From 4c41bda1beb1f9d7cd67419a0ea05c9e82f827fc Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 2 Jul 2024 10:39:51 +0200 Subject: [PATCH 01/41] Non-rigid mesh registration --- .../PackageDescription.txt | 4 + .../Polygon_mesh_processing/CMakeLists.txt | 1 + .../non_rigid_mesh_registration_example.cpp | 86 ++ .../non_rigid_mesh_registration.h | 786 ++++++++++++++++++ .../internal/parameters_interface.h | 4 + 5 files changed, 881 insertions(+) create mode 100644 Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp create mode 100644 Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt index 6b74ce9696a3..50eb6d7a7caa 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt @@ -48,6 +48,10 @@ /// Functions to compute the distance between meshes, between a mesh and a point set and between a point set and a mesh. /// \ingroup PkgPolygonMeshProcessingRef +/// \defgroup PMP_registration_grp Registration Functions +/// Functions to compute the transformation for mapping one mesh onto another or onto a set of points. +/// \ingroup PkgPolygonMeshProcessingRef + /// \defgroup PMP_corefinement_grp Corefinement and Boolean Operations /// Functions to corefine triangulated surface meshes and compute triangulated /// surface meshes of the union, difference and intersection diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt b/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt index 718ab1096a9d..9eabe7372d02 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt @@ -57,6 +57,7 @@ create_single_source_cgal_program("hausdorff_bounded_error_distance_example.cpp" create_single_source_cgal_program("isotropic_remeshing_with_custom_sizing_example.cpp") create_single_source_cgal_program("triangle_mesh_autorefinement.cpp") create_single_source_cgal_program("soup_autorefinement.cpp") +create_single_source_cgal_program("non_rigid_mesh_registration_example.cpp") find_package(Eigen3 3.2.0 QUIET) #(requires 3.2.0 or greater) include(CGAL_Eigen3_support) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp new file mode 100644 index 000000000000..277a9e6acfa1 --- /dev/null +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -0,0 +1,86 @@ +#include +#include +#include + +#include +#include +#include + +#include + +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef CGAL::Exact_predicates_exact_constructions_kernel K2; +typedef CGAL::Surface_mesh Mesh; +using Point = K::Point_3; +using Vector = K::Vector_3; + +namespace PMP = CGAL::Polygon_mesh_processing; + +int main(int argc, char** argv) { + if (argc == 2) + std::cout << "wrong number of arguments! 0, 2 or 3 arguments possible" << std::endl; + const std::string source_fn = argc > 1 ? argv[1] : "data/wolf0.off"; + const std::string target_fn = argc > 2 ? argv[2] : "data/wolf1.off"; + const std::string corr_fn = argc > 3 ? argv[3] : "data/wolf0_wolf1.corr"; + + Mesh source, target; + if (!PMP::IO::read_polygon_mesh(source_fn, source)) + { + std::cerr << "Invalid input " << source_fn << std::endl; + return 1; + } + + if (!PMP::IO::read_polygon_mesh(target_fn, target)) + { + std::cerr << "Invalid input " << target_fn << std::endl; + return 1; + } + + std::vector> correspondences_mesh; + std::ifstream corr(corr_fn); + if (corr.is_open()) { + std::string line; + while (std::getline(corr, line)) { + if (line.size() == 0) continue; + std::istringstream iss(line); + + std::size_t v0, v1; + if (iss >> v0 >> v1) + Mesh source, target; + correspondences_mesh.push_back(std::make_pair(*(source.vertices_begin() + v0), *(target.vertices_begin() + v1))); + } + } + + Mesh mapped_source; + CGAL::Point_set_3 points; + points.reserve(target.num_vertices()); + + //typename Mesh::Property_map; + auto vnm = target.add_property_map("v:normal"); + if (vnm.second) + PMP::compute_vertex_normals(target, vnm.first); + + for (auto v : target.vertices()) + points.insert(target.point(v), get(vnm.first, v)); + + std::vector> correspondences_pts; + correspondences_pts.reserve(correspondences_mesh.size()); + for (auto p : correspondences_mesh) + correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); + + typename Mesh::Property_map> vrm = target.add_property_map>("v:rotation").first; + typename Mesh::Property_map vtm = target.add_property_map("v:transformations").first; + + Mesh source2 = source; + +/* + PMP::non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, CGAL::parameters::point_to_plane_energy(2.0).point_to_point_energy(0.1).as_rigid_as_possible_energy(10)); + PMP::apply_non_rigid_transformation(source, vtm, vrm); + CGAL::IO::write_polygon_mesh("mapped.off", source);*/ + + PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_plane_energy(2.0).point_to_point_energy(0.1).as_rigid_as_possible_energy(30)); + PMP::apply_non_rigid_transformation(source, vtm, vrm); + CGAL::IO::write_polygon_mesh("mapped.off", source); + + return EXIT_SUCCESS; +} \ No newline at end of file diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h new file mode 100644 index 000000000000..964c0f8ea68d --- /dev/null +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -0,0 +1,786 @@ +// Copyright (c) 2024 GeometryFactory (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Roberto Dyke, Sven Oesau +// +#ifndef CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H +#define CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H + +#include + +#ifdef CGAL_EIGEN3_ENABLED + +#include +#include +#include +#include + +//#include + +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +namespace CGAL { +namespace Polygon_mesh_processing { +namespace internal { + +typedef double ScalarType; +typedef Eigen::Vector Vertex; +typedef Eigen::Matrix Vertices; +typedef Eigen::Matrix Faces; +typedef Eigen::Matrix Matrix; +typedef Eigen::Vector Vector; + +typedef Eigen::SparseMatrix SparseMat; +typedef Eigen::Triplet SparseTriplet; + +typedef Eigen::Index Index; + +using Point_3 = Simple_cartesian::Point_3; +class Eigen_matrix_to_point_map { + const Vertices& points; +public: + typedef Point_3 value_type; + typedef const value_type reference; + typedef std::size_t key_type; + typedef boost::lvalue_property_map_tag category; + Eigen_matrix_to_point_map(const Vertices& points) :points(points) {} + reference operator[](key_type k) const { return Point_3(points(k, 0), points(k, 1), points(k, 2)); } +}; + +Eigen_matrix_to_point_map::reference get(const Eigen_matrix_to_point_map& ppmap, Eigen_matrix_to_point_map::key_type i) { + return ppmap[i]; +} + +template +void dump(const Matrix& m, const std::string &filename) { + std::ofstream file(filename); + + file << m.rows() << " " << m.cols() << std::endl; + + for (std::size_t r = 0; r < m.rows(); r++) { + file << m(r, 0); + for (std::size_t c = 1; c < m.cols(); c++) + file << " " << m(r, c); + file << std::endl; + } + + file.close(); +} + +std::pair nearest_neighbor(Vertices& points, Vertices& query, const Index k = 1) { + using Search_traits = CGAL::Search_traits_adapter>>; + using Neighbor_search = CGAL::Orthogonal_k_neighbor_search; + using KDTree = typename Neighbor_search::Tree; + const int leaf_max_size = 10; + const int ndim = 3; + + Eigen_matrix_to_point_map a(points); + Point_3 p0 = get(a, 0); + Point_3 p1 = get(a, 1); + Point_3 p5 = get(a, 5); + + KDTree kdtree(boost::counting_iterator(0), boost::counting_iterator(points.rows()), KDTree::Splitter(), Search_traits(Eigen_matrix_to_point_map(points))); + kdtree.build(); + + Eigen::MatrixXi idz(query.rows(), k); + Eigen::MatrixXf dist(query.rows(), k); + + for (internal::Index i = 0; i < query.rows(); ++i) { + Point_3 query_pt = { query(i, 0), query(i, 1), query(i, 2) }; + Neighbor_search search(kdtree, query_pt, k, 0, true, Neighbor_search::Distance(Eigen_matrix_to_point_map(points))); + std::size_t j = 0; + for (auto it = search.begin(); it != search.end() && j < k; ++it) { + idz(i, j) = it->first; + dist(i, j) = it->second; + } + } + + return std::make_pair(idz, dist); +} + +Vertices calc_normals(Vertices& points, Faces& faces) { + Vertices face_normals(faces.rows(), 3); + Vertices normals = Vertices::Zero(points.rows(), 3); + + for (Index i = 0; i < faces.rows(); ++i) { + Vertex v0 = points.row(faces(i, 0)); + Vertex v1 = points.row(faces(i, 1)); + Vertex v2 = points.row(faces(i, 2)); + + Vertex n0 = (v1 - v0).cross(v2 - v1); + face_normals.row(i) = n0.normalized(); + normals.row(faces(i, 0)) += n0; // unnormalized would respect facet areas + normals.row(faces(i, 1)) += n0; + normals.row(faces(i, 2)) += n0; + } + + for (Index i = 0; i < points.rows(); ++i) { + normals.row(i) = normals.row(i).normalized(); + } + + return normals; +} + +template +int sign(T val) { + return (T(0) < val) - (val < T(0)); +} + +void insertSparseMatrix(const SparseMat& mat, std::vector& coefficients, size_t start_i = 0, size_t start_j = 0) { + for (int k = 0; k < mat.outerSize(); ++k) + for (SparseMat::InnerIterator it(mat, k); it; ++it) + coefficients.push_back(SparseTriplet(start_i + it.row(), start_j + it.col(), it.value())); +} + +std::pair point2point(Vertices X, Vertices Y) { // Transform step for rigid ICP + assert(X.rows() == Y.rows()); + + Eigen::Vector x_mean = X.colwise().mean(); + X.rowwise() -= x_mean.transpose(); + + Eigen::Vector y_mean = Y.colwise().mean(); + Y.rowwise() -= y_mean.transpose(); + + Matrix C = X.transpose() * Y; + Eigen::JacobiSVD svd(C, Eigen::ComputeFullU | Eigen::ComputeFullV); + + Eigen::Vector sgnVec; + sgnVec << 1, 1, sign(svd.matrixU().determinant() * svd.matrixV().determinant()); + Matrix R = svd.matrixV() * sgnVec.asDiagonal() * svd.matrixU().transpose(); + Vertex t = y_mean - R * x_mean; + + return std::make_pair(R, t); +} + +template +Eigen::Matrix rot(T a, T b, T c) { + T ca = cos(a), cb = cos(b), cc = cos(c); + T sa = sin(a), sb = sin(b), sc = sin(c); + Eigen::Matrix R; + R << cb * cc, cc* sa* sb - ca * sc, ca* cc* sb + sa * sc, + cb* sc, ca* cc + sa * sb * sc, ca* sb* sc - cc * sa, + -sb, cb* sa, ca* cb; + return R; +} + +} // namespace internal + +/*! +* \ingroup PMP_registration_grp +* +* \brief calculates non-rigid transformation of a mesh onto a set of oriented points. +* +* A non-rigid ICP, iterative closest point, method based on https://vgl.ict.usc.edu/Research/NonRigidRegistration/MODERN%20TECHNIQUES%20AND%20APPLICATIONS%20FOR%20REAL-TIME%20NON-RIGID%20REGISTRATION.pdf . +* The method uses a few correspondences between the source and the target for the rough alignment. The iterative closest point method +* iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. +* +* @tparam TriangleMesh a model of `MutableFaceGraph`. +* @tparam PointRange a model of the `concept ForwardRange` whose value type is the point type. +* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Vector_3` as value type. +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* +* @param source the triangle mesh that should be mapped onto target. +* @param target the target triangle mesh. +* @param vtm a writeable vertex property map of source to store the translation vector of the registration. +* @param vrm a writeable vertex property map of source to store the rotation part of the registration. +* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param correspondences a vector given matching points between the source and the target +* +* \cgalNamedParamsBegin +* \cgalParamNBegin{number_of_iterations} +* \cgalParamDescription{the number of registration iterations using ICP, iterative closest point} +* \cgalParamType{unsigned int} +* \cgalParamDefault{`50`} +* \cgalParamNEnd +* +* \cgalParamNBegin{point_to_plane_energy} +* \cgalParamDescription{the weight of the point to plane distance in the registration} +* \cgalParamType{double} +* \cgalParamDefault{`1`} +* \cgalParamNEnd +* +* \cgalParamNBegin{point_to_point_energy} +* \cgalParamDescription{the weight of the point to matching point distance in the registration} +* \cgalParamType{double} +* \cgalParamDefault{`1`} +* \cgalParamNEnd +* +* \cgalParamNBegin{as_rigid_as_possible_energy} +* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors.} +* \cgalParamType{double} +* \cgalParamDefault{`20`} +* \cgalParamNEnd +* +* \cgalParamNBegin{max_matching_dist} +* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target} +* \cgalParamType{double} +* \cgalParamDefault{`0`} +* \cgalParamNEnd +* +* \cgalParamNBegin{vertex_point_map} +* \cgalParamDescription{a property map associating points to the vertices of `source`} +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Point_3` as value type} +* \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} +* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` +* must be available in `TriangleMesh`.