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83 lines
2.7 KiB
83 lines
2.7 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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#ifndef IGL_ITERATIVE_CLOSEST_POINT_H
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#define IGL_ITERATIVE_CLOSEST_POINT_H
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#include "igl_inline.h"
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#include <Eigen/Core>
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#include "AABB.h"
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namespace igl
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{
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// Solve for the rigid transformation that places mesh X onto mesh Y using the
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// iterative closest point method. In particular, optimize:
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//
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// min ∫_X inf ‖x*R+t - y‖² dx
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// R∈SO(3) y∈Y
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// t∈R³
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//
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// Typically optimization strategies include using Gauss Newton
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// ("point-to-plane" linearization) and stochastic descent (sparse random
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// sampling each iteration).
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//
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// Inputs:
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// VX #VX by 3 list of mesh X vertices
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// FX #FX by 3 list of mesh X triangle indices into rows of VX
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// VY #VY by 3 list of mesh Y vertices
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// FY #FY by 3 list of mesh Y triangle indices into rows of VY
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// num_samples number of random samples to use (larger --> more accurate,
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// but also more suceptible to sticking to local minimum)
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// Outputs:
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// R 3x3 rotation matrix so that (VX*R+t,FX) ~~ (VY,FY)
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// t 1x3 translation row vector
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template <
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typename DerivedVX,
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typename DerivedFX,
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typename DerivedVY,
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typename DerivedFY,
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typename DerivedR,
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typename Derivedt
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>
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IGL_INLINE void iterative_closest_point(
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const Eigen::MatrixBase<DerivedVX> & VX,
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const Eigen::MatrixBase<DerivedFX> & FX,
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const Eigen::MatrixBase<DerivedVY> & VY,
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const Eigen::MatrixBase<DerivedFY> & FY,
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const int num_samples,
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const int max_iters,
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Eigen::PlainObjectBase<DerivedR> & R,
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Eigen::PlainObjectBase<Derivedt> & t);
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// Inputs:
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// Ytree precomputed AABB tree for accelerating closest point queries
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// NY #FY by 3 list of precomputed unit face normals
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template <
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typename DerivedVX,
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typename DerivedFX,
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typename DerivedVY,
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typename DerivedFY,
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typename DerivedNY,
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typename DerivedR,
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typename Derivedt
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>
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IGL_INLINE void iterative_closest_point(
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const Eigen::MatrixBase<DerivedVX> & VX,
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const Eigen::MatrixBase<DerivedFX> & FX,
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const Eigen::MatrixBase<DerivedVY> & VY,
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const Eigen::MatrixBase<DerivedFY> & FY,
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const igl::AABB<DerivedVY,3> & Ytree,
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const Eigen::MatrixBase<DerivedNY> & NY,
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const int num_samples,
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const int max_iters,
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Eigen::PlainObjectBase<DerivedR> & R,
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Eigen::PlainObjectBase<Derivedt> & t);
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}
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#ifndef IGL_STATIC_LIBRARY
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# include "iterative_closest_point.cpp"
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#endif
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#endif
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