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A small change to the ICP to make it more independent from the scale of the object. Now the MinMinDistPerc parameter is no more an absolute value but it is the Ratio between initial starting distance (MinDistAbs) and what can reach by the application of the ReduceFactor.

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This commit is contained in:
Paolo Cignoni cignoni 2009-12-05 00:57:43 +00:00
parent 65a89666ae
commit 98b3c8d183
2 changed files with 6 additions and 4 deletions
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4
src/meshlabplugins/editalign/align/AlignPair.cpp
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@ -413,7 +413,9 @@ bool AlignPair::Align(
ii.Time=clock();
as.I.push_back(ii);
nc++;
if(ap.ReduceFactor<1) StartMinDist=max(ap.MinMinDistAbs, min(StartMinDist,5.0*H.Percentile(ap.ReduceFactor)));
// The distance of the next points to be considered is lowered according to the <ReduceFactor> parameter.
// We use 5 times the <ReduceFactor> percentile of the found points.
if(ap.ReduceFactor<1) StartMinDist=max(ap.MinDistAbs*ap.MinMinDistPerc, min(StartMinDist,5.0*H.Percentile(ap.ReduceFactor)));
}
while (
nc<=ap.MaxIterNum &&

6
src/meshlabplugins/editalign/align/AlignPair.h
View File

@ -166,7 +166,7 @@ public:
PassLoFilter = 0.05;
PassHiFilter = 0.75;
ReduceFactor = 0.90;
MinMinDistAbs = 1;
MinMinDistPerc = 0.01;
EndStepNum = 5;
MatchMode = MMRigid;
SampleMode = SMNormalEqualized;
@ -200,8 +200,8 @@ public:
double PassLoFilter; // Filtraggio utilizzato per decidere quali punti scegliere tra quello trovati abbastanza
double PassHiFilter; // vicini. Espresso in percentili. Di solito si scarta il quelli sopra il 75 e quelli sotto il 5
double ReduceFactor; // Ad ogni passo si riduce la distanza entro la quale andare a cercare i punti piu' vicini. Di solito si sceglie il .9 percentile.
double MinMinDistAbs; // distanza minima fino a cui si puo' ridurre la MinDist secondo il reduce factor
double ReduceFactor; // At each step we reduce the range of search of the nearest points. We keep 5 times the <ReduceFactor> percentile.
double MinMinDistPerc; // Ratio between initial starting distance (MinDistAbs) and what can reach by the application of the ReduceFactor.
int UGExpansionFactor; // Grandezza della UG per la mesh fix come rapporto del numero di facce della mesh fix