} +* \cgalParamNEnd +* +* \cgalParamNBegin{geom_traits} +* \cgalParamDescription{an instance of a geometric traits class} +* \cgalParamType{a class model of `Kernel`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} +* \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} +* \cgalParamNEnd +* \cgalNamedParamsEnd +*/ + +template +void non_rigid_mesh_to_points_registration(TriangleMesh& source, + const PointRange& target, + VertexTranslationMap& vtm, + VertexRotationMap& vrm, + const std::vector::vertex_descriptor, std::size_t>>& correspondences = std::vector::vertex_descriptor, boost::graph_traits::vertex_descriptor>>(), + const NamedParameters& np = parameters::default_values()) +{ + const size_t iter = parameters::choose_parameter(parameters::get_parameter(np, internal_np::number_of_iterations), 50); + const double w1 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::point_to_plane_energy), 2); + const double w2 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::point_to_point_energy), 0.1); + const double w3 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::as_rigid_as_possible_energy), 20); + const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np, internal_np::max_matching_dist), 0); + + internal::Vertices X(num_vertices(source), 3), Y(target.size(), 3); + internal::Faces XF(num_faces(source), 3); + + using NP_helper = Point_set_processing_3_np_helper; + using Point_map = typename NP_helper::Point_map; + using Normal_map = typename NP_helper::Normal_map; + + Point_map point_map = NP_helper::get_const_point_map(target, np); + Normal_map normal_map = NP_helper::get_normal_map(target, np); + + using Gt = typename GetGeomTraits::type; + using Vertex_point_map = typename GetVertexPointMap::type; + using Point = typename Gt::Point_3; + + Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, source)); + + std::size_t idx = 0; + for (auto v : vertices(source)) { + X(idx, 0) = get(vpm, v).x(); + X(idx, 1) = get(vpm, v).y(); + X(idx, 2) = get(vpm, v).z(); + idx++; + } + + idx = 0; + for (auto f : faces(source)) { + Vertex_around_face_circulator vit = Vertex_around_face_circulator(halfedge(f, source), source); + XF(idx, 0) = *vit++; + XF(idx, 1) = *vit++; + XF(idx, 2) = *vit++; + idx++; + } + std::cout << std::endl; + + Eigen::MatrixXi corr(correspondences.size(), 2); + for (size_t i = 0; i < correspondences.size(); ++i) { + corr.row(i) << correspondences[i].first, correspondences[i].second; + } + + if (corr.rows() > 0) + std::cout << "# correspondences = " << corr.rows() << std::endl; + + internal::Vertices NY(target.size(), 3); + + idx = 0; + for (auto p : target) { + Y(idx, 0) = get(point_map, p).x(); + Y(idx, 1) = get(point_map, p).y(); + Y(idx, 2) = get(point_map, p).z(); + NY(idx, 0) = get(normal_map, p).x(); + NY(idx, 1) = get(normal_map, p).y(); + NY(idx, 2) = get(normal_map, p).z(); + idx++; + } + std::cout << std::endl; + + std::vector> neighbors(X.rows()); + for (internal::Index i = 0; i < XF.rows(); ++i) { + int a = XF(i, 0); + int b = XF(i, 1); + int c = XF(i, 2); + neighbors[a].insert(b); + neighbors[a].insert(c); + neighbors[b].insert(c); + neighbors[b].insert(a); + neighbors[c].insert(a); + neighbors[c].insert(b); + } + + // Non-rigid ICP + internal::Vertices Z(X); + internal::Index dim = Z.rows() * Z.cols(); + + std::vector edge_coefficients; + + // build Ni + Eigen::MatrixXi Ni(XF.rows() * XF.cols(), 1); + idx = 0; + for (internal::Index i = 0; i < XF.rows(); ++i) { + int a = XF(i, 0); + int b = XF(i, 1); + int c = XF(i, 2); + Ni(idx++) = b; + Ni(idx++) = c; + Ni(idx++) = a; + } + + // build Nr + edge_coefficients.clear(); + edge_coefficients.reserve(XF.rows() * XF.cols()); + idx = 0; + for (internal::Index i = 0; i < XF.rows(); ++i) { + int a = XF(i, 0); + int b = XF(i, 1); + int c = XF(i, 2); + edge_coefficients.push_back(internal::SparseTriplet(idx, b, 1)); + idx++; + edge_coefficients.push_back(internal::SparseTriplet(idx, c, 1)); + idx++; + edge_coefficients.push_back(internal::SparseTriplet(idx, a, 1)); + idx++; + } + internal::SparseMat Nr(XF.rows() * XF.cols(), X.rows()); + Nr.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); + + // build MX + edge_coefficients.clear(); + edge_coefficients.reserve(XF.rows() * XF.cols() * 2); + idx = 0; + for (internal::Index i = 0; i < XF.rows(); ++i) { + int a = XF(i, 0); + int b = XF(i, 1); + int c = XF(i, 2); + edge_coefficients.push_back(internal::SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(internal::SparseTriplet(idx, b, -1)); + idx++; + edge_coefficients.push_back(internal::SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(internal::SparseTriplet(idx, c, -1)); + idx++; + edge_coefficients.push_back(internal::SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(internal::SparseTriplet(idx, a, -1)); + idx++; + } + internal::SparseMat B(XF.rows() * XF.cols(), X.rows()); + B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); + internal::Index edim = B.rows(); + + internal::Vertices BX = B * X; + internal::Vertices BX_original(BX); + + std::vector coefficients; + internal::SparseMat A(Z.rows() + 2 * dim + 3 * edim, dim + dim); + for (internal::Index i = 0; i < dim; ++i) { + coefficients.push_back(internal::SparseTriplet(Z.rows() + i, i, 1)); + } + + internal::insertSparseMatrix(B, coefficients, Z.rows() + dim, 0); + internal::insertSparseMatrix(B, coefficients, Z.rows() + dim + edim, Z.rows()); + internal::insertSparseMatrix(B, coefficients, Z.rows() + dim + 2 * edim, 2 * Z.rows()); + + internal::Matrix b(Z.rows() + 2 * dim + 3 * edim, 1); + + std::vector weight_coefficients; // system regularizer + internal::SparseMat W(dim + dim, dim + dim); + for (internal::Index i = dim; i < dim + dim; ++i) { + weight_coefficients.push_back(internal::SparseTriplet(i, i, 1)); + } + W.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); + + weight_coefficients.clear(); + internal::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); + for (internal::Index i = 0; i < Z.rows(); ++i) { + weight_coefficients.push_back(internal::SparseTriplet(i, i, w1)); + } + for (internal::Index i = Z.rows(); i < Z.rows() + dim; ++i) { + weight_coefficients.push_back(internal::SparseTriplet(i, i, w2)); + } + for (internal::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { + weight_coefficients.push_back(internal::SparseTriplet(i, i, w3)); + } + D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); + + for (internal::Index i = 0; i < corr.rows(); ++i) { + D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; + D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; + D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; + } + + // Solver + Eigen::ConjugateGradient cg; + //cg.setMaxIterations(1000); + //cg.setTolerance(1e-6); + Eigen::JacobiSVD> svd; + std::vector> Rotations(Z.rows()); + + size_t coefficients_size = coefficients.size(); + for (size_t it = 0; it < iter; ++it) { + std::cout << "="; + if (it > 0) { + coefficients.erase(coefficients.begin() + coefficients_size, coefficients.end()); + } + + // Compute correspondence + //Eigen::VectorXi idz = nearest_neighbor(V1, Z).first.col(0); + std::pair nn_result = internal::nearest_neighbor(Y, Z); + Eigen::VectorXi idz = nn_result.first.col(0); + Eigen::VectorXf dist = nn_result.second.col(0); + + if (max_matching_dist > 0) { + D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); // reset weights + // prune correspondences that are too distant + int count = 0; + for (internal::Index i = 0; i < Z.rows(); ++i) { + if (dist[i] > max_matching_dist) { + count++; + D.coeffRef(i, i) = 0; + D.coeffRef(Z.rows() + i, Z.rows() + i) = 0; + D.coeffRef(Z.rows() * 2 + i, Z.rows() * 2 + i) = 0; + D.coeffRef(Z.rows() * 3 + i, Z.rows() * 3 + i) = 0; + } + } + std::cout << "active = " << Z.rows() - count << " / " << Z.rows() << std::endl; + // ensure hard correspondences have not been removed + for (internal::Index i = 0; i < corr.rows(); ++i) { + D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; + D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; + D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; + } + } + + for (internal::Index i = 0; i < corr.rows(); ++i) { + idz(corr(i, 0)) = corr(i, 1); + } + + internal::Vertices P(Y(idz, Eigen::indexing::all)); // target points + internal::Vertices NP(NY(idz, Eigen::indexing::all)); // target normals + + for (internal::Index i = 0; i < Z.rows(); ++i) { + coefficients.push_back(internal::SparseTriplet(i, i, NP(i, 0))); + coefficients.push_back(internal::SparseTriplet(i, Z.rows() + i, NP(i, 1))); + coefficients.push_back(internal::SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); + } + + for (internal::Index i = 0; i < edim; ++i) { + size_t ni = Ni(i); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + i, Z.rows() + ni + dim, -BX(i, 2))); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + edim + i, ni + dim, -BX(i, 0))); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + edim + i, 2 * Z.rows() + ni + dim, BX(i, 2))); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + 2 * edim + i, Z.rows() + ni + dim, BX(i, 0))); + coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + 2 * edim + i, 2 * Z.rows() + ni + dim, -BX(i, 1))); + } + + for (internal::Index i = 0; i < Z.rows(); ++i) { + b(i) = NP(i, 0) * P(i, 0) + NP(i, 1) * P(i, 1) + NP(i, 2) * P(i, 2); + b(i + Z.rows()) = P(i, 0); + b(i + Z.rows() * 2) = P(i, 1); + b(i + Z.rows() * 3) = P(i, 2); + } + for (internal::Index i = 0; i < edim; ++i) { + b(i + Z.rows() + dim) = BX(i, 0); + b(i + Z.rows() + dim + edim) = BX(i, 1); + b(i + Z.rows() + dim + edim * 2) = BX(i, 2); + } + + A.setFromTriplets(coefficients.begin(), coefficients.end()); + + if (it == 0) { + cg.analyzePattern(A.transpose() * D * A + W); + } + cg.factorize(A.transpose() * D * A + W); + internal::Vector x = cg.solve(A.transpose() * D * b); + + // Solution + Z(Eigen::indexing::all, 0) = x(Eigen::seq(0, Z.rows() - 1)); + Z(Eigen::indexing::all, 1) = x(Eigen::seq(Z.rows(), 2 * Z.rows() - 1)); + Z(Eigen::indexing::all, 2) = x(Eigen::seq(2 * Z.rows(), 3 * Z.rows() - 1)); + + // Update edge neighborhoods by new local rotation + if (it == (iter - 1)) { + // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h + // See also: compute_close_rotation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h + for (internal::Index i = 0; i < Z.rows(); ++i) { + std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); + internal::Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); + internal::Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); + + svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); + Rotations[i] = svd.matrixV() * svd.matrixU().transpose(); + if (Rotations[i].determinant() < 0) { + Eigen::Matrix M = Eigen::Matrix3d::Identity(); + M(2, 2) = -1; + Rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); + } + } + for (internal::Index i = 0; i < edim; ++i) { + internal::Matrix R = Rotations[Ni(i)]; + BX.row(i) = BX.row(i) * R.transpose(); + } + } + else { + for (internal::Index i = 0; i < edim; ++i) { + int ni = Ni(i); + internal::Matrix R = internal::rot(x(dim + 2 * Z.rows() + ni), + x(dim + Z.rows() + ni), + x(dim + ni)); + BX.row(i) = BX.row(i) * R.transpose(); + } + } + } + std::cout << " done." << std::endl; + + idx = 0; + for (auto v : vertices(source)) { + Point z(Z(idx, 0), Z(idx, 1), Z(idx, 2)); + Point x(X(idx, 0), X(idx, 1), X(idx, 2)); + Aff_transformation_3 t1(CGAL::TRANSLATION, CGAL::ORIGIN - x); + Aff_transformation_3 t2(CGAL::TRANSLATION, -(CGAL::ORIGIN - z)); + const auto& r = Rotations[idx]; + Aff_transformation_3 rota(r(0, 0), r(0, 1), r(0, 2), 0, + r(1, 0), r(1, 1), r(1, 2), 0, + r(2, 0), r(2, 1), r(2, 2), 0, + 1); + put(vtm, v, z - x); + put(vrm, v, rota); + idx++; + } +} +/* + +/*! +* \ingroup PMP_registration_grp +* +* \brief calculates non-rigid transformation of a mesh onto another mesh. +* +* A non-rigid ICP, iterative closest point, method based on https://vgl.ict.usc.edu/Research/NonRigidRegistration/MODERN%20TECHNIQUES%20AND%20APPLICATIONS%20FOR%20REAL-TIME%20NON-RIGID%20REGISTRATION.pdf . +* The method uses a few correspondences between the source and the target for the rough alignment. The iterative closest point method +* iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. +* +* @tparam TriangleMesh1 a model of `MutableFaceGraph`. +* @tparam TriangleMesh2 a const model of the `MutableFaceGraph`. +* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Vector_3` as value type. +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* +* @param source the triangle mesh that should be mapped onto target. +* @param target the target point range with oriented normals. +* @param vtm a writeable vertex property map of source to store the translation vector of the registration. +* @param vrm a writeable vertex property map of source to store the rotation part of the registration. +* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param correspondences a vector given matching points between the source and the target +* +* \cgalNamedParamsBegin +* \cgalParamNBegin{number_of_iterations} +* \cgalParamDescription{the number of registration iterations using ICP, iterative closest point} +* \cgalParamType{unsigned int} +* \cgalParamDefault{`50`} +* \cgalParamNEnd +* +* \cgalParamNBegin{point_to_plane_energy} +* \cgalParamDescription{the weight of the point to plane distance in the registration} +* \cgalParamType{double} +* \cgalParamDefault{`1`} +* \cgalParamNEnd +* +* \cgalParamNBegin{point_to_point_energy} +* \cgalParamDescription{the weight of the point to matching point distance in the registration} +* \cgalParamType{double} +* \cgalParamDefault{`1`} +* \cgalParamNEnd +* +* \cgalParamNBegin{as_rigid_as_possible_energy} +* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors.} +* \cgalParamType{double} +* \cgalParamDefault{`20`} +* \cgalParamNEnd +* +* \cgalParamNBegin{max_matching_dist} +* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target} +* \cgalParamType{double} +* \cgalParamDefault{`0`} +* \cgalParamNEnd +* +* \cgalParamNBegin{vertex_point_map} +* \cgalParamDescription{a property map associating points to the vertices of `source`} +* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Point_3` as value type} +* \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} +* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` +* must be available in `TriangleMesh1`.