int main( int argc, char **argv )
{
setvbuf(stdout, NULL, _IONBF, 0);
if(argc<3)
{
printf("Usage alignmeshmesh <meshfilename2.ply> <meshfilename2.ply>\n");
return -1;
}
MyMesh fixM,movM;
tri::io::Importer<MyMesh>::Open(fixM,argv[1]);
printf( "Mesh0 has %i vert and %i faces\n", fixM.VN(), fixM.FN() );
tri::io::Importer<MyMesh>::Open(movM,argv[2]);
printf( "Mesh1 has %i vert and %i faces\n", movM.VN(), movM.FN() );
math::MarsenneTwisterRNG rnd;
tri::UpdateBounding<MyMesh>::Box(fixM);
tri::UpdateBounding<MyMesh>::Box(movM);
Point3f delta = math::GeneratePointInUnitBallUniform<float>(rnd) * fixM.bbox.Diag();
tri::UpdatePosition<MyMesh>::Translate(movM,delta);
Point3f axis = math::GeneratePointOnUnitSphereUniform<float>(rnd);
float angle = rnd.generate01() * M_PI;
Matrix44f rot; rot.SetRotateRad(angle,axis);
tri::UpdatePosition<MyMesh>::Matrix(movM,rot);
tri::io::ExporterPLY<MyMesh>::Save(movM,"out.ply");
int randSeed = clock();
RansacFramework<MyMesh,BaseFeatureSet<MyMesh> > Ran;
RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Param pp;
BaseFeatureSet<MyMesh>::Param fpp;
pp.samplingRadiusPerc=0.008;
pp.evalSize=50;
pp.inlierRatioThr = 0.5;
pp.iterMax = 400;
pp.maxMatchingFeatureNum = 500;
fpp.featureSampleRatio=0.5;
std::vector<RansacFramework<MyMesh,BaseFeatureSet<MyMesh> >::Candidate> cVec;
// RansacFramework<MyMesh,NDFeatureSet<MyMesh> > Ran;
// RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Param pp;
// NDFeatureSet<MyMesh>::Param fpp;
// std::vector<RansacFramework<MyMesh,NDFeatureSet<MyMesh> >::Candidate> cVec;
// pp.samplingRadiusPerc=0.01;
// pp.evalSize=100;
// pp.inlierRatioThr = 0.4;
// pp.iterMax = 1000;
// int t0=clock();
// fpp.levAbs[0]=pp.samplingRadiusAbs*2.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*4.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*8.0;
// Ran.Init(fixM,movM,pp,fpp);
// Ran.EvaluateFeature(30,"featureTest30.ply",pp);
// fpp.levAbs[0]=pp.samplingRadiusAbs*3.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*6.0;
// fpp.levAbs[0]=pp.samplingRadiusAbs*9.0;
// Ran.Init(fixM,movM,pp,fpp);
// Ran.EvaluateFeature(30,"featureTest30a.ply",pp);
// exit(-1);
int t0=clock();
Ran.Init(fixM,movM,pp,fpp);
int t1=clock();
Ran.Process_SearchEvaluateTriple(cVec,pp);
int t2=clock();
printf("Completed Search (%5.2f init %5.2f search)\n",float(t1-t0)/CLOCKS_PER_SEC, float(t2-t1)/CLOCKS_PER_SEC);
MyMesh out0; tri::Append<MyMesh,MyMesh>::MeshCopy(out0,fixM);
//tri::UpdatePosition<MyMesh>::Matrix(out0,cVec[0].Tr);
tri::io::ExporterPLY<MyMesh>::Save(out0,"out0.ply");
MyMesh inlierMesh0;
Ran.DumpInlier(inlierMesh0,cVec[0],pp);
tri::io::ExporterPLY<MyMesh>::Save(inlierMesh0,"inlier0.ply");
MyMesh out1; tri::Append<MyMesh,MyMesh>::MeshCopy(out1,movM);
tri::UpdatePosition<MyMesh>::Matrix(out1,cVec[1].Tr);
tri::io::ExporterPLY<MyMesh>::Save(out1,"out1.ply");
MyMesh inlierMesh1;
Ran.DumpInlier(inlierMesh1,cVec[1],pp);
tri::io::ExporterPLY<MyMesh>::Save(inlierMesh1,"inlier1.ply");
return 0;
}
