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