} +* \cgalParamNEnd +* +* \cgalParamNBegin{geom_traits} +* \cgalParamDescription{an instance of a geometric traits class} +* \cgalParamType{a class model of `Kernel`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} +* \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} +* \cgalParamNEnd +* \cgalNamedParamsEnd +*/ + +template +void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, + const TriangleMesh2& target, + VertexTranslationMap& vtm, + VertexRotationMap& vrm, + const std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>& correspondences = std::vector::vertex_descriptor, boost::graph_traits::vertex_descriptor>>(), + const NamedParameters1& np = parameters::default_values(), + const NamedParameters2& np2 = parameters::default_values()) +{ + using Gt2 = GetGeomTraits::type; + //using Point = typename GeomTraits2::Point_3; + using Vertex_point_map = typename GetVertexPointMap::type; + using Vector_map_tag = dynamic_vertex_property_t; + using Default_vector_map = boost::property_map::const_type; + using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; + + Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np2, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, target)); + Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np2, internal_np::vertex_normal_map), get(Vector_map_tag(), target)); + +// if constexpr (!parameters::is_default_parameter::value) +// vnm = get(Vector_map_tag(), target).first; +// else +// vnm = parameters::get_parameter(np2, internal_np::vertex_normal_map); + + // if the normal map is not provided, compute it + if (parameters::is_default_parameter::value) + compute_vertex_normals(target, vnm, np2); + + using Gt1 = typename GetGeomTraits::type; + + CGAL::Point_set_3 points; + points.reserve(target.num_vertices()); + + for (auto v : target.vertices()) + points.insert(get(vpm, v), get(vnm, v)); + + std::vector> correspondences_pts; + correspondences_pts.reserve(correspondences.size()); + for (auto p : correspondences) + correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); + + non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np); +} + +/*! +* \ingroup PMP_registration_grp +* +* \brief applies a non-rigid transformation to the vertices of the mesh. Face and vertex normal vectors are invalid after transformation. +* +* @tparam TriangleMesh1 a model of `MutableFaceGraph`. +* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Vector_3` as value type. +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` + * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* +* @param mesh the triangle mesh that should be transformed. +* @param vtm a readable vertex property map of source to store the translation vector of the registration. +* @param vrm a readable vertex property map of source to store the rotation part of the registration. +* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* +* \cgalNamedParamsBegin* +* \cgalParamNBegin{geom_traits} +* \cgalParamDescription{an instance of a geometric traits class} +* \cgalParamType{a class model of `Kernel`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} +* \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} +* \cgalParamNEnd +* +* \cgalParamNBegin{vertex_point_map} +* \cgalParamDescription{a property map associating points to the vertices of `source`} +* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Point_3` as value type} +* \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} +* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` +* must be available in `TriangleMesh`.} +* \cgalParamNEnd +* \cgalNamedParamsEnd +*/ +template +void apply_non_rigid_transformation(TriangleMesh& mesh, + const VertexTranslationMap& vtm, + const VertexRotationMap& vrm, + const NamedParameters& np = parameters::default_values()) { + using Gt = typename GetGeomTraits::type; + using Vertex_point_map = typename GetVertexPointMap::type; + using Vector_map_tag = dynamic_vertex_property_t; + using Vector_map_tag = dynamic_vertex_property_t; + using Default_vector_map = boost::property_map::type; + using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; + using Point = typename Gt::Point_3; + using Vector = typename Gt::Vector_3; + + Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_property_map(CGAL::vertex_point, mesh)); + Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_normal_map), get(Vector_map_tag(), mesh)); + + + for (auto v : vertices(mesh)) { + Point p = get(vpm, v); + p += get(vtm, v); + put(vpm, v, p); +/* + if (!parameters::is_default_parameter::value) { + Vector n = get(vnm, v); + auto rotation = get(vrm, v); + put(vnm, v, rotation.inverse().transform(n)); + }*/ + } +} +} // namespace Polygon_mesh_processing +} // namespace CGAL + +#endif + +#endif \ No newline at end of file diff --git a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h index c95d2933e893..484a916358e6 100644 --- a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h +++ b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h @@ -164,6 +164,10 @@ CGAL_add_named_parameter(region_primitive_map_t, region_primitive_map, region_pr CGAL_add_named_parameter(postprocess_regions_t, postprocess_regions, postprocess_regions) CGAL_add_named_parameter(sizing_function_t, sizing_function, sizing_function) CGAL_add_named_parameter(bbox_scaling_t, bbox_scaling, bbox_scaling) +CGAL_add_named_parameter(point_to_plane_energy_t, point_to_plane_energy, point_to_plane_energy) +CGAL_add_named_parameter(point_to_point_energy_t, point_to_point_energy, point_to_point_energy) +CGAL_add_named_parameter(as_rigid_as_possible_energy_t, as_rigid_as_possible_energy, as_rigid_as_possible_energy) +CGAL_add_named_parameter(max_matching_dist_t, max_matching_dist, max_matching_dist) // List of named parameters that we use in the package 'Surface Mesh Simplification' CGAL_add_named_parameter(get_cost_policy_t, get_cost_policy, get_cost) From 97ce59fc6b6ae523ad4dd3fd45a4bfd8e9cb17b9 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 2 Jul 2024 10:55:59 +0200 Subject: [PATCH 02/41] added a preliminary license header --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 964c0f8ea68d..767e503cbd27 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -12,6 +12,8 @@ #ifndef CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H #define CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H +#include + #include #ifdef CGAL_EIGEN3_ENABLED From d1de633917d7e0971765ea50aff1a5b97f820f30 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 2 Jul 2024 11:30:15 +0200 Subject: [PATCH 03/41] fixes for CI --- .../non_rigid_mesh_registration.h | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 767e503cbd27..8e5c7f329c79 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -33,6 +33,7 @@ #include #include +#include #include #include #include @@ -268,7 +269,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const std::vector::vertex_descriptor, std::size_t>>& correspondences = std::vector::vertex_descriptor, boost::graph_traits::vertex_descriptor>>(), + const std::vector::vertex_descriptor, std::size_t>>& correspondences = std::vector::vertex_descriptor, std::size_t>>(), const NamedParameters& np = parameters::default_values()) { const size_t iter = parameters::choose_parameter(parameters::get_parameter(np, internal_np::number_of_iterations), 50); @@ -669,15 +670,15 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const TriangleMesh2& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>& correspondences = std::vector::vertex_descriptor, boost::graph_traits::vertex_descriptor>>(), + const std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>& correspondences = std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>(), const NamedParameters1& np = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { - using Gt2 = GetGeomTraits::type; + using Gt2 = typename GetGeomTraits::type; //using Point = typename GeomTraits2::Point_3; using Vertex_point_map = typename GetVertexPointMap::type; using Vector_map_tag = dynamic_vertex_property_t; - using Default_vector_map = boost::property_map::const_type; + using Default_vector_map = typename boost::property_map::const_type; using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; @@ -696,13 +697,13 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, using Gt1 = typename GetGeomTraits::type; - CGAL::Point_set_3 points; + CGAL::Point_set_3 points; points.reserve(target.num_vertices()); for (auto v : target.vertices()) points.insert(get(vpm, v), get(vnm, v)); - std::vector> correspondences_pts; + std::vector::vertex_descriptor, std::size_t>> correspondences_pts; correspondences_pts.reserve(correspondences.size()); for (auto p : correspondences) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); @@ -757,7 +758,7 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, using Vertex_point_map = typename GetVertexPointMap::type; using Vector_map_tag = dynamic_vertex_property_t; using Vector_map_tag = dynamic_vertex_property_t; - using Default_vector_map = boost::property_map::type; + using Default_vector_map = typename boost::property_map::type; using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; From 2f2551b04bd372323fc44c0f8499e5d2a3371482 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 2 Jul 2024 12:21:26 +0200 Subject: [PATCH 04/41] revert Point_set_3 dependency --- .../non_rigid_mesh_registration.h | 39 +++++++++++-------- 1 file changed, 22 insertions(+), 17 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 8e5c7f329c79..bfccf2457ec9 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -33,7 +33,6 @@ #include #include -#include #include #include #include @@ -264,35 +263,37 @@ template + typename NamedParameters1 = parameters::Default_named_parameters, + typename NamedParameters2 = parameters::Default_named_parameters> void non_rigid_mesh_to_points_registration(TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, const std::vector::vertex_descriptor, std::size_t>>& correspondences = std::vector::vertex_descriptor, std::size_t>>(), - const NamedParameters& np = parameters::default_values()) + const NamedParameters1& np1 = parameters::default_values(), + const NamedParameters2& np2 = parameters::default_values()) { - const size_t iter = parameters::choose_parameter(parameters::get_parameter(np, internal_np::number_of_iterations), 50); - const double w1 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::point_to_plane_energy), 2); - const double w2 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::point_to_point_energy), 0.1); - const double w3 = parameters::choose_parameter(parameters::get_parameter(np, internal_np::as_rigid_as_possible_energy), 20); - const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np, internal_np::max_matching_dist), 0); + const size_t iter = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::number_of_iterations), 50); + const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); + const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); + const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_energy), 20); + const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::max_matching_dist), 0); internal::Vertices X(num_vertices(source), 3), Y(target.size(), 3); internal::Faces XF(num_faces(source), 3); - using NP_helper = Point_set_processing_3_np_helper; + using NP_helper = Point_set_processing_3_np_helper; using Point_map = typename NP_helper::Point_map; using Normal_map = typename NP_helper::Normal_map; - Point_map point_map = NP_helper::get_const_point_map(target, np); - Normal_map normal_map = NP_helper::get_normal_map(target, np); + Point_map point_map = NP_helper::get_const_point_map(target, np2); + Normal_map normal_map = NP_helper::get_normal_map(target, np2); - using Gt = typename GetGeomTraits::type; - using Vertex_point_map = typename GetVertexPointMap::type; + using Gt = typename GetGeomTraits::type; + using Vertex_point_map = typename GetVertexPointMap::type; using Point = typename Gt::Point_3; - Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, source)); + Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, source)); std::size_t idx = 0; for (auto v : vertices(source)) { @@ -697,18 +698,22 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, using Gt1 = typename GetGeomTraits::type; - CGAL::Point_set_3 points; + typedef std::pair Point_with_normal; + typedef std::vector Pwn_vector; + typedef CGAL::First_of_pair_property_map Point_map; + typedef CGAL::Second_of_pair_property_map Normal_map; + Pwn_vector points; points.reserve(target.num_vertices()); for (auto v : target.vertices()) - points.insert(get(vpm, v), get(vnm, v)); + points.push_back(std::make_pair(get(vpm, v), get(vnm, v))); std::vector::vertex_descriptor, std::size_t>> correspondences_pts; correspondences_pts.reserve(correspondences.size()); for (auto p : correspondences) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); - non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np); + non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np, parameters::point_map(Point_map()).normal_map(Normal_map())); } /*! From b73ce3e98707ed09e9ac0e546a272a6da8c304d0 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Mon, 5 Aug 2024 16:15:07 +0200 Subject: [PATCH 05/41] working on registration and doc --- .../Polygon_mesh_processing.txt | 80 +++++++++++++++++++ .../doc/Polygon_mesh_processing/examples.txt | 1 + .../non_rigid_mesh_registration_example.cpp | 44 +++++----- .../non_rigid_mesh_registration.h | 73 +++++++++-------- 4 files changed, 143 insertions(+), 55 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index e532de3e7288..ca5c94d76a22 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1416,6 +1416,84 @@ and the number of surface patches that are separated by these edges. \cgalExample{Polygon_mesh_processing/detect_features_example.cpp} +\section PMPNonRigidRegistration Non-Rigid Mesh Registration + +Registration of one mesh onto another is often required to map between multiple acquisitions of an object or between an acquisition and a CAD model, e.g., in quality assurance. A simple linear transformation is only sufficient in the case of rigid objects. + +The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is provided. +The registration is formulated as an energy to minimize the distance between source and target. The energy is iteratively minimized by solving sparse linear systems and finding closest rotation matrices. +The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the template, initially a copy of the source, and the target and subsequently calculates the transformations which minimize the distance between them. The template is updated after each iteration and converges towards the target. + +\f{equation}{ +\mathbf{E_{reg}} = w_1\mathbf{E_{match}} + w_2\mathbf{E_{point\_to\_plane}} + w_3\mathbf{E_{arap}}, + \label{eq:e_reg} +\f} + +with the single energy terms: + +\f{equation}{ +\mathbf{E_{match}} = \sum_{\mathbf{v}_i, \mathbf{\tilde{v}}_i \in P} \left\|\mathbf{\tilde{v}}_i - (\mathbf{R}_i\mathbf{v}_i + \mathbf{t_i})\right\|^2_2, + \label{eq:e_match} +\f} + +\f{equation}{ +\mathbf{E_{point\_to\_plane}} = \sum_{\mathbf{v}_i, \mathbf{\tilde{v}}_i \in P} \left\|(\mathbf{\tilde{v}}_i - (\mathbf{R}_i\mathbf{v}_i + \mathbf{t_i}))\mathbf{\tilde{n}}_i\right\|^2_2, + \label{eq:e_plane} +\f} + +\f{equation}{ +\mathbf{E_{arap}} = +\sum_{\mathbf{v}_i \in M} +\sum_{\mathbf{v}_j \in N(\mathbf{v}_i)} +\left\| (\mathbf{R}_i\mathbf{v}_i + \mathbf{t}_i - \mathbf{R}_j\mathbf{v}_j + \mathbf{t}_j) - \mathbf{R}_i(\mathbf{v}_i - \mathbf{v}_j) \right\|^2_2, + \label{eq:e_arap} +\f} + +where: +- \f$w_1, w_2\f$ and \f$w_3\f$ denote the weights for the energy terms. +- \f$\mathbf{P}\f$ is the set of vertex/point pairs with \f$\mathbf{v}_i \in\f$ template and \f$\mathbf{\tilde{v}}_i \in\f$ target. It