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add overlap meshes filter to the ICP Plugin

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This commit is contained in:
gabryon99 2021-09-27 11:54:34 +02:00
parent e578b742aa
commit 82eebfd23a
3 changed files with 72 additions and 12 deletions
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2
src/meshlabplugins/filter_icp/src/align/icp_align_parameter.cpp
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@ -82,7 +82,7 @@ void FilterIcpAlignParameter::RichParameterSetToMeshTreeParam(const RichParamete
void FilterIcpAlignParameter::MeshTreeParamToRichParameterSet(const MeshTreem::Param &mtp, RichParameterList &rps) {
rps.addParam(RichInt("OGSize", mtp.OGSize, "Occupancy Grid Size",
"To compute the overlap between range maps we discretize them into voxel and count them (both for area and overlap); This parameter affect the resolution of the voxelization process. Using a too fine voxelization can ", false, CATEGORY_ARC_CREATION_PARAMETERS));
"To compute the overlap between range maps we discretize them into voxel and count them (both for area and overlap); This parameter affect the resolution of the voxelization process. Using a too fine voxelization can...", false, CATEGORY_ARC_CREATION_PARAMETERS));
rps.addParam(RichFloat("arcThreshold", mtp.arcThreshold, "Arc Area Thr.",
"We run ICP on every pair of mesh with a relative overlap greater than this threshold. The relative overlap is computed as overlapArea / min(area1,area2)", false, CATEGORY_ARC_CREATION_PARAMETERS));
rps.addParam(RichFloat("recalcThreshold", mtp.recalcThreshold, "Recalc Fraction",

