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// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/.
#ifndef IGL_ITERATIVE_CLOSEST_POINT_H
#define IGL_ITERATIVE_CLOSEST_POINT_H
#include "igl_inline.h"
#include <Eigen/Core>
#include "AABB.h"
namespace igl
{
// Solve for the rigid transformation that places mesh X onto mesh Y using the
// iterative closest point method. In particular, optimize:
//
// min ∫_X inf ‖x*R+t - y‖² dx
// R∈SO(3) y∈Y
// t∈R³
//
// Typically optimization strategies include using Gauss Newton
// ("point-to-plane" linearization) and stochastic descent (sparse random
// sampling each iteration).
//
// Inputs:
// VX #VX by 3 list of mesh X vertices
// FX #FX by 3 list of mesh X triangle indices into rows of VX
// VY #VY by 3 list of mesh Y vertices
// FY #FY by 3 list of mesh Y triangle indices into rows of VY
// num_samples number of random samples to use (larger --> more accurate,
// but also more suceptible to sticking to local minimum)
// Outputs:
// R 3x3 rotation matrix so that (VX*R+t,FX) ~~ (VY,FY)
// t 1x3 translation row vector
template <
typename DerivedVX,
typename DerivedFX,
typename DerivedVY,
typename DerivedFY,
typename DerivedR,
typename Derivedt
>
IGL_INLINE void iterative_closest_point(
const Eigen::MatrixBase<DerivedVX> & VX,
const Eigen::MatrixBase<DerivedFX> & FX,
const Eigen::MatrixBase<DerivedVY> & VY,
const Eigen::MatrixBase<DerivedFY> & FY,
const int num_samples,
const int max_iters,
Eigen::PlainObjectBase<DerivedR> & R,
Eigen::PlainObjectBase<Derivedt> & t);
// Inputs:
// Ytree precomputed AABB tree for accelerating closest point queries
// NY #FY by 3 list of precomputed unit face normals
template <
typename DerivedVX,
typename DerivedFX,
typename DerivedVY,
typename DerivedFY,
typename DerivedNY,
typename DerivedR,
typename Derivedt
>
IGL_INLINE void iterative_closest_point(
const Eigen::MatrixBase<DerivedVX> & VX,
const Eigen::MatrixBase<DerivedFX> & FX,
const Eigen::MatrixBase<DerivedVY> & VY,
const Eigen::MatrixBase<DerivedFY> & FY,
const igl::AABB<DerivedVY,3> & Ytree,
const Eigen::MatrixBase<DerivedNY> & NY,
const int num_samples,
const int max_iters,
Eigen::PlainObjectBase<DerivedR> & R,
Eigen::PlainObjectBase<Derivedt> & t);
}
#ifndef IGL_STATIC_LIBRARY
# include "iterative_closest_point.cpp"
#endif
#endif