is recreated in each iteration. +- \f$\mathbf{R}_i\f$ is a \f$ 3 \times 3 \f$ rotation matrix for source vertex \f$\mathbf{v}_i\f$. +- \f$\mathbf{t}_i\f$ is the translation vector for source vertex \f$\mathbf{v}_i\f$. +- \f$\mathbf{M}\f$ is the template mesh (initially equal to the source mesh). +- \f$N(\mathbf{v}_i)\f$ denotes the set of vertices adjacent to \f$\mathbf{v}_i\f$. + +The \f$\mathbf{E_{match}}\f$ energy penalizes the distance between point pairs \f$\mathbf{v}_i\f$ and \f$\mathbf{\tilde{v}}_i\f$. The point pairs are restablished after each iteration. In addition, the method can take fixed point pairs of correspondences between source and target. This greatly improves the quality of the registration and is generally required for non-simple meshes. + +The \f$\mathbf{E_{point\_to\_plane}}\f$ energy, point to plane, is similar to \f$\mathbf{E_{match}}\f$, but instead penalizes the distance to the plane given by the target vertex and its normal. This energy compensates for different discretizations, i.e., for source and target mesh that were not created by deforming one mesh into the other. + +The \f$\mathbf{E_{arap}}\f$ energy, as-rigid-as-possible, controls the rigidness of the transformation. It measures the deformation of the edges connected to each vertex that results from applying an individual transformation to each vertex of the source mesh. + +\subsection PMPNonRigidRegistrationParameters Parameters + +The algorithm has six parameters: +- `point_to_point_energy`: +Sets the weight `w1` of the \f$\mathbf{E_{match}}\f$. Penalizes the distance between vertices of template and target. A higher values promotes a tighter fit. +- `point_to_plane_energy`: +Sets the weight `w2` of the \f$\mathbf{E_{point\_to\_plane}}\f$. Also penalizes the distances between the meshes, but is more forgiving towards different discretization. +- `as_rigid_as_possible_energy`: +Controls the rigidness weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the template and may thus prefers rigidness over a tight fit. +- max_distance: +The maximal distance for finding vertex/point pairs between the source and target. A pair is ignored during an iteration if the specified distance is exceeded. +- iterations: +The number of ICP iterations. The default value is 50. +- correspondences: +Optional fixed vertex/point pairs can be provided to guide the registration. These are especially helpful when source and target are not roughly aligned initially. + +\cgalFigureAnchor{registration_results} +
+ +
+\cgalFigureCaptionBegin{registration_results} +Non-rigid registration using 5 correspondes on top of the head and at the tips of hand and feet. A low rigidness leads to a distortion and a self-intersection of the transformed mesh. The topology of the mesh as well as the number of vertices and faces remain unchanged. The lack of correspondences also causes self-intersection and leads to a flattening of the left arm. +\cgalFigureCaptionEnd + +\subsection PMPNonRigidRegistrationExample Non-rigid registration Example + +In the following example the bear.off model is registered onto the bear_bis.off model. The resulting transformed mesh is then saved as off file with a name depending on the chosen parameters. + +\cgalExample{Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp} + + \section PMPHistory Implementation History A first version of this package was started by Ilker %O. Yaz and Sébastien Loriot. @@ -1441,5 +1519,7 @@ used as a reference during the project. The curvature-based sizing field version of isotropic remeshing was added by Ivan Pađen during GSoC 2023, under the supervision of Sébastien Loriot and Jane Tournois. +The non-rigid mesh registration was developed by Roberto M. Dyke. Sven Oesau integrated the method into CGAL. + */ } /* namespace CGAL */ diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/examples.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/examples.txt index 3aca69fb0049..d6c9c9bd5ea9 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/examples.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/examples.txt @@ -48,5 +48,6 @@ \example Polygon_mesh_processing/remesh_almost_planar_patches.cpp \example Polygon_mesh_processing/sample_example.cpp \example Polygon_mesh_processing/soup_autorefinement.cpp +\example Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp */ */ diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 277a9e6acfa1..3754a9fae8cb 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -8,20 +8,20 @@ #include -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; -typedef CGAL::Exact_predicates_exact_constructions_kernel K2; -typedef CGAL::Surface_mesh Mesh; +#include + +using K = CGAL::Exact_predicates_inexact_constructions_kernel; +using Mesh = CGAL::Surface_mesh; using Point = K::Point_3; using Vector = K::Vector_3; +using FT = K::FT; namespace PMP = CGAL::Polygon_mesh_processing; int main(int argc, char** argv) { - if (argc == 2) - std::cout << "wrong number of arguments! 0, 2 or 3 arguments possible" << std::endl; - const std::string source_fn = argc > 1 ? argv[1] : "data/wolf0.off"; - const std::string target_fn = argc > 2 ? argv[2] : "data/wolf1.off"; - const std::string corr_fn = argc > 3 ? argv[3] : "data/wolf0_wolf1.corr"; + const std::string source_fn = CGAL::data_file_path("meshes/bear.off"); + const std::string target_fn = CGAL::data_file_path("meshes/bear_bis.off"); + const std::string corr_fn = "data/bear_bear_bis.corr"; Mesh source, target; if (!PMP::IO::read_polygon_mesh(source_fn, source)) @@ -49,17 +49,21 @@ int main(int argc, char** argv) { Mesh source, target; correspondences_mesh.push_back(std::make_pair(*(source.vertices_begin() + v0), *(target.vertices_begin() + v1))); } - } - Mesh mapped_source; - CGAL::Point_set_3 points; - points.reserve(target.num_vertices()); + std::cout << correspondences_mesh.size() << " correspondences provided" << std::endl; + } - //typename Mesh::Property_map; auto vnm = target.add_property_map("v:normal"); if (vnm.second) PMP::compute_vertex_normals(target, vnm.first); + typename Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; + typename Mesh::Property_map vtm = source.add_property_map("v:transformations").first; + +/* + CGAL::Point_set_3 points; + points.reserve(target.num_vertices()); + for (auto v : target.vertices()) points.insert(target.point(v), get(vnm.first, v)); @@ -68,19 +72,17 @@ int main(int argc, char** argv) { for (auto p : correspondences_mesh) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); - typename Mesh::Property_map> vrm = target.add_property_map>("v:rotation").first; - typename Mesh::Property_map vtm = target.add_property_map("v:transformations").first; - - Mesh source2 = source; - -/* PMP::non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, CGAL::parameters::point_to_plane_energy(2.0).point_to_point_energy(0.1).as_rigid_as_possible_energy(10)); PMP::apply_non_rigid_transformation(source, vtm, vrm); CGAL::IO::write_polygon_mesh("mapped.off", source);*/ - PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_plane_energy(2.0).point_to_point_energy(0.1).as_rigid_as_possible_energy(30)); + FT w1 = 1.0; + FT w2 = 2.0; + FT w3 = 5000000; + + PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3)); PMP::apply_non_rigid_transformation(source, vtm, vrm); - CGAL::IO::write_polygon_mesh("mapped.off", source); + CGAL::IO::write_polygon_mesh("bear" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); return EXIT_SUCCESS; } \ No newline at end of file diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index bfccf2457ec9..6cd147a57095 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -16,15 +16,13 @@ #include -#ifdef CGAL_EIGEN3_ENABLED +//#ifdef CGAL_EIGEN3_ENABLED #include #include #include #include -//#include - #include #include #include @@ -96,9 +94,6 @@ std::pair nearest_neighbor(Vertices& points, V const int ndim = 3; Eigen_matrix_to_point_map a(points); - Point_3 p0 = get(a, 0); - Point_3 p1 = get(a, 1); - Point_3 p5 = get(a, 5); KDTree kdtree(boost::counting_iterator(0), boost::counting_iterator(points.rows()), KDTree::Splitter(), Search_traits(Eigen_matrix_to_point_map(points))); kdtree.build(); @@ -117,7 +112,7 @@ std::pair nearest_neighbor(Vertices& points, V } return std::make_pair(idz, dist); -} +}/* Vertices calc_normals(Vertices& points, Faces& faces) { Vertices face_normals(faces.rows(), 3); @@ -140,7 +135,7 @@ Vertices calc_normals(Vertices& points, Faces& faces) { } return normals; -} +}*/ template int sign(T val) { @@ -153,6 +148,7 @@ void insertSparseMatrix(const SparseMat& mat, std::vector& coeffi coefficients.push_back(SparseTriplet(start_i + it.row(), start_j + it.col(), it.value())); } +/* std::pair point2point(Vertices X, Vertices Y) { // Transform step for rigid ICP assert(X.rows() == Y.rows()); @@ -171,7 +167,7 @@ std::pair point2point(Vertices X, Vertices Y) { // Transform ste Vertex t = y_mean - R * x_mean; return std::make_pair(R, t); -} +}*/ template Eigen::Matrix rot(T a, T b, T c) { @@ -191,23 +187,26 @@ Eigen::Matrix rot(T a, T b, T c) { * * \brief calculates non-rigid transformation of a mesh onto a set of oriented points. * -* A non-rigid ICP, iterative closest point, method based on https://vgl.ict.usc.edu/Research/NonRigidRegistration/MODERN%20TECHNIQUES%20AND%20APPLICATIONS%20FOR%20REAL-TIME%20NON-RIGID%20REGISTRATION.pdf . +* A non-rigid ICP, iterative closest point, method based on +* a SIGGRAPH'16 Tutorial. * The method uses a few correspondences between the source and the target for the rough alignment. The iterative closest point method * iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. * * @tparam TriangleMesh a model of `MutableFaceGraph`. * @tparam PointRange a model of the `concept ForwardRange` whose value type is the point type. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Vector_3` as value type. +* as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Aff_transformation_3` as value type. -* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters" +* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" * * @param source the triangle mesh that should be mapped onto target. * @param target the target triangle mesh. * @param vtm a writeable vertex property map of source to store the translation vector of the registration. * @param vrm a writeable vertex property map of source to store the rotation part of the registration. -* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the PointRange * @param correspondences a vector given matching points between the source and the target * * \cgalNamedParamsBegin @@ -274,8 +273,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, const NamedParameters2& np2 = parameters::default_values()) { const size_t iter = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::number_of_iterations), 50); - const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); - const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); + const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); + const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_energy), 20); const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::max_matching_dist), 0); @@ -431,16 +430,17 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, weight_coefficients.clear(); internal::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); for (internal::Index i = 0; i < Z.rows(); ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, w1)); + weight_coefficients.push_back(internal::SparseTriplet(i, i, w2)); } for (internal::Index i = Z.rows(); i < Z.rows() + dim; ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, w2)); + weight_coefficients.push_back(internal::SparseTriplet(i, i, w1)); } for (internal::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { weight_coefficients.push_back(internal::SparseTriplet(i, i, w3)); } D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); + /// Setting very high weight for given correspondences. for (internal::Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; @@ -455,8 +455,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, std::vector> Rotations(Z.rows()); size_t coefficients_size = coefficients.size(); + for (size_t it = 0; it < iter; ++it) { - std::cout << "="; if (it > 0) { coefficients.erase(coefficients.begin() + coefficients_size, coefficients.end()); } @@ -526,9 +526,10 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, A.setFromTriplets(coefficients.begin(), coefficients.end()); - if (it == 0) { + // There does not seem to be an advantage in performance + /*if (it == 0) { cg.analyzePattern(A.transpose() * D * A + W); - } + }*/ cg.factorize(A.transpose() * D * A + W); internal::Vector x = cg.solve(A.transpose() * D * b); @@ -537,6 +538,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Z(Eigen::indexing::all, 1) = x(Eigen::seq(Z.rows(), 2 * Z.rows() - 1)); Z(Eigen::indexing::all, 2) = x(Eigen::seq(2 * Z.rows(), 3 * Z.rows() - 1)); + // Update edge neighborhoods by new local rotation if (it == (iter - 1)) { // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -560,6 +562,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } } else { + // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and updating rotations) for (internal::Index i = 0; i < edim; ++i) { int ni = Ni(i); internal::Matrix R = internal::rot(x(dim + 2 * Z.rows() + ni), @@ -569,7 +572,6 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } } } - std::cout << " done." << std::endl; idx = 0; for (auto v : vertices(source)) { @@ -587,15 +589,15 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, idx++; } } -/* /*! * \ingroup PMP_registration_grp * * \brief calculates non-rigid transformation of a mesh onto another mesh. * -* A non-rigid ICP, iterative closest point, method based on https://vgl.ict.usc.edu/Research/NonRigidRegistration/MODERN%20TECHNIQUES%20AND%20APPLICATIONS%20FOR%20REAL-TIME%20NON-RIGID%20REGISTRATION.pdf . -* The method uses a few correspondences between the source and the target for the rough alignment. The iterative closest point method +* A non-rigid ICP, iterative closest point, method based on +* a SIGGRAPH'16 Tutorial. +* The method uses optional correspondences between the source and the target for the rough alignment. The iterative closest point method * iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. * * @tparam TriangleMesh1 a model of `MutableFaceGraph`. @@ -604,13 +606,15 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Aff_transformation_3` as value type. -* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1" +* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2" * * @param source the triangle mesh that should be mapped onto target. * @param target the target point range with oriented normals. * @param vtm a writeable vertex property map of source to store the translation vector of the registration. * @param vrm a writeable vertex property map of source to store the rotation part of the registration. -* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the source and the method among the ones listed below +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the target providing a vertex point map and a vertex normal map. * @param correspondences a vector given matching points between the source and the target * * \cgalNamedParamsBegin @@ -635,11 +639,11 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * \cgalParamNBegin{as_rigid_as_possible_energy} * \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors.