This class provides a strategy to estimate the overlap percentage of two range maps/point clouds. More...
#include <overlap_estimation.h>
Classes | |
| class | Parameters |
| Public class to hold parameters. Used to avoid endless list of parameters inside functions. More... | |
| class | VertexPointerSampler |
Public Types | |
| typedef MeshType::CoordType | CoordType |
| typedef MeshType::FaceType | FaceType |
| typedef tri::VertTmark< MeshType > | MarkerVertex |
| typedef GridStaticPtr < VertexType, ScalarType > | MeshGrid |
| typedef MESH_TYPE | MeshType |
| typedef MeshType::ScalarType | ScalarType |
| typedef MeshType::VertexIterator | VertexIterator |
| typedef MeshType::VertexPointer | VertexPointer |
| typedef vector< VertexPointer > ::iterator | VertexPointerIterator |
| typedef MeshType::VertexType | VertexType |
Public Member Functions | |
| int | Check (Parameters ¶m) |
| float | Compute (Parameters ¶m) |
| bool | Init (Parameters ¶m) |
| OverlapEstimation () | |
| void | Paint () |
| void | SetFix (MeshType &m) |
| void | SetMove (MeshType &m) |
| ~OverlapEstimation () | |
Private Member Functions | |
| vector< vector< int > > * | BucketVertexNormal (typename MESH_TYPE::VertContainer &vert, int bucketDim=30) |
| bool | SampleVertNormalEqualized (vector< typename MESH_TYPE::VertexPointer > &vert, int SampleNum) |
| void | SampleVertUniform (MESH_TYPE &m, vector< typename MESH_TYPE::VertexPointer > &vert, int sampleNum) |
| void | SetupGrid () |
Static Private Member Functions | |
| static int | LocRnd (int n) |
| static math::SubtractiveRingRNG & | LocRnd () |
Private Attributes | |
| MeshGrid * | gridFix |
| MarkerVertex | markerFunctorFix |
| MeshType * | mFix |
| MeshType * | mMov |
| vector< vector< int > > * | normBuckets |
This class provides a strategy to estimate the overlap percentage of two range maps/point clouds.
This class can be used, for exemple, into an automatic alignment process to check the quality of the transformation found; the idea is that bad alignments should have a small overlap. Two points are considered 'overlapping in the righ way' if they are close (i.e distance is less then consensusDist) and at the same time points' normals match quite well (i.e the angle between them is less then consensusNormalsAngle). The test to compute the overlap is perfomed on a given number of points (2500 is the default) sampled in a normal equalized way (default) or uniformly.
Definition at line 48 of file overlap_estimation.h.
| typedef MeshType::CoordType OverlapEstimation< MESH_TYPE >::CoordType |
Definition at line 54 of file overlap_estimation.h.
| typedef MeshType::FaceType OverlapEstimation< MESH_TYPE >::FaceType |
Definition at line 56 of file overlap_estimation.h.
| typedef tri::VertTmark<MeshType> OverlapEstimation< MESH_TYPE >::MarkerVertex |
Definition at line 61 of file overlap_estimation.h.
| typedef GridStaticPtr<VertexType, ScalarType > OverlapEstimation< MESH_TYPE >::MeshGrid |
Definition at line 60 of file overlap_estimation.h.
| typedef MESH_TYPE OverlapEstimation< MESH_TYPE >::MeshType |
Definition at line 52 of file overlap_estimation.h.
| typedef MeshType::ScalarType OverlapEstimation< MESH_TYPE >::ScalarType |
Definition at line 53 of file overlap_estimation.h.
| typedef MeshType::VertexIterator OverlapEstimation< MESH_TYPE >::VertexIterator |
Definition at line 58 of file overlap_estimation.h.
| typedef MeshType::VertexPointer OverlapEstimation< MESH_TYPE >::VertexPointer |
Definition at line 57 of file overlap_estimation.h.
| typedef vector<VertexPointer>::iterator OverlapEstimation< MESH_TYPE >::VertexPointerIterator |
Definition at line 59 of file overlap_estimation.h.
| typedef MeshType::VertexType OverlapEstimation< MESH_TYPE >::VertexType |
Definition at line 55 of file overlap_estimation.h.
| OverlapEstimation< MESH_TYPE >::OverlapEstimation | ( | ) | [inline] |
Default constructor.
Definition at line 119 of file overlap_estimation.h.
| OverlapEstimation< MESH_TYPE >::~OverlapEstimation | ( | ) | [inline] |
Default destructor. Deallocates structures.
Definition at line 121 of file overlap_estimation.h.
| vector<vector<int> >* OverlapEstimation< MESH_TYPE >::BucketVertexNormal | ( | typename MESH_TYPE::VertContainer & | vert, | |
| int | bucketDim = 30 | |||
| ) | [inline, private] |
Buckets normals of the vertexes contained in vert .
vert . Definition at line 261 of file overlap_estimation.h.
| int OverlapEstimation< MESH_TYPE >::Check | ( | Parameters & | param | ) | [inline] |
Compute the overlap estimation between mFix and mMov.
| param | A reference to a Parameter class containing all the desidered options to estimate overlap. |
Definition at line 178 of file overlap_estimation.h.
| float OverlapEstimation< MESH_TYPE >::Compute | ( | Parameters & | param | ) | [inline] |
Compute the overlap estimation between mFix and mMov.
| param | A reference to a Parameter class containing all the desidered options to estimate overlap. |
Definition at line 168 of file overlap_estimation.h.
| bool OverlapEstimation< MESH_TYPE >::Init | ( | Parameters & | param | ) | [inline] |
Initializes structures.
| param | A reference to a Parameter class containing all the desidered options to estimate overlap. |
true if everything goes right. Definition at line 149 of file overlap_estimation.h.
| static int OverlapEstimation< MESH_TYPE >::LocRnd | ( | int | n | ) | [inline, static, private] |
Gets a random number in the interval [0..n] . Number is produced by a SubtractiveRingRNG object initialized once for all.
Definition at line 316 of file overlap_estimation.h.
| static math::SubtractiveRingRNG& OverlapEstimation< MESH_TYPE >::LocRnd | ( | ) | [inline, static, private] |
Function to retrieve a static random number generator object.
SubtractiveRingRNG object. Definition at line 308 of file overlap_estimation.h.
| void OverlapEstimation< MESH_TYPE >::Paint | ( | ) | [inline] |
Paint mMov according to the overlap estimation result. Works only if Compute() or Check() have been previously called with Parameters.paint=true .
Legend:
Definition at line 134 of file overlap_estimation.h.
| bool OverlapEstimation< MESH_TYPE >::SampleVertNormalEqualized | ( | vector< typename MESH_TYPE::VertexPointer > & | vert, | |
| int | SampleNum | |||
| ) | [inline, private] |
Samples the vert vector in a normal equalized way.
SampleNum pointers to vertexes sampled in a normal equalized way. Pointers are stored in the vert (i.e it is an in/out parameter). Definition at line 280 of file overlap_estimation.h.
| void OverlapEstimation< MESH_TYPE >::SampleVertUniform | ( | MESH_TYPE & | m, | |
| vector< typename MESH_TYPE::VertexPointer > & | vert, | |||
| int | sampleNum | |||
| ) | [inline, private] |
Fill the vector vert with sampleNum pointers to vertexes sampled uniformly from mesh m .
| m | Source mesh. | |
| vert | Destination vector. | |
| sampleNum | Requested number of vertexes. |
Definition at line 252 of file overlap_estimation.h.
| void OverlapEstimation< MESH_TYPE >::SetFix | ( | MeshType & | m | ) | [inline] |
Set the fix mesh mFix.
Definition at line 126 of file overlap_estimation.h.
| void OverlapEstimation< MESH_TYPE >::SetMove | ( | MeshType & | m | ) | [inline] |
Set the move mesh mMov.
Definition at line 128 of file overlap_estimation.h.
| void OverlapEstimation< MESH_TYPE >::SetupGrid | ( | ) | [inline, private] |
Put mFix into a grid.
Definition at line 320 of file overlap_estimation.h.
MeshGrid* OverlapEstimation< MESH_TYPE >::gridFix [private] |
Definition at line 114 of file overlap_estimation.h.
MarkerVertex OverlapEstimation< MESH_TYPE >::markerFunctorFix [private] |
Definition at line 115 of file overlap_estimation.h.
MeshType* OverlapEstimation< MESH_TYPE >::mFix [private] |
Definition at line 111 of file overlap_estimation.h.
MeshType* OverlapEstimation< MESH_TYPE >::mMov [private] |
Pointer to mesh mFix.
Definition at line 112 of file overlap_estimation.h.
vector<vector<int> >* OverlapEstimation< MESH_TYPE >::normBuckets [private] |
Pointer to mesh mMov.
Definition at line 113 of file overlap_estimation.h.