76
src/meshlabplugins/filter_icp/src/filter_icp.cpp
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@ -26,9 +26,12 @@
#define PAR_SOURCE_MESH "SourceMesh"
#define PAR_BASE_MESH "BaseMesh"
#define PAR_REFERENCE_MESH "ReferenceMesh"
#define PAR_OG_SIZE "OGSize"
#define PAR_ONLY_VISIBLE_MESHES "OnlyVisibleMeshes"
#define PAR_SAVE_LAST_ITERATION "SaveLastIteration"
#define DEFAULT_OG_SIZE 50000
/* Static variables needed by the vcg::AlignPair::align() method */
std::vector<vcg::Point3d> *vcg::PointMatchingScale::fix;
std::vector<vcg::Point3d> *vcg::PointMatchingScale::mov;
@ -42,7 +45,7 @@ vcg::Box3d vcg::PointMatchingScale::b;
* If you want to add icons to your filtering actions you can do here by construction the QActions accordingly
*/
FilterIcpPlugin::FilterIcpPlugin() {
this->typeList = {FP_TWO_MESH_ICP, FP_GLOBAL_MESH_ICP};
this->typeList = {FP_TWO_MESH_ICP, FP_GLOBAL_MESH_ICP, FP_OVERLAPPING_MESHES};
for (const ActionIDType &tt : typeList) {
actionList.push_back(new QAction(this->filterName(tt), this));
@ -67,6 +70,9 @@ QString FilterIcpPlugin::filterName(ActionIDType filterId) const {
case FP_GLOBAL_MESH_ICP: {
return "Global Align Meshes";
}
case FP_OVERLAPPING_MESHES: {
return "Overlapping Meshes";
}
default: {
assert(0);
return "";
@ -88,9 +94,12 @@ QString FilterIcpPlugin::filterInfo(ActionIDType filterId) const {
}
case FP_GLOBAL_MESH_ICP: {
return tr("Perform the global alignment process to align a set of visible meshes together. "
"The alignment algorithm is implemented over the idea written by Kari Pulli in his paper: "
"The alignment algorithm is implemented over the idea written by <i>Kari Pulli</i> in his paper: "
"\"Multiview Registration for Large Data Sets\"");
}
case FP_OVERLAPPING_MESHES: {
return tr("Use an occupancy grid to see which meshes overlap between themselves.");
}
default: {
assert(0);
return "Unknown Filter";
@ -110,6 +119,8 @@ FilterIcpPlugin::FilterClass FilterIcpPlugin::getClass(const QAction *action) co
case FP_TWO_MESH_ICP:
case FP_GLOBAL_MESH_ICP:
return FilterPlugin::Remeshing;
case FP_OVERLAPPING_MESHES:
return FilterPlugin::Measure;
default:
assert(0);
return FilterPlugin::Generic;
@ -192,6 +203,13 @@ RichParameterList FilterIcpPlugin::initParameterList(const QAction *action, cons
/* Add default ICP parameters to the parameters List */
FilterIcpAlignParameter::AlignPairParamToRichParameterSet(this->alignParameters, parameterList);
break;
}
case FP_OVERLAPPING_MESHES: {
parameterList.addParam(RichInt(PAR_OG_SIZE, DEFAULT_OG_SIZE, "Occupancy Grid Size",
"To compute the overlap between range maps we discretize them into voxel and count them (both for area and overlap); This parameter affect the resolution of the voxelization process. Using a too fine voxelization can..."));
break;
}
@ -219,21 +237,24 @@ std::map<std::string, QVariant> FilterIcpPlugin::applyFilter(
unsigned int & /*postConditionMask*/,
vcg::CallBackPos *cb) {
// Set the align parameters from the RichParameterList, they are in common
// with the two filters.
FilterIcpAlignParameter::RichParameterSetToAlignPairParam(par, this->alignParameters);
switch (ID(action)) {
case FP_TWO_MESH_ICP: {
FilterIcpAlignParameter::RichParameterSetToAlignPairParam(par, this->alignParameters);
return applyIcpTwoMeshes(md, par);
}
case FP_GLOBAL_MESH_ICP: {
FilterIcpAlignParameter::RichParameterSetToAlignPairParam(par, this->alignParameters);
// Read the parameters for the New Arc Creation
FilterIcpAlignParameter::RichParameterSetToMeshTreeParam(par, this->meshTreeParameters);
return globalAlignment(md, par);
}
case FP_OVERLAPPING_MESHES: {
return checkOverlappingMeshes(md, par);
}
default: {
wrongActionCalled(action);
}
@ -242,7 +263,7 @@ std::map<std::string, QVariant> FilterIcpPlugin::applyFilter(
return std::map<std::string, QVariant>();
}
std::map<std::string, QVariant> FilterIcpPlugin::globalAlignment(MeshDocument &meshDocument, const RichParameterList &par) {
std::map<std::string, QVariant> FilterIcpPlugin::globalAlignment(MeshDocument& meshDocument, const RichParameterList &par) {
MeshTreem meshTree {};
@ -299,7 +320,7 @@ std::map<std::string, QVariant> FilterIcpPlugin::globalAlignment(MeshDocument &m
return std::map<std::string, QVariant> {};
}
std::map<std::string, QVariant> FilterIcpPlugin::applyIcpTwoMeshes(MeshDocument &meshDocument, const RichParameterList &par) {
std::map<std::string, QVariant> FilterIcpPlugin::applyIcpTwoMeshes(MeshDocument& meshDocument, const RichParameterList &par) {
vcg::AlignPair aligner;
@ -413,7 +434,44 @@ std::map<std::string, QVariant> FilterIcpPlugin::applyIcpTwoMeshes(MeshDocument
};
}
void FilterIcpPlugin::saveLastIterationPoints(MeshDocument &meshDocument, vcg::AlignPair::Result &alignerResult) const {
std::map<std::string, QVariant> FilterIcpPlugin::checkOverlappingMeshes(MeshDocument& meshDocument, const RichParameterList& par) {
using SourceTargetPair = std::pair<unsigned int, unsigned int>;
const int occupancyGridSize = par.getInt(PAR_OG_SIZE);
const unsigned int meshNumber = meshDocument.meshNumber();
auto overlapPairs = std::vector<SourceTargetPair>{};
auto occupancyGrid = vcg::OccupancyGrid<CMeshO, Scalarm>{};
/* Init occupancy grid using information we have */
occupancyGrid.Init(meshNumber, meshDocument.bbox(), occupancyGridSize);
/* Add each meshes contained in the document inside the Occupancy Grid */
for (auto& mesh : meshDocument.meshIterator()) {
occupancyGrid.AddMesh(mesh.cm, mesh.cm.Tr, mesh.id());
}
/* Compute the Occupancy Grid to see the overlapping meshes */
occupancyGrid.Compute();
for (auto& arc: occupancyGrid.SVA) {
auto sourceName = meshDocument.getMesh(arc.s)->shortName().toStdString();
auto targetName = meshDocument.getMesh(arc.t)->shortName().toStdString();
log("[%d -> %d]: Mesh \"%s\" overlaps with \"%s\".\n", arc.s, arc.t, sourceName.c_str(), targetName.c_str());
/* Add a pair inside the overlapPairs vector */
overlapPairs.push_back(SourceTargetPair{arc.s, arc.t});
}
return std::map<std::string, QVariant>{
{"overlappingMeshesPairs", QVariant::fromValue(overlapPairs)}
};
}
void FilterIcpPlugin::saveLastIterationPoints(MeshDocument &meshDocument, vcg::AlignPair::Result &alignerResult) {
/* Save the last points iteration */
MeshModel *chosenMovingPointsMesh = meshDocument.addNewMesh("", "Chosen Source Points", false);

6
src/meshlabplugins/filter_icp/src/filter_icp.h
View File

@ -58,7 +58,8 @@ public:
//enum used to give an ID to every filter implemented in the plugin
enum FileterIds {
FP_TWO_MESH_ICP,
FP_GLOBAL_MESH_ICP
FP_GLOBAL_MESH_ICP,
FP_OVERLAPPING_MESHES
};
FilterIcpPlugin();
@ -88,7 +89,8 @@ private:
std::map<std::string, QVariant> globalAlignment(MeshDocument &meshDocument, const RichParameterList &par);
std::map<std::string, QVariant> applyIcpTwoMeshes(MeshDocument &meshDocument, const RichParameterList &par);
void saveLastIterationPoints(MeshDocument &meshDocument, vcg::AlignPair::Result &alignerResult) const;
std::map<std::string, QVariant> checkOverlappingMeshes(MeshDocument& meshDocument, const RichParameterList& par);
static void saveLastIterationPoints(MeshDocument &meshDocument, vcg::AlignPair::Result &alignerResult) ;
};
#endif //MESHLAB_FILTER_EXAMPLE_PLUGIN_H