} * \cgalParamType{double} -* \cgalParamDefault{`20`} +* \cgalParamDefault{`50`} * \cgalParamNEnd * * \cgalParamNBegin{max_matching_dist} -* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target} +* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target. 0 means that there is no max distance.} * \cgalParamType{double} * \cgalParamDefault{`0`} * \cgalParamNEnd @@ -660,6 +664,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd +* */ template ::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>& correspondences = std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>(), - const NamedParameters1& np = parameters::default_values(), + const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { using Gt2 = typename GetGeomTraits::type; @@ -713,7 +718,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, for (auto p : correspondences) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); - non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np, parameters::point_map(Point_map()).normal_map(Normal_map())); + non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np1, parameters::point_map(Point_map()).normal_map(Normal_map())); } /*! @@ -721,7 +726,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, * * \brief applies a non-rigid transformation to the vertices of the mesh. Face and vertex normal vectors are invalid after transformation. * -* @tparam TriangleMesh1 a model of `MutableFaceGraph`. +* @tparam TriangleMesh a model of `MutableFaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` @@ -733,7 +738,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, * @param vrm a readable vertex property map of source to store the rotation part of the registration. * @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below * -* \cgalNamedParamsBegin* +* \cgalNamedParamsBegin * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} @@ -789,6 +794,6 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, } // namespace Polygon_mesh_processing } // namespace CGAL -#endif +//#endif // CGAL_EIGEN3_ENABLED #endif \ No newline at end of file From db8ffbeb2827514bd2ecf2f1e3a3d6bd6acf6985 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Mon, 5 Aug 2024 16:24:56 +0200 Subject: [PATCH 06/41] doc fix --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 6cd147a57095..e3661e614441 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -440,7 +440,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); - /// Setting very high weight for given correspondences. + // Setting very high weight for given correspondences. for (internal::Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; From d9811293fe62ff24e944a6d9787ead5334d25ef5 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 6 Aug 2024 12:39:37 +0200 Subject: [PATCH 07/41] pass on doc --- .../Polygon_mesh_processing.txt | 24 +- .../fig/non-rigid_registration.png | Bin 0 -> 365800 bytes .../non_rigid_mesh_registration.h | 255 ++++++++---------- .../internal/parameters_interface.h | 2 +- 4 files changed, 120 insertions(+), 161 deletions(-) create mode 100644 Polygon_mesh_processing/doc/Polygon_mesh_processing/fig/non-rigid_registration.png diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index ca5c94d76a22..0d9caabb009d 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1420,9 +1420,9 @@ and the number of surface patches that are separated by these edges. Registration of one mesh onto another is often required to map between multiple acquisitions of an object or between an acquisition and a CAD model, e.g., in quality assurance. A simple linear transformation is only sufficient in the case of rigid objects. -The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is provided. +The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is returned. The registration is formulated as an energy to minimize the distance between source and target. The energy is iteratively minimized by solving sparse linear systems and finding closest rotation matrices. -The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the template, initially a copy of the source, and the target and subsequently calculates the transformations which minimize the distance between them. The template is updated after each iteration and converges towards the target. +The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the intermediate, initially a copy of the source, and the target and subsequently calculates the transformations which minimize the distance between them. The intermediate is updated after each iteration and converges towards the target. \f{equation}{ \mathbf{E_{reg}} = w_1\mathbf{E_{match}} + w_2\mathbf{E_{point\_to\_plane}} + w_3\mathbf{E_{arap}}, @@ -1451,30 +1451,30 @@ with the single energy terms: where: - \f$w_1, w_2\f$ and \f$w_3\f$ denote the weights for the energy terms. -- \f$\mathbf{P}\f$ is the set of vertex/point pairs with \f$\mathbf{v}_i \in\f$ template and \f$\mathbf{\tilde{v}}_i \in\f$ target. It is recreated in each iteration. +- \f$\mathbf{P}\f$ is the set of vertex/point pairs with \f$\mathbf{v}_i \in\f$ intermediate and \f$\mathbf{\tilde{v}}_i \in\f$ target. It is recreated in each iteration. - \f$\mathbf{R}_i\f$ is a \f$ 3 \times 3 \f$ rotation matrix for source vertex \f$\mathbf{v}_i\f$. - \f$\mathbf{t}_i\f$ is the translation vector for source vertex \f$\mathbf{v}_i\f$. -- \f$\mathbf{M}\f$ is the template mesh (initially equal to the source mesh). +- \f$\mathbf{M}\f$ is the intermediate mesh (initially equal to the source mesh). - \f$N(\mathbf{v}_i)\f$ denotes the set of vertices adjacent to \f$\mathbf{v}_i\f$. The \f$\mathbf{E_{match}}\f$ energy penalizes the distance between point pairs \f$\mathbf{v}_i\f$ and \f$\mathbf{\tilde{v}}_i\f$. The point pairs are restablished after each iteration. In addition, the method can take fixed point pairs of correspondences between source and target. This greatly improves the quality of the registration and is generally required for non-simple meshes. The \f$\mathbf{E_{point\_to\_plane}}\f$ energy, point to plane, is similar to \f$\mathbf{E_{match}}\f$, but instead penalizes the distance to the plane given by the target vertex and its normal. This energy compensates for different discretizations, i.e., for source and target mesh that were not created by deforming one mesh into the other. -The \f$\mathbf{E_{arap}}\f$ energy, as-rigid-as-possible, controls the rigidness of the transformation. It measures the deformation of the edges connected to each vertex that results from applying an individual transformation to each vertex of the source mesh. +The \f$\mathbf{E_{arap}}\f$ energy, as-rigid-as-possible, controls the rigidity of the transformation. It measures the deformation of the edges connected to each vertex that results from applying an individual transformation to each vertex of the source mesh. \subsection PMPNonRigidRegistrationParameters Parameters The algorithm has six parameters: - `point_to_point_energy`: -Sets the weight `w1` of the \f$\mathbf{E_{match}}\f$. Penalizes the distance between vertices of template and target. A higher values promotes a tighter fit. +Sets the weight `w1` of the \f$\mathbf{E_{match}}\f$. Penalizes the distance between vertices of intermediate and target. A higher value promotes a tighter fit. - `point_to_plane_energy`: Sets the weight `w2` of the \f$\mathbf{E_{point\_to\_plane}}\f$. Also penalizes the distances between the meshes, but is more forgiving towards different discretization. - `as_rigid_as_possible_energy`: -Controls the rigidness weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the template and may thus prefers rigidness over a tight fit. -- max_distance: -The maximal distance for finding vertex/point pairs between the source and target. A pair is ignored during an iteration if the specified distance is exceeded. -- iterations: +Controls the rigidity weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the source and may thus prefers rigidity over a tight fit. +- maximum_matching_distance: +The maximal distance for finding vertex/point pairs between the intermediate and target. A pair is ignored during an iteration if the specified distance is exceeded. +- number_of_iterations: The number of ICP iterations. The default value is 50. - correspondences: Optional fixed vertex/point pairs can be provided to guide the registration. These are especially helpful when source and target are not roughly aligned initially. @@ -1484,7 +1484,7 @@ Optional fixed vertex/point pairs can be provided to guide the registration. The \cgalFigureCaptionBegin{registration_results} -Non-rigid registration using 5 correspondes on top of the head and at the tips of hand and feet. A low rigidness leads to a distortion and a self-intersection of the transformed mesh. The topology of the mesh as well as the number of vertices and faces remain unchanged. The lack of correspondences also causes self-intersection and leads to a flattening of the left arm. +Non-rigid registration using five correspondences on top of the head and at the tips of hand and feet. A low rigidity leads to a distortion and a self-intersection of the transformed mesh. The topology of the mesh as well as the number of vertices and faces remain unchanged. The lack of correspondences also causes self-intersection and leads to a flattening of the left arm. \cgalFigureCaptionEnd \subsection PMPNonRigidRegistrationExample Non-rigid registration Example @@ -1519,7 +1519,7 @@ used as a reference during the project. The curvature-based sizing field version of isotropic remeshing was added by Ivan Pađen during GSoC 2023, under the supervision of Sébastien Loriot and Jane Tournois. -The non-rigid mesh registration was developed by Roberto M. Dyke. Sven Oesau integrated the method into CGAL. +The non-rigid mesh registration was developed by Roberto M. Dyke. 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z0T%@x=GJC?YrxSw)(w6x+O$_b0B>A9PDOWCo=dDfYQ)}26iULpbo3g8%!E|L1)io4~Q4|N6b%X6XOdt2TBt&=ow_(BTb6v9C6%*MRX*`|&6n^0 E4?)kX#sB~S literal 0 HcmV?d00001 diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index e3661e614441..d98ba77da51b 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -40,7 +40,7 @@ namespace CGAL { namespace Polygon_mesh_processing { -namespace internal { +namespace internal_registration { typedef double ScalarType; typedef Eigen::Vector Vertex; @@ -101,7 +101,7 @@ std::pair nearest_neighbor(Vertices& points, V Eigen::MatrixXi idz(query.rows(), k); Eigen::MatrixXf dist(query.rows(), k); - for (internal::Index i = 0; i < query.rows(); ++i) { + for (Index i = 0; i < query.rows(); ++i) { Point_3 query_pt = { query(i, 0), query(i, 1), query(i, 2) }; Neighbor_search search(kdtree, query_pt, k, 0, true, Neighbor_search::Distance(Eigen_matrix_to_point_map(points))); std::size_t j = 0; @@ -112,30 +112,7 @@ std::pair nearest_neighbor(Vertices& points, V } return std::make_pair(idz, dist); -}/* - -Vertices calc_normals(Vertices& points, Faces& faces) { - Vertices face_normals(faces.rows(), 3); - Vertices normals = Vertices::Zero(points.rows(), 3); - - for (Index i = 0; i < faces.rows(); ++i) { - Vertex v0 = points.row(faces(i, 0)); - Vertex v1 = points.row(faces(i, 1)); - Vertex v2 = points.row(faces(i, 2)); - - Vertex n0 = (v1 - v0).cross(v2 - v1); - face_normals.row(i) = n0.normalized(); - normals.row(faces(i, 0)) += n0; // unnormalized would respect facet areas - normals.row(faces(i, 1)) += n0; - normals.row(faces(i, 2)) += n0; - } - - for (Index i = 0; i < points.rows(); ++i) { - normals.row(i) = normals.row(i).normalized(); - } - - return normals; -}*/ +} template int sign(T val) { @@ -148,27 +125,6 @@ void insertSparseMatrix(const SparseMat& mat, std::vector& coeffi coefficients.push_back(SparseTriplet(start_i + it.row(), start_j + it.col(), it.value())); } -/* -std::pair point2point(Vertices X, Vertices Y) { // Transform step for rigid ICP - assert(X.rows() == Y.rows()); - - Eigen::Vector x_mean = X.colwise().mean(); - X.rowwise() -= x_mean.transpose(); - - Eigen::Vector y_mean = Y.colwise().mean(); - Y.rowwise() -= y_mean.transpose(); - - Matrix C = X.transpose() * Y; - Eigen::JacobiSVD svd(C, Eigen::ComputeFullU | Eigen::ComputeFullV); - - Eigen::Vector sgnVec; - sgnVec << 1, 1, sign(svd.matrixU().determinant() * svd.matrixV().determinant()); - Matrix R = svd.matrixV() * sgnVec.asDiagonal() * svd.matrixU().transpose(); - Vertex t = y_mean - R * x_mean; - - return std::make_pair(R, t); -}*/ - template Eigen::Matrix rot(T a, T b, T c) { T ca = cos(a), cb = cos(b), cc = cos(c); @@ -189,8 +145,10 @@ Eigen::Matrix rot(T a, T b, T c) { * * A non-rigid ICP, iterative closest point, method based on * a SIGGRAPH'16 Tutorial. -* The method uses a few correspondences between the source and the target for the rough alignment. The iterative closest point method -* iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. +* The method uses a few `correspondences` between the `source` and the `target` for the rough alignment. The iterative closest point method +* iteratively approaches the `target` by minimizing the distance between vertices of the `source` and points of the `target`. +* +* @note This function requires the \ref thirdpartyEigen library. * * @tparam TriangleMesh a model of `MutableFaceGraph`. * @tparam PointRange a model of the `concept ForwardRange` whose value type is the point type. @@ -201,13 +159,13 @@ Eigen::Matrix rot(T a, T b, T c) { * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters" * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" * -* @param source the triangle mesh that should be mapped onto target. +* @param source the triangle mesh that should be mapped onto `target`. * @param target the target triangle mesh. -* @param vtm a writeable vertex property map of source to store the translation vector of the registration. -* @param vrm a writeable vertex property map of source to store the rotation part of the registration. +* @param vtm a writeable vertex property map of `source` to store the translation vector of the registration. +* @param vrm a writeable vertex property map of `source` to store the rotation part of the registration. * @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the PointRange -* @param correspondences a vector given matching points between the source and the target +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange` +* @param correspondences a vector given matching points between the `source` and the `target` * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -229,7 +187,7 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamNEnd * * \cgalParamNBegin{as_rigid_as_possible_energy} -* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors.} +* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors} * \cgalParamType{double} * \cgalParamDefault{`20`} * \cgalParamNEnd @@ -276,10 +234,10 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_energy), 20); - const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::max_matching_dist), 0); + const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximum_matching_distance), 0); - internal::Vertices X(num_vertices(source), 3), Y(target.size(), 3); - internal::Faces XF(num_faces(source), 3); + internal_registration::Vertices X(num_vertices(source), 3), Y(target.size(), 3); + internal_registration::Faces XF(num_faces(source), 3); using NP_helper = Point_set_processing_3_np_helper; using Point_map = typename NP_helper::Point_map; @@ -320,7 +278,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, if (corr.rows() > 0) std::cout << "# correspondences = " << corr.rows() << std::endl; - internal::Vertices NY(target.size(), 3); + internal_registration::Vertices NY(target.size(), 3); idx = 0; for (auto p : target) { @@ -335,7 +293,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, std::cout << std::endl; std::vector> neighbors(X.rows()); - for (internal::Index i = 0; i < XF.rows(); ++i) { + for (internal_registration::Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); @@ -348,15 +306,15 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } // Non-rigid ICP - internal::Vertices Z(X); - internal::Index dim = Z.rows() * Z.cols(); + internal_registration::Vertices Z(X); + internal_registration::Index dim = Z.rows() * Z.cols(); - std::vector edge_coefficients; + std::vector edge_coefficients; // build Ni Eigen::MatrixXi Ni(XF.rows() * XF.cols(), 1); idx = 0; - for (internal::Index i = 0; i < XF.rows(); ++i) { + for (internal_registration::Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); @@ -369,90 +327,90 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, edge_coefficients.clear(); edge_coefficients.reserve(XF.rows() * XF.cols()); idx = 0; - for (internal::Index i = 0; i < XF.rows(); ++i) { + for (internal_registration::Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - edge_coefficients.push_back(internal::SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, 1)); idx++; - edge_coefficients.push_back(internal::SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, 1)); idx++; - edge_coefficients.push_back(internal::SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, 1)); idx++; } - internal::SparseMat Nr(XF.rows() * XF.cols(), X.rows()); + internal_registration::SparseMat Nr(XF.rows() * XF.cols(), X.rows()); Nr.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); // build MX edge_coefficients.clear(); edge_coefficients.reserve(XF.rows() * XF.cols() * 2); idx = 0; - for (internal::Index i = 0; i < XF.rows(); ++i) { + for (internal_registration::Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - edge_coefficients.push_back(internal::SparseTriplet(idx, a, 1)); - edge_coefficients.push_back(internal::SparseTriplet(idx, b, -1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, -1)); idx++; - edge_coefficients.push_back(internal::SparseTriplet(idx, b, 1)); - edge_coefficients.push_back(internal::SparseTriplet(idx, c, -1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, -1)); idx++; - edge_coefficients.push_back(internal::SparseTriplet(idx, c, 1)); - edge_coefficients.push_back(internal::SparseTriplet(idx, a, -1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, -1)); idx++; } - internal::SparseMat B(XF.rows() * XF.cols(), X.rows()); + internal_registration::SparseMat B(XF.rows() * XF.cols(), X.rows()); B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); - internal::Index edim = B.rows(); + internal_registration::Index edim = B.rows(); - internal::Vertices BX = B * X; - internal::Vertices BX_original(BX); + internal_registration::Vertices BX = B * X; + internal_registration::Vertices BX_original(BX); - std::vector coefficients; - internal::SparseMat A(Z.rows() + 2 * dim + 3 * edim, dim + dim); - for (internal::Index i = 0; i < dim; ++i) { - coefficients.push_back(internal::SparseTriplet(Z.rows() + i, i, 1)); + std::vector coefficients; + internal_registration::SparseMat A(Z.rows() + 2 * dim + 3 * edim, dim + dim); + for (internal_registration::Index i = 0; i < dim; ++i) { + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + i, i, 1)); } - internal::insertSparseMatrix(B, coefficients, Z.rows() + dim, 0); - internal::insertSparseMatrix(B, coefficients, Z.rows() + dim + edim, Z.rows()); - internal::insertSparseMatrix(B, coefficients, Z.rows() + dim + 2 * edim, 2 * Z.rows()); + internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim, 0); + internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim + edim, Z.rows()); + internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim + 2 * edim, 2 * Z.rows()); - internal::Matrix b(Z.rows() + 2 * dim + 3 * edim, 1); + internal_registration::Matrix b(Z.rows() + 2 * dim + 3 * edim, 1); - std::vector weight_coefficients; // system regularizer - internal::SparseMat W(dim + dim, dim + dim); - for (internal::Index i = dim; i < dim + dim; ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, 1)); + std::vector weight_coefficients; // system regularizer + internal_registration::SparseMat W(dim + dim, dim + dim); + for (internal_registration::Index i = dim; i < dim + dim; ++i) { + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, 1)); } W.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); weight_coefficients.clear(); - internal::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); - for (internal::Index i = 0; i < Z.rows(); ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, w2)); + internal_registration::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); + for (internal_registration::Index i = 0; i < Z.rows(); ++i) { + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w2)); } - for (internal::Index i = Z.rows(); i < Z.rows() + dim; ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, w1)); + for (internal_registration::Index i = Z.rows(); i < Z.rows() + dim; ++i) { + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w1)); } - for (internal::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { - weight_coefficients.push_back(internal::SparseTriplet(i, i, w3)); + for (internal_registration::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w3)); } D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); // Setting very high weight for given correspondences. - for (internal::Index i = 0; i < corr.rows(); ++i) { + for (internal_registration::Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; } // Solver - Eigen::ConjugateGradient cg; + Eigen::ConjugateGradient cg; //cg.setMaxIterations(1000); //cg.setTolerance(1e-6); - Eigen::JacobiSVD> svd; - std::vector> Rotations(Z.rows()); + Eigen::JacobiSVD> svd; + std::vector> Rotations(Z.rows()); size_t coefficients_size = coefficients.size(); @@ -463,7 +421,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, // Compute correspondence //Eigen::VectorXi idz = nearest_neighbor(V1, Z).first.col(0); - std::pair nn_result = internal::nearest_neighbor(Y, Z); + std::pair nn_result = internal_registration::nearest_neighbor(Y, Z); Eigen::VectorXi idz = nn_result.first.col(0); Eigen::VectorXf dist = nn_result.second.col(0); @@ -471,7 +429,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); // reset weights // prune correspondences that are too distant int count = 0; - for (internal::Index i = 0; i < Z.rows(); ++i) { + for (internal_registration::Index i = 0; i < Z.rows(); ++i) { if (dist[i] > max_matching_dist) { count++; D.coeffRef(i, i) = 0; @@ -482,43 +440,43 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } std::cout << "active = " << Z.rows() - count << " / " << Z.rows() << std::endl; // ensure hard correspondences have not been removed - for (internal::Index i = 0; i < corr.rows(); ++i) { + for (internal_registration::Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; } } - for (internal::Index i = 0; i < corr.rows(); ++i) { + for (internal_registration::Index i = 0; i < corr.rows(); ++i) { idz(corr(i, 0)) = corr(i, 1); } - internal::Vertices P(Y(idz, Eigen::indexing::all)); // target points - internal::Vertices NP(NY(idz, Eigen::indexing::all)); // target normals + internal_registration::Vertices P(Y(idz, Eigen::indexing::all)); // target points + internal_registration::Vertices NP(NY(idz, Eigen::indexing::all)); // target normals - for (internal::Index i = 0; i < Z.rows(); ++i) { - coefficients.push_back(internal::SparseTriplet(i, i, NP(i, 0))); - coefficients.push_back(internal::SparseTriplet(i, Z.rows() + i, NP(i, 1))); - coefficients.push_back(internal::SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); + for (internal_registration::Index i = 0; i < Z.rows(); ++i) { + coefficients.push_back(internal_registration::SparseTriplet(i, i, NP(i, 0))); + coefficients.push_back(internal_registration::SparseTriplet(i, Z.rows() + i, NP(i, 1))); + coefficients.push_back(internal_registration::SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); } - for (internal::Index i = 0; i < edim; ++i) { + for (internal_registration::Index i = 0; i < edim; ++i) { size_t ni = Ni(i); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + i, Z.rows() + ni + dim, -BX(i, 2))); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + edim + i, ni + dim, -BX(i, 0))); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + edim + i, 2 * Z.rows() + ni + dim, BX(i, 2))); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + 2 * edim + i, Z.rows() + ni + dim, BX(i, 0))); - coefficients.push_back(internal::SparseTriplet(Z.rows() + dim + 2 * edim + i, 2 * Z.rows() + ni + dim, -BX(i, 1))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + i, Z.rows() + ni + dim, -BX(i, 2))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + edim + i, ni + dim, -BX(i, 0))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + edim + i, 2 * Z.rows() + ni + dim, BX(i, 2))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + 2 * edim + i, Z.rows() + ni + dim, BX(i, 0))); + coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + 2 * edim + i, 2 * Z.rows() + ni + dim, -BX(i, 1))); } - for (internal::Index i = 0; i < Z.rows(); ++i) { + for (internal_registration::Index i = 0; i < Z.rows(); ++i) { b(i) = NP(i, 0) * P(i, 0) + NP(i, 1) * P(i, 1) + NP(i, 2) * P(i, 2); b(i + Z.rows()) = P(i, 0); b(i + Z.rows() * 2) = P(i, 1); b(i + Z.rows() * 3) = P(i, 2); } - for (internal::Index i = 0; i < edim; ++i) { + for (internal_registration::Index i = 0; i < edim; ++i) { b(i + Z.rows() + dim) = BX(i, 0); b(i + Z.rows() + dim + edim) = BX(i, 1); b(i + Z.rows() + dim + edim * 2) = BX(i, 2); @@ -531,7 +489,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, cg.analyzePattern(A.transpose() * D * A + W); }*/ cg.factorize(A.transpose() * D * A + W); - internal::Vector x = cg.solve(A.transpose() * D * b); + internal_registration::Vector x = cg.solve(A.transpose() * D * b); // Solution Z(Eigen::indexing::all, 0) = x(Eigen::seq(0, Z.rows() - 1)); @@ -543,29 +501,29 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, if (it == (iter - 1)) { // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h // See also: compute_close_rotation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h - for (internal::Index i = 0; i < Z.rows(); ++i) { + for (internal_registration::Index i = 0; i < Z.rows(); ++i) { std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); - internal::Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); - internal::Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); + internal_registration::Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); + internal_registration::Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); Rotations[i] = svd.matrixV() * svd.matrixU().transpose(); if (Rotations[i].determinant() < 0) { - Eigen::Matrix M = Eigen::Matrix3d::Identity(); + Eigen::Matrix M = Eigen::Matrix3d::Identity(); M(2, 2) = -1; Rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); } } - for (internal::Index i = 0; i < edim; ++i) { - internal::Matrix R = Rotations[Ni(i)]; + for (internal_registration::Index i = 0; i < edim; ++i) { + internal_registration::Matrix R = Rotations[Ni(i)]; BX.row(i) = BX.row(i) * R.transpose(); } } else { // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and updating rotations) - for (internal::Index i = 0; i < edim; ++i) { + for (internal_registration::Index i = 0; i < edim; ++i) { int ni = Ni(i); - internal::Matrix R = internal::rot(x(dim + 2 * Z.rows() + ni), + internal_registration::Matrix R = internal_registration::rot(x(dim + 2 * Z.rows() + ni), x(dim + Z.rows() + ni), x(dim + ni)); BX.row(i) = BX.row(i) * R.transpose(); @@ -597,25 +555,27 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * * A non-rigid ICP, iterative closest point, method based on * a SIGGRAPH'16 Tutorial. -* The method uses optional correspondences between the source and the target for the rough alignment. The iterative closest point method -* iteratively approaches the target by minimizing the distance between vertices of the source and points of the target. +* The method uses optional `correspondences` between the `source` and the `target` for the rough alignment. The iterative closest point method +* iteratively approaches the `target` by minimizing the distance between vertices of the `source` and vertices of the `target`. +* +* @note This function requires the \ref thirdpartyEigen library. * -* @tparam TriangleMesh1 a model of `MutableFaceGraph`. -* @tparam TriangleMesh2 a const model of the `MutableFaceGraph`. +* @tparam TriangleMesh1 a model of `MutableFaceGraph` +* @tparam TriangleMesh2 a const model of the `MutableFaceGraph` * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Vector_3` as value type. + * as key type and a \cgal Kernel `Vector_3` as value type * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Aff_transformation_3` as value type. + * as key type and a \cgal Kernel `Aff_transformation_3` as value type * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1" * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2" * -* @param source the triangle mesh that should be mapped onto target. -* @param target the target point range with oriented normals. -* @param vtm a writeable vertex property map of source to store the translation vector of the registration. -* @param vrm a writeable vertex property map of source to store the rotation part of the registration. -* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the source and the method among the ones listed below -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the target providing a vertex point map and a vertex normal map. -* @param correspondences a vector given matching points between the source and the target +* @param source the triangle mesh that should be mapped onto `target` +* @param target the target triangle mesh +* @param vtm a writeable vertex property map of `source` to store the translation vector of the registration +* @param vrm a writeable vertex property map of `source` to store the rotation part of the registration +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map +* @param correspondences a vector given matching points between the `source` and the `target` * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -643,7 +603,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * \cgalParamNEnd * * \cgalParamNBegin{max_matching_dist} -* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target. 0 means that there is no max distance.} +* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a vertex in `target`. 0 means that there is no max distance.} * \cgalParamType{double} * \cgalParamDefault{`0`} * \cgalParamNEnd @@ -681,7 +641,6 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const NamedParameters2& np2 = parameters::default_values()) { using Gt2 = typename GetGeomTraits::type; - //using Point = typename GeomTraits2::Point_3; using Vertex_point_map = typename GetVertexPointMap::type; using Vector_map_tag = dynamic_vertex_property_t; using Default_vector_map = typename boost::property_map::const_type; @@ -734,8 +693,8 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, * @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" * * @param mesh the triangle mesh that should be transformed. -* @param vtm a readable vertex property map of source to store the translation vector of the registration. -* @param vrm a readable vertex property map of source to store the rotation part of the registration. +* @param vtm a readable vertex property map of `mesh` to store the translation vector of the registration. +* @param vrm a readable vertex property map of `mesh` to store the rotation part of the registration. * @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below * * \cgalNamedParamsBegin diff --git a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h index 484a916358e6..7d735b4ed901 100644 --- a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h +++ b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h @@ -167,7 +167,7 @@ CGAL_add_named_parameter(bbox_scaling_t, bbox_scaling, bbox_scaling) CGAL_add_named_parameter(point_to_plane_energy_t, point_to_plane_energy, point_to_plane_energy) CGAL_add_named_parameter(point_to_point_energy_t, point_to_point_energy, point_to_point_energy) CGAL_add_named_parameter(as_rigid_as_possible_energy_t, as_rigid_as_possible_energy, as_rigid_as_possible_energy) -CGAL_add_named_parameter(max_matching_dist_t, max_matching_dist, max_matching_dist) +CGAL_add_named_parameter(maximum_matching_distance_t, maximum_matching_distance, maximum_matching_distance) // List of named parameters that we use in the package 'Surface Mesh Simplification' CGAL_add_named_parameter(get_cost_policy_t, get_cost_policy, get_cost) From ba01e613b804931ae858068393ccb0c43229b7b7 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 8 Aug 2024 14:56:04 +0200 Subject: [PATCH 08/41] update on doc --- .../data/bear_bear_bis.corr | 6 ++ .../non_rigid_mesh_registration_example.cpp | 33 ++----- .../non_rigid_mesh_registration.h | 87 +++++++++++-------- 3 files changed, 63 insertions(+), 63 deletions(-) create mode 100644 Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr b/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr new file mode 100644 index 000000000000..671a6140f512 --- /dev/null +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr @@ -0,0 +1,6 @@ +8311 3104 +7094 7161 +7642 4861 +4292 51 +5651 6476 +2481 8045 \ No newline at end of file diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 3754a9fae8cb..2d0011cc48fb 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -39,14 +39,9 @@ int main(int argc, char** argv) { std::vector> correspondences_mesh; std::ifstream corr(corr_fn); if (corr.is_open()) { - std::string line; - while (std::getline(corr, line)) { - if (line.size() == 0) continue; - std::istringstream iss(line); - - std::size_t v0, v1; - if (iss >> v0 >> v1) - Mesh source, target; + std::size_t v0, v1; + while (corr >> v0 >> v1) { + std::cout << v0 << " " << v1 << std::endl; correspondences_mesh.push_back(std::make_pair(*(source.vertices_begin() + v0), *(target.vertices_begin() + v1))); } @@ -57,28 +52,12 @@ int main(int argc, char** argv) { if (vnm.second) PMP::compute_vertex_normals(target, vnm.first); - typename Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; - typename Mesh::Property_map vtm = source.add_property_map("v:transformations").first; - -/* - CGAL::Point_set_3 points; - points.reserve(target.num_vertices()); - - for (auto v : target.vertices()) - points.insert(target.point(v), get(vnm.first, v)); - - std::vector> correspondences_pts; - correspondences_pts.reserve(correspondences_mesh.size()); - for (auto p : correspondences_mesh) - correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); - - PMP::non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, CGAL::parameters::point_to_plane_energy(2.0).point_to_point_energy(0.1).as_rigid_as_possible_energy(10)); - PMP::apply_non_rigid_transformation(source, vtm, vrm); - CGAL::IO::write_polygon_mesh("mapped.off", source);*/ + Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; + Mesh::Property_map vtm = source.add_property_map("v:translation").first; FT w1 = 1.0; FT w2 = 2.0; - FT w3 = 5000000; + FT w3 = 500; PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3)); PMP::apply_non_rigid_transformation(source, vtm, vrm); diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index d98ba77da51b..d59f5f4196f5 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -16,12 +16,12 @@ #include -//#ifdef CGAL_EIGEN3_ENABLED - +#ifdef CGAL_EIGEN3_ENABLED #include #include #include #include +#endif #include #include @@ -42,17 +42,18 @@ namespace CGAL { namespace Polygon_mesh_processing { namespace internal_registration { -typedef double ScalarType; -typedef Eigen::Vector Vertex; -typedef Eigen::Matrix Vertices; -typedef Eigen::Matrix Faces; -typedef Eigen::Matrix Matrix; -typedef Eigen::Vector Vector; +#ifdef CGAL_EIGEN3_ENABLED +using ScalarType = double; +using Vertex = Eigen::Vector; +using Vertices = Eigen::Matrix; +using Faces = Eigen::Matrix; +using Matrix = Eigen::Matrix; +using Vector = Eigen::Vector; -typedef Eigen::SparseMatrix SparseMat; -typedef Eigen::Triplet SparseTriplet; +using SparseMat = Eigen::SparseMatrix; +using SparseTriplet = Eigen::Triplet; -typedef Eigen::Index Index; +using Index = Eigen::Index; using Point_3 = Simple_cartesian::Point_3; class Eigen_matrix_to_point_map { @@ -133,9 +134,11 @@ Eigen::Matrix rot(T a, T b, T c) { R << cb * cc, cc* sa* sb - ca * sc, ca* cc* sb + sa * sc, cb* sc, ca* cc + sa * sb * sc, ca* sb* sc - cc * sa, -sb, cb* sa, ca* cb; + return R; } +#endif } // namespace internal /*! @@ -160,9 +163,9 @@ Eigen::Matrix rot(T a, T b, T c) { * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" * * @param source the triangle mesh that should be mapped onto `target`. -* @param target the target triangle mesh. -* @param vtm a writeable vertex property map of `source` to store the translation vector of the registration. -* @param vrm a writeable vertex property map of `source` to store the rotation part of the registration. +* @param target the target point set. +* @param vtm a writable vertex property map of `source` to store the translation vector of the registration. +* @param vrm a writable vertex property map of `source` to store the rotation part of the registration. * @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below * @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange` * @param correspondences a vector given matching points between the `source` and the `target` @@ -187,13 +190,13 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamNEnd * * \cgalParamNBegin{as_rigid_as_possible_energy} -* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors} +* \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} -* \cgalParamDefault{`20`} +* \cgalParamDefault{`50`} * \cgalParamNEnd * * \cgalParamNBegin{max_matching_dist} -* \cgalParamDescription{the maximum distance for a vertex in source to match with a point in target} +* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a point in `target`. The default value 0 means no maximum matching distance.} * \cgalParamType{double} * \cgalParamDefault{`0`} * \cgalParamNEnd @@ -230,6 +233,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { +#ifdef CGAL_EIGEN3_ENABLED const size_t iter = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::number_of_iterations), 50); const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); @@ -363,7 +367,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); internal_registration::Index edim = B.rows(); - internal_registration::Vertices BX = B * X; + internal_registration::Vertices BX = B * X;// edges in order: b to a, c to b, a to c. internal_registration::Vertices BX_original(BX); std::vector coefficients; @@ -388,13 +392,13 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, weight_coefficients.clear(); internal_registration::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); for (internal_registration::Index i = 0; i < Z.rows(); ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w2)); + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w2)); // point to plane energy } for (internal_registration::Index i = Z.rows(); i < Z.rows() + dim; ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w1)); + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w1)); // point to point energy } for (internal_registration::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w3)); + weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w3)); // arap energy } D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); @@ -415,6 +419,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, size_t coefficients_size = coefficients.size(); for (size_t it = 0; it < iter; ++it) { + std::cout << "." << std::flush; + // Reset coefficients (removes point pairs, e.g.) if (it > 0) { coefficients.erase(coefficients.begin() + coefficients_size, coefficients.end()); } @@ -447,6 +453,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } } + // Restore hard correspondences for (internal_registration::Index i = 0; i < corr.rows(); ++i) { idz(corr(i, 0)) = corr(i, 1); } @@ -454,12 +461,14 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, internal_registration::Vertices P(Y(idz, Eigen::indexing::all)); // target points internal_registration::Vertices NP(NY(idz, Eigen::indexing::all)); // target normals + // Filling coefficients for first part of A -> point_to_plane_energy for (internal_registration::Index i = 0; i < Z.rows(); ++i) { coefficients.push_back(internal_registration::SparseTriplet(i, i, NP(i, 0))); coefficients.push_back(internal_registration::SparseTriplet(i, Z.rows() + i, NP(i, 1))); coefficients.push_back(internal_registration::SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); } + // Filling coefficients from edges for last part of A -> as_rigid_as_possible_energy for (internal_registration::Index i = 0; i < edim; ++i) { size_t ni = Ni(i); coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); @@ -471,7 +480,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } for (internal_registration::Index i = 0; i < Z.rows(); ++i) { - b(i) = NP(i, 0) * P(i, 0) + NP(i, 1) * P(i, 1) + NP(i, 2) * P(i, 2); + b(i) = NP(i, 0) * P(i, 0) + NP(i, 1) * P(i, 1) + NP(i, 2) * P(i, 2); // distance of matched point to origin for point to plane energy + // Coordinates of matched point for point to point energy b(i + Z.rows()) = P(i, 0); b(i + Z.rows() * 2) = P(i, 1); b(i + Z.rows() * 3) = P(i, 2); @@ -484,10 +494,10 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, A.setFromTriplets(coefficients.begin(), coefficients.end()); - // There does not seem to be an advantage in performance - /*if (it == 0) { + if (it == 0) { cg.analyzePattern(A.transpose() * D * A + W); - }*/ + } + cg.factorize(A.transpose() * D * A + W); internal_registration::Vector x = cg.solve(A.transpose() * D * b); @@ -496,7 +506,6 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Z(Eigen::indexing::all, 1) = x(Eigen::seq(Z.rows(), 2 * Z.rows() - 1)); Z(Eigen::indexing::all, 2) = x(Eigen::seq(2 * Z.rows(), 3 * Z.rows() - 1)); - // Update edge neighborhoods by new local rotation if (it == (iter - 1)) { // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -520,7 +529,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } } else { - // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and updating rotations) + // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and rotating edges) for (internal_registration::Index i = 0; i < edim; ++i) { int ni = Ni(i); internal_registration::Matrix R = internal_registration::rot(x(dim + 2 * Z.rows() + ni), @@ -535,8 +544,9 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, for (auto v : vertices(source)) { Point z(Z(idx, 0), Z(idx, 1), Z(idx, 2)); Point x(X(idx, 0), X(idx, 1), X(idx, 2)); +/* Aff_transformation_3 t1(CGAL::TRANSLATION, CGAL::ORIGIN - x); - Aff_transformation_3 t2(CGAL::TRANSLATION, -(CGAL::ORIGIN - z)); + Aff_transformation_3 t2(CGAL::TRANSLATION, -(CGAL::ORIGIN - z));*/ const auto& r = Rotations[idx]; Aff_transformation_3 rota(r(0, 0), r(0, 1), r(0, 2), 0, r(1, 0), r(1, 1), r(1, 2), 0, @@ -546,6 +556,9 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, put(vrm, v, rota); idx++; } +#else +static_assert(false, "Eigen library is required for non-rigid mesh registration"); +#endif } /*! @@ -571,8 +584,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * * @param source the triangle mesh that should be mapped onto `target` * @param target the target triangle mesh -* @param vtm a writeable vertex property map of `source` to store the translation vector of the registration -* @param vrm a writeable vertex property map of `source` to store the rotation part of the registration +* @param vtm a writable vertex property map of `source` to store the translation vector of the registration +* @param vrm a writable vertex property map of `source` to store the rotation part of the registration * @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below * @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map * @param correspondences a vector given matching points between the `source` and the `target` @@ -597,13 +610,13 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, * \cgalParamNEnd * * \cgalParamNBegin{as_rigid_as_possible_energy} -* \cgalParamDescription{uses the topology of the mesh to determine how a vertex it deforming with respect to its neighbors.} +* \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} * \cgalParamDefault{`50`} * \cgalParamNEnd * -* \cgalParamNBegin{max_matching_dist} -* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a vertex in `target`. 0 means that there is no max distance.} +* \cgalParamNBegin{maximum_matching_distance} +* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a point in `target`. The default value 0 means no maximum matching distance.} * \cgalParamType{double} * \cgalParamDefault{`0`} * \cgalParamNEnd @@ -640,6 +653,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { +#ifdef CGAL_EIGEN3_ENABLED using Gt2 = typename GetGeomTraits::type; using Vertex_point_map = typename GetVertexPointMap::type; using Vector_map_tag = dynamic_vertex_property_t; @@ -678,6 +692,10 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np1, parameters::point_map(Point_map()).normal_map(Normal_map())); + +#else + static_assert(false, "Eigen library is required for non-rigid mesh registration"); +#endif } /*! @@ -737,7 +755,6 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_property_map(CGAL::vertex_point, mesh)); Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_normal_map), get(Vector_map_tag(), mesh)); - for (auto v : vertices(mesh)) { Point p = get(vpm, v); p += get(vtm, v); @@ -753,6 +770,4 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, } // namespace Polygon_mesh_processing } // namespace CGAL -//#endif // CGAL_EIGEN3_ENABLED - #endif \ No newline at end of file From 2fdfb803f939c4fd9684c107caef54a4cccecf68 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 8 Aug 2024 15:24:16 +0200 Subject: [PATCH 09/41] update on doc --- .../doc/Polygon_mesh_processing/Polygon_mesh_processing.txt | 2 +- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index 0d9caabb009d..9b1ab2659d61 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1459,7 +1459,7 @@ where: The \f$\mathbf{E_{match}}\f$ energy penalizes the distance between point pairs \f$\mathbf{v}_i\f$ and \f$\mathbf{\tilde{v}}_i\f$. The point pairs are restablished after each iteration. In addition, the method can take fixed point pairs of correspondences between source and target. This greatly improves the quality of the registration and is generally required for non-simple meshes. -The \f$\mathbf{E_{point\_to\_plane}}\f$ energy, point to plane, is similar to \f$\mathbf{E_{match}}\f$, but instead penalizes the distance to the plane given by the target vertex and its normal. This energy compensates for different discretizations, i.e., for source and target mesh that were not created by deforming one mesh into the other. +The \f$\mathbf{E_{point\_to\_plane}}\f$ energy is similar to \f$\mathbf{E_{match}}\f$, but instead penalizes the distance to the plane given by the target vertex and its normal. This energy compensates for different discretizations, i.e., for source and target mesh that were not created by deforming one mesh into the other. The \f$\mathbf{E_{arap}}\f$ energy, as-rigid-as-possible, controls the rigidity of the transformation. It measures the deformation of the edges connected to each vertex that results from applying an individual transformation to each vertex of the source mesh. diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index d59f5f4196f5..4d826cd9a3ba 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -195,7 +195,7 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamDefault{`50`} * \cgalParamNEnd * -* \cgalParamNBegin{max_matching_dist} +* \cgalParamNBegin{maximum_matching_distance} * \cgalParamDescription{the maximum distance for a vertex in `source` to match with a point in `target`. The default value 0 means no maximum matching distance.} * \cgalParamType{double} * \cgalParamDefault{`0`} From 06a31878e30f93425c6483d4fab88dab116afe7a Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 8 Aug 2024 15:39:02 +0200 Subject: [PATCH 10/41] updated changes.md --- Installation/CHANGES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/Installation/CHANGES.md b/Installation/CHANGES.md index a8ddd38c1a1c..2175a174b9bc 100644 --- a/Installation/CHANGES.md +++ b/Installation/CHANGES.md @@ -182,6 +182,7 @@ Release date: June 2024 which can be used to refine a polygon mesh along an isocurve. - Added the function [`CGAL::Polygon_mesh_processing::add_bbox()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PkgPolygonMeshProcessingRef.html#gabaf98d2fd9ae599ff1f3a5a6cde79cf3), which enables adding a tight or extended, triangulated or not, bounding box to a face graph. +- Added two functions for non-rigid registration of mesh to mesh and mesh to point cloud [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga8f009d2c73e58129c96ec9ae7f4f365c) and [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#gafebc57d7544dd2c7c9feaaf2f24f2eda) ### [2D Triangulations](https://doc.cgal.org/6.0/Manual/packages.html#PkgTriangulation2) - **Breaking change**: the concept [`TriangulationTraits_2`](https://doc.cgal.org/6.0/Triangulation_2/classTriangulationTraits__2.html) now requires an additional functor `Compare_xy_2`. From 29d1fd12ce1954816be257b73818de0c678c100a Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Tue, 13 Aug 2024 09:31:05 +0100 Subject: [PATCH 11/41] typo; whitespace --- .../doc/Polygon_mesh_processing/Polygon_mesh_processing.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index 9b1ab2659d61..f23a36265b40 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1420,8 +1420,8 @@ and the number of surface patches that are separated by these edges. Registration of one mesh onto another is often required to map between multiple acquisitions of an object or between an acquisition and a CAD model, e.g., in quality assurance. A simple linear transformation is only sufficient in the case of rigid objects. -The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is returned. -The registration is formulated as an energy to minimize the distance between source and target. The energy is iteratively minimized by solving sparse linear systems and finding closest rotation matrices. +The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto a target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is returned. +The registration is formulated as an energy to minimize the distance between source and target. The energy is iteratively minimized by solving sparse linear systems and finding closest rotation matrices. The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the intermediate, initially a copy of the source, and the target and subsequently calculates the transformations which minimize the distance between them. The intermediate is updated after each iteration and converges towards the target. \f{equation}{ @@ -1442,7 +1442,7 @@ with the single energy terms: \f} \f{equation}{ -\mathbf{E_{arap}} = +\mathbf{E_{arap}} = \sum_{\mathbf{v}_i \in M} \sum_{\mathbf{v}_j \in N(\mathbf{v}_i)} \left\| (\mathbf{R}_i\mathbf{v}_i + \mathbf{t}_i - \mathbf{R}_j\mathbf{v}_j + \mathbf{t}_j) - \mathbf{R}_i(\mathbf{v}_i - \mathbf{v}_j) \right\|^2_2, From eb79dfe56f9d07a579950866ad651a72ad8c6495 Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Tue, 20 Aug 2024 09:35:06 +0100 Subject: [PATCH 12/41] proper license; internal::registration; move in CMakeLists --- .../Polygon_mesh_processing/registration.h | 54 ++++++ .../Polygon_mesh_processing/CMakeLists.txt | 3 +- .../non_rigid_mesh_registration.h | 159 +++++++++--------- 3 files changed, 137 insertions(+), 79 deletions(-) create mode 100644 Installation/include/CGAL/license/Polygon_mesh_processing/registration.h diff --git a/Installation/include/CGAL/license/Polygon_mesh_processing/registration.h b/Installation/include/CGAL/license/Polygon_mesh_processing/registration.h new file mode 100644 index 000000000000..ada932e2aa88 --- /dev/null +++ b/Installation/include/CGAL/license/Polygon_mesh_processing/registration.h @@ -0,0 +1,54 @@ +// Copyright (c) 2016 GeometryFactory SARL (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org) +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Andreas Fabri +// +// Warning: this file is generated, see include/CGAL/license/README.md + +#ifndef CGAL_LICENSE_POLYGON_MESH_PROCESSING_REGISTRATION_H +#define CGAL_LICENSE_POLYGON_MESH_PROCESSING_REGISTRATION_H + +#include +#include + +#ifdef CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE + +# if CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +# if defined(CGAL_LICENSE_WARNING) + + CGAL_pragma_warning("Your commercial license for CGAL does not cover " + "this release of the Polygon Mesh Processing - Registration package.") +# endif + +# ifdef CGAL_LICENSE_ERROR +# error "Your commercial license for CGAL does not cover this release \ + of the Polygon Mesh Processing - Registration package. \ + You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +# endif // CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE < CGAL_RELEASE_DATE + +#else // no CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE + +# if defined(CGAL_LICENSE_WARNING) + CGAL_pragma_warning("\nThe macro CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE is not defined." + "\nYou use the CGAL Polygon Mesh Processing - Registration package under " + "the terms of the GPLv3+.") +# endif // CGAL_LICENSE_WARNING + +# ifdef CGAL_LICENSE_ERROR +# error "The macro CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE is not defined.\ + You use the CGAL Polygon Mesh Processing - Registration package under the terms of \ + the GPLv3+. You get this error, as you defined CGAL_LICENSE_ERROR." +# endif // CGAL_LICENSE_ERROR + +#endif // no CGAL_POLYGON_MESH_PROCESSING_REGISTRATION_COMMERCIAL_LICENSE + +#endif // CGAL_LICENSE_POLYGON_MESH_PROCESSING_REGISTRATION_H diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt b/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt index 9eabe7372d02..d55a7bac7c8c 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/CMakeLists.txt @@ -57,7 +57,6 @@ create_single_source_cgal_program("hausdorff_bounded_error_distance_example.cpp" create_single_source_cgal_program("isotropic_remeshing_with_custom_sizing_example.cpp") create_single_source_cgal_program("triangle_mesh_autorefinement.cpp") create_single_source_cgal_program("soup_autorefinement.cpp") -create_single_source_cgal_program("non_rigid_mesh_registration_example.cpp") find_package(Eigen3 3.2.0 QUIET) #(requires 3.2.0 or greater) include(CGAL_Eigen3_support) @@ -90,6 +89,8 @@ if(TARGET CGAL::Eigen3_support) target_link_libraries(interpolated_corrected_curvatures_PH PUBLIC CGAL::Eigen3_support) create_single_source_cgal_program("interpolated_corrected_curvatures_vertex.cpp") target_link_libraries(interpolated_corrected_curvatures_vertex PUBLIC CGAL::Eigen3_support) + create_single_source_cgal_program("non_rigid_mesh_registration_example.cpp") + target_link_libraries(non_rigid_mesh_registration_example PUBLIC CGAL::Eigen3_support) else() message(STATUS "NOTICE: Examples that use Eigen will not be compiled.") endif() diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 4d826cd9a3ba..e3cd54ad3ad0 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -12,7 +12,7 @@ #ifndef CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H #define CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H -#include +#include #include @@ -40,7 +40,8 @@ namespace CGAL { namespace Polygon_mesh_processing { -namespace internal_registration { +namespace internal { +namespace registration { #ifdef CGAL_EIGEN3_ENABLED using ScalarType = double; @@ -139,6 +140,7 @@ Eigen::Matrix rot(T a, T b, T c) { } #endif +} // namespace registration } // namespace internal /*