inverse(mFix->Tr) * (mMov->Tr * (*vi)->P());
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queryNrm = inv33_matFix * (inv33_matMov * (*vi)->N());
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//if query point is bbox, the look for a vertex in cDist from the query point
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if(mFix->bbox.IsIn(queryPnt)) closestVertex = gridFix->GetClosest(PDistFunct,markerFunctorFix,queryPnt,consDist,dist,closestPnt);
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else closestVertex=NULL; //out of bbox, we consider the point not in consensus...
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if(closestVertex!=NULL && dist < consDist){
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assert(closestVertex->P()==closestPnt); //coord and vertex pointer returned by getClosest must be the same
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//point is in consensus distance, now we check if normals are near
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if(queryNrm.dot(closestVertex->N())>param.consensusNormalsAngle) //15 degrees
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{
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consensus++; //got consensus
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if(param.paint) (*vi)->Q() = 0.0f; //store 0 as quality
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}
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else{
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if(param.paint) (*vi)->Q() = 1.0f; //store 1 as quality
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}
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}
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else{
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if(param.paint) (*vi)->Q() = 2.0f; //store 2 as quality
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}
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}
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//Paint the mesh only if required and if consensus is the best ever found. Colors have been stores as numbers into quality attribute
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if(param.paint){
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if(consensus>=param.bestScore && consensus>=cons_succ) Paint();
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}
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return consensus;
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}
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private:
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/** Fill the vector \c vert with \c sampleNum pointers to vertexes sampled uniformly from mesh \c m .
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* @param m Source mesh.
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* @param vert Destination vector.
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* @param sampleNum Requested number of vertexes.
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*/
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void SampleVertUniform(MESH_TYPE& m, vector<typename MESH_TYPE::VertexPointer>& vert, int sampleNum)
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{
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VertexPointerSampler sampler;
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tri::SurfaceSampling<MeshType, VertexPointerSampler>::VertexUniform(m, sampler, sampleNum);
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for(unsigned int i=0; i<sampler.sampleVec.size(); i++) vert.push_back(sampler.sampleVec[i]);
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}
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/** Buckets normals of the vertexes contained in \c vert .
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* \return A vector of vectors containing indexes to \c vert .
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*/
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vector<vector<int> >* BucketVertexNormal(typename MESH_TYPE::VertContainer& vert, int bucketDim = 30)
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{
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static vector<Point3f> NV;
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if(NV.size()==0) GenNormal<float>::Uniform(bucketDim,NV);
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vector<vector<int> >* BKT = new vector<vector<int> >(NV.size()); //NV size is greater then bucketDim, so don't change this!
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int ind;
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for(int i=0;i<vert.size();++i){
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ind=GenNormal<float>::BestMatchingNormal(vert[i].N(),NV);
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(*BKT)[ind].push_back(i);
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}
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return BKT;
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}
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/** Samples the \c vert vector in a normal equalized way.
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* \return \c SampleNum pointers to vertexes sampled in a normal equalized way. Pointers are stored in
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* the \c vert (i.e it is an \c in/out parameter).
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*/
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bool SampleVertNormalEqualized(vector<typename MESH_TYPE::VertexPointer>& vert, int SampleNum)
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{
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assert(normBuckets);
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// vettore di contatori per sapere quanti punti ho gia' preso per ogni bucket
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vector<int> BKTpos(normBuckets->size(),0);
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if(SampleNum >= int(vert.size())) SampleNum= int(vert.size()-1);
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int ind;
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for(int i=0;i<SampleNum;){
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ind=LocRnd(normBuckets->size()); // Scelgo un Bucket
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int &CURpos = BKTpos[ind];
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vector<int> &CUR = (*normBuckets)[ind];
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if(CURpos<int(CUR.size())){
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swap(CUR[CURpos], CUR[ CURpos + LocRnd((*normBuckets)[ind].size()-CURpos)]);
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swap(vert[i],vert[CUR[CURpos]]);
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++BKTpos[ind];
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++i;
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}
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}
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vert.resize(SampleNum);
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return true;
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}
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/** Function to retrieve a static random number generator object.
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* \return A \c SubtractiveRingRNG object.
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*/
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static math::SubtractiveRingRNG &LocRnd(){
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static math::SubtractiveRingRNG myrnd(time(NULL));
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return myrnd;
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}
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/** Gets a random number in the interval \c [0..n] . Number is
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* produced by a \c SubtractiveRingRNG object initialized once for all.
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* \return A random number in the interval \c [0..n] .
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*/
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static int LocRnd(int n){
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return LocRnd().generate(n);
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}
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/** Put \c mFix into a grid. */
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inline void SetupGrid()
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{
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gridFix->Set(mFix->vert.begin(),mFix->vert.end());
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markerFunctorFix.SetMesh(mFix);
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}
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};
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#endif // OVERLAP_ESTIMATION_H
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