void Reconstruction::updateMesh( LaplacianMesh& resMesh )
{
const mat& paramMat = this->refMesh.GetParamMatrix();
mat matC = TraceManager::imageDatabase->getRefCamera().ReprojectPoints(reshape(c, refMesh.GetNCtrlPoints(), 2));
// mat matC = reshape(c, refMesh.GetNCtrlPoints(), 3);
// Update vertex coordinates
resMesh.SetVertexCoords(paramMat * matC);
// Resulting mesh yields a correct projection on image but it does not preserve lengths.
// So we need to compute the scale factor and multiply with matC
// Determine on which side the mesh lies: -Z or Z
double meanZ = mean(resMesh.GetVertexCoords().col(2));
int globalSign = meanZ > 0 ? 1 : -1;
const vec& resMeshEdgeLens = resMesh.ComputeEdgeLengths();
const vec& refMeshEdgeLens = refMesh.GetEdgeLengths();
// this seems no difference if do not scale the points?
double scale = globalSign * norm(refMeshEdgeLens, 2) / norm(resMeshEdgeLens, 2);
// Update vertex coordinates
resMesh.SetVertexCoords(scale * paramMat * matC);
}
void Reconstruction::ReconstructSoftConstr2D(const arma::vec& cInit, LaplacianMesh &resMesh) {
const mat& paramMat = refMesh.GetParamMatrix();
const mat& bigP = refMesh.GetBigParamMat();
if (cOptimal.is_empty()) {
cOptimal = reshape(refMesh.GetVertexCoords().rows(refMesh.GetCtrlPointIDs()), refMesh.GetNCtrlPoints()*3, 1 );
}
SoftConstrFunction2D function( bigP, this->GetBPwAP(), refMesh.GetEdges(), refMesh.GetEdgeLengths());
if ( this->usePrevFrameToInit && !isFirstFrame )
cOptimal = softConstrOptimize.OptimizeLagrange(cOptimal, function, resMesh);
else
cOptimal = softConstrOptimize.OptimizeLagrange(cInit, function, resMesh);
arma::mat cOptimalMat = arma::mat(reshape(cOptimal, refMesh.GetNCtrlPoints(), 3));
if ( mean(cOptimalMat.col(2)) < 0 ) { // Change the sign if the reconstruction is behind the camera. This happens because we take cOptimal as initial value for constrained optimization.
cOptimalMat = -cOptimalMat;
}
// Update vertex coordinates
resMesh.SetVertexCoords(paramMat*(cOptimalMat));
isFirstFrame = false;
}
void Reconstruction::reconstructPlanarUnconstr( const uvec& matchIdxs, double wr, LaplacianMesh& resMesh )
{
Timer timer;
const mat& paramMat = this->refMesh.GetParamMatrix(); // Parameterization matrix
// Build the matrix MPwAP = [MP; wr*AP] and compute: (MPwAP)' * (MPwAP)
this->computeCurrentMatrices( matchIdxs, wr);
// --------------- Eigen value decomposition --------------------------
mat V;
vec s;
timer.start();
// 此处最小的特征值只是其中一个解，在下面会对这个解进行Scale使得它的边长和ref mesh的边长相等
eig_sym(s, V, this->MPwAPtMPwAP);
timer.stop();
// cout << "Eigen(): " << timer.getElapsedTimeInMilliSec() << " ms"<< endl;
const vec& c = V.col(0);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
mat matC = reshape(c, refMesh.GetNCtrlPoints(), 3);
// Update vertex coordinates
resMesh.SetVertexCoords(paramMat * matC);
// Resulting mesh yields a correct projection on image but it does not preserve lengths.
// So we need to compute the scale factor and multiply with matC
// Determine on which side the mesh lies: -Z or Z
double meanZ = mean(resMesh.GetVertexCoords().col(2));
int globalSign = meanZ > 0 ? 1 : -1;
const vec& resMeshEdgeLens = resMesh.ComputeEdgeLengths();
const vec& refMeshEdgeLens = refMesh.GetEdgeLengths();
double scale = globalSign * norm(refMeshEdgeLens, 2) / norm(resMeshEdgeLens, 2);
// Update vertex coordinates
resMesh.SetVertexCoords(scale * paramMat * matC);
}
void Reconstruction::ReconstructIneqConstr(const vec& cInit, LaplacianMesh& resMesh)
{
const mat& paramMat = refMesh.GetParamMatrix();
const mat& bigP = refMesh.GetBigParamMat();
static bool isFirstFrame = true;
static vec cOptimal = reshape(refMesh.GetVertexCoords().rows(refMesh.GetCtrlPointIDs()), refMesh.GetNCtrlPoints()*3, 1);
// Objective function: use MPwAP which was already computed in unconstrained reconstruction
ObjectiveFunction *objtFunction;
if (this->useTemporal && !isFirstFrame)
objtFunction = new ObjectiveFunction(this->GetMPwAP(), this->timeSmoothAlpha, cOptimal);
else
objtFunction = new ObjectiveFunction(this->GetMPwAP());
// Constrained function
IneqConstrFunction cstrFunction(bigP, refMesh.GetEdges(), refMesh.GetEdgeLengths());
if (this->usePrevFrameToInit && !isFirstFrame)
cOptimal = ineqConstrOptimize.OptimizeLagrange(cOptimal, *objtFunction, cstrFunction);
else
cOptimal = ineqConstrOptimize.OptimizeLagrange(cInit, *objtFunction, cstrFunction);
mat cOptimalMat = reshape(cOptimal, refMesh.GetNCtrlPoints(), 3);
if (cOptimalMat(0,2) < 0)
{
// Change the sign if the reconstruction is behind the camera.
// This happens because we take cOptimal as initial value for constrained optimization.
cOptimalMat = -cOptimalMat;
}
// Update vertex coordinates
resMesh.SetVertexCoords(paramMat*cOptimalMat);
isFirstFrame = false;
delete objtFunction;
}