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108 lines
3.1 KiB
108 lines
3.1 KiB
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <igl/read_triangle_mesh.h>
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#include <igl/opengl/glfw/Viewer.h>
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#include <igl/iterative_closest_point.h>
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#include <igl/random_dir.h>
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#include <igl/PI.h>
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#include <igl/AABB.h>
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#include <igl/per_face_normals.h>
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#include <igl/avg_edge_length.h>
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#include <igl/per_vertex_normals.h>
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#include <igl/barycenter.h>
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#include <igl/slice.h>
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#include <igl/slice_mask.h>
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#include <iostream>
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int main(int argc, char * argv[])
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{
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Eigen::MatrixXd OVX,VX,VY;
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Eigen::MatrixXi FX,FY;
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igl::read_triangle_mesh( argc>1?argv[1]: TUTORIAL_SHARED_PATH "/decimated-max.obj",VY,FY);
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const double bbd = (VY.colwise().maxCoeff()-VY.colwise().minCoeff()).norm();
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FX = FY;
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{
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// sprinkle a noise so that we can see z-fighting when the match is perfect.
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const double h = igl::avg_edge_length(VY,FY);
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OVX = VY + 1e-2*h*Eigen::MatrixXd::Random(VY.rows(),VY.cols());
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}
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VX = OVX;
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igl::AABB<Eigen::MatrixXd,3> Ytree;
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Ytree.init(VY,FY);
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Eigen::MatrixXd NY;
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igl::per_face_normals(VY,FY,NY);
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igl::opengl::glfw::Viewer v;
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std::cout<<R"(
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[space] conduct a single iterative closest point iteration
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R,r reset to a random orientation and offset
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)";
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const auto apply_random_rotation = [&]()
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{
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const Eigen::Matrix3d R = Eigen::AngleAxisd(
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2.*igl::PI*(double)rand()/RAND_MAX*0.3, igl::random_dir()).matrix();
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const Eigen::RowVector3d cen =
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0.5*(VY.colwise().maxCoeff()+VY.colwise().minCoeff());
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VX = ((OVX*R).rowwise()+(cen-cen*R)).eval();
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};
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const auto single_iteration = [&]()
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{
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////////////////////////////////////////////////////////////////////////
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// Perform single iteration of ICP method
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////////////////////////////////////////////////////////////////////////
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Eigen::Matrix3d R;
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Eigen::RowVector3d t;
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igl::iterative_closest_point(VX,FX,VY,FY,Ytree,NY,1000,1,R,t);
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VX = ((VX*R).rowwise()+t).eval();
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v.data().set_mesh(VX,FX);
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v.data().compute_normals();
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};
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v.callback_pre_draw = [&](igl::opengl::glfw::Viewer &)->bool
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{
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if(v.core().is_animating)
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{
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single_iteration();
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}
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return false;
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};
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v.callback_key_pressed =
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[&](igl::opengl::glfw::Viewer &,unsigned char key,int)->bool
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{
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switch(key)
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{
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case ' ':
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{
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v.core().is_animating = false;
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single_iteration();
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return true;
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}
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case 'R':
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case 'r':
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// Random rigid transformation
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apply_random_rotation();
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v.data().set_mesh(VX,FX);
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v.data().compute_normals();
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return true;
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break;
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}
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return false;
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};
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v.data().set_mesh(VY,FY);
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v.data().set_colors(Eigen::RowVector3d(1,1,1));
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v.data().show_lines = false;
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v.append_mesh();
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v.data().set_mesh(VX,FX);
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v.data().show_lines = false;
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v.launch();
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}
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