PLearn 0.1
ICP.h
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00001 %// -*- C++ -*-
00002 
00003 // ICP.h
00004 //
00005 // Copyright (C) 2004 Pascal Lamblin 
00006 // 
00007 // Redistribution and use in source and binary forms, with or without
00008 // modification, are permitted provided that the following conditions are met:
00009 // 
00010 //  1. Redistributions of source code must retain the above copyright
00011 //     notice, this list of conditions and the following disclaimer.
00012 // 
00013 //  2. Redistributions in binary form must reproduce the above copyright
00014 //     notice, this list of conditions and the following disclaimer in the
00015 //     documentation and/or other materials provided with the distribution.
00016 // 
00017 //  3. The name of the authors may not be used to endorse or promote
00018 //     products derived from this software without specific prior written
00019 //     permission.
00020 // 
00021 // THIS SOFTWARE IS PROVIDED BY THE AUTHORS ``AS IS'' AND ANY EXPRESS OR
00022 // IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
00023 // OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN
00024 // NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
00025 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
00026 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
00027 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00028 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00029 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00030 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00031 // 
00032 // This file is part of the PLearn library. For more information on the PLearn
00033 // library, go to the PLearn Web site at www.plearn.org
00034 
00035 /* *******************************************************      
00036    * $Id: ICP.h,v 1.9 2005/12/29 13:44:35 lamblinp Exp $ 
00037    ******************************************************* */
00038 
00039 // Authors: Pascal Lamblin
00040 
00044 #ifndef ICP_INC
00045 #define ICP_INC
00046 
00047 #include <plearn/base/Object.h>
00048 #include <plearn/math/pl_math.h> // for MISSING_VALUE
00049 #include <plearn_learners/nearest_neighbors/BallTreeNearestNeighbors.h>
00050 //#include "../balltrees/BTreeLearner.h"
00051 #include "SurfaceMesh.h"
00052 #include "MeshMatch.h"
00053 #include "geometry.h"
00054 
00055 namespace PLearn {
00056 using namespace std;
00057 
00058 // And now, the ICP class
00059 
00060 class ICP: public Object
00061 {
00062 
00063 private:
00064   
00065   typedef Object inherited;
00066 
00067 protected:
00068   // *********************
00069   // * protected options *
00070   // *********************
00071 
00072   real delta_trans_length;
00073   real delta_angle_length;
00074   real dynamic_dmax0;
00075 
00076 public:
00077 
00078   // ************************
00079   // * public build options *
00080   // ************************
00081 
00082   // weighting parameters
00083 //  enum Weight_method{ SIGMOID, LORENTZ, DYNAMIC, STATIC };
00084   string weight_method;
00085   real sigmoid_dmid;
00086   real sigmoid_k;
00087   real lorentz_sigma;
00088   real dynamic_d;
00089   real static_thresh;
00090 
00091   // stopping criteria
00092   real error_t;
00093   real dist_t;
00094   real angle_t;
00095   real trans_t;
00096   int max_iter;
00097 
00098   // other controls
00099   real normal_t;
00100   real normal_t_deg;
00101   bool area_weight;
00102   bool overlap_filter;
00103   int overlap_delay;
00104   bool smart_overlap;
00105   real smart_overlap_t;
00106   int n_per;
00107   bool fine_matching;
00108 
00109   // build parameters
00110   string model_file;
00111   string scene_file;
00112   string output_file;
00113 
00114   string initial_transform;
00115   bool read_trans_file;
00116   bool write_trans_file;
00117   string trans_file;
00118 
00119   // match
00120   MMatch match;
00121   Mat vtx_matching;
00122   bool write_vtx_match;
00123   bool write_all_vtx_match;
00124   string vtx_match_file;
00125 
00126 /*
00127   real tx, ty, tz;
00128   real rx, ry, rz;
00129 */
00130   SurfMesh model;
00131   SurfMesh scene;
00132   GenericNN btl;
00133   Mat model_features;
00134   Mat scene_features;
00135 
00139   int verbosity;
00140 
00141   // ****************
00142   // * Constructors *
00143   // ****************
00144 
00146   ICP();
00147 
00149   ICP( SurfMesh a_model, SurfMesh a_scene, GenericNN btl_init );
00150 
00152   virtual ~ICP() {}
00153 
00154 
00155   // ******************
00156   // * Object methods *
00157   // ******************
00158 
00159 private: 
00161   void build_();
00162   void buildMeshes();
00163 
00164 protected: 
00166   static void declareOptions(OptionList& ol);
00167 
00168   void meshVertexAreas( const SurfMesh& mesh, Vec& areas );
00169 
00170   real dynamicDistanceThreshold( const Mat model_pts, const Mat scene_pts,
00171                                  const real d, const real d_max );
00172 
00173   real computeWeightedDistance( const Mat m1_pts, const Mat m2_pts,
00174                                 const Vec weights );
00175 
00176   void computeWeights( const Mat model_pts, const Mat scene_pts,
00177                        const Vec areas, Vec weights,
00178                        real& min_wt, real& max_wt );
00179 
00180   bool iterativeReweight( Mat model_pts, const Mat scene_pts,
00181                           const Vec areas, Vec weights,
00182                           const Mat init_corners, const int max_iter,
00183                           Mat total_delta_rot, Vec total_delta_trans );
00184 
00185 //  Mat computeVertexMatches();
00186   real weightOracle( int, Vec, int, Vec );
00187 
00188 public:
00189   // Declares other standard object methods.
00190   PLEARN_DECLARE_OBJECT(ICP);
00191 
00192   // simply calls inherited::build() then build_() 
00193   virtual void build();
00194 
00196   // (PLEASE IMPLEMENT IN .cc)
00197   virtual void makeDeepCopyFromShallowCopy(CopiesMap& copies);
00198 
00199   int iterate();
00200 
00201   void run();
00202 };
00203 
00204 // Declares a few other classes and functions related to this class
00205 DECLARE_OBJECT_PTR(ICP);
00206   
00207 } // end of namespace PLearn
00208 
00209 #endif
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