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tgErrorMetric.cpp

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#include <blort/TomGine/tgErrorMetric.h>
#include <blort/TomGine/tgCollission.h>

using namespace TomGine;

vec3 tgErrorMetric::GetRandPointInTriangle(const vec3& v0, const vec3& v1, const vec3& v2, unsigned trials) const
{
        vec3 e1 = v1 - v0;
        vec3 e2 = v2 - v0;
        vec3 p;
        
        unsigned i=0;
//      float x = float(rand()) / RAND_MAX;
//      float y = float(rand()) / RAND_MAX;
//      p = v0 + e1*x + e2*y;
        do{
                float x = float(rand()) / RAND_MAX;
                float y = float(rand()) / RAND_MAX;
                p = v0 + e1*x + e2*y;
                i++;
        }while(!tgCollission::PointInTriangle(p,v0,v1,v2) && i<trials);
        
        if(i==trials){
                printf("[tgErrorMetric::GetRandPointInTriangle] Warning: Number of trials exceeded, no point in triangle found.\n");
                p = vec3();
        }
//      printf("[tgErrorMetric::GetRandPointInTriangle] Trials: %d\n", i);
        return p;
}

tgErrorMetric::tgErrorMetric(tgModel model, unsigned num_points)
{
//      double dRandMax = 1.0f/RAND_MAX;
//      
//      printf("%d %e\n", RAND_MAX, dRandMax);
        
        // calculate area of model surface
        double Area = 0.0;
        double dArea = 0.0;
        for(unsigned f=0; f<model.m_faces.size(); f++){
                vec3 e1 = model.m_vertices[model.m_faces[f].v[1]].pos - model.m_vertices[model.m_faces[f].v[0]].pos;
                vec3 e2 = model.m_vertices[model.m_faces[f].v[2]].pos - model.m_vertices[model.m_faces[f].v[0]].pos;
                vec3 c;
                c.cross(e1,e2);
                Area += c.length() * 0.5;
        }
        dArea = 1.0/Area;
        
        // for each face uniformly distribute random points over surface
        unsigned points_used = 0;
        for(unsigned f=0; f<model.m_faces.size(); f++){
                // calculate area of face
                vec3 v0 = model.m_vertices[model.m_faces[f].v[0]].pos;
                vec3 v1 = model.m_vertices[model.m_faces[f].v[1]].pos;
                vec3 v2 = model.m_vertices[model.m_faces[f].v[2]].pos;
                vec3 e1 = v1 - v0;
                vec3 e2 = v2 - v0;
                vec3 c;
                vec3 p;
                c.cross(e1,e2);
                double area = c.length() * 0.5;
                
                // calculate number of points with respect to area of the face
                unsigned n = 0;
                if(f==model.m_faces.size()-1)
                        n = num_points - points_used;  // use up remaining points
                else{
                        n = (unsigned)round(area * dArea * num_points);
                        points_used += n;
                }
                
                // distribute points randomly over face (distinguish triangles and quads)
                if(model.m_faces[f].v.size() == 4){
                        vec3 v3 = model.m_vertices[model.m_faces[f].v[3]].pos;
                        unsigned m = n/2;
                        for(unsigned i=0; i<m; i++){
                                p = GetRandPointInTriangle(v0, v1, v3);
                                pointlist.push_back(p);
                        }
                        for(unsigned i=0; i<(n-m); i++){
                                p = GetRandPointInTriangle(v1, v2, v3);
                                pointlist.push_back(p);
                        }
                }else if(model.m_faces[f].v.size() == 3){
                        for(unsigned i=0; i<n; i++){
                                p = GetRandPointInTriangle(v0, v1, v2);
                                pointlist.push_back(p);
                        }
                }else{
                        printf("[tgErrorMetric::tgErrorMetric] Warning face size not supported (only quads or triangles)\n");
                }
        }
}
        
vec3 tgErrorMetric::Compare(const TomGine::tgPose &p1, const TomGine::tgPose &p2)
{
        double err_x = 0.0;
        double err_y = 0.0;
        double err_z = 0.0;
        double dN = 1.0 / pointlist.size();
        for(unsigned i=0; i<pointlist.size(); i++){
                mat3 R1, R2;
                vec3 t1, t2;
                
                p1.GetPose(R1,t1);
                p2.GetPose(R2,t2);
                
                vec3 verr = (R1 * pointlist[i] + t1) - (R2 * pointlist[i] + t2);
                
                err_x += double(fabs(verr.x)) * dN;
                err_y += double(fabs(verr.y)) * dN;
                err_z += double(fabs(verr.z)) * dN;
        }
        vec3 err = vec3(err_x, err_y, err_z);
        return err;
}

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blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Fri Mar 1 16:57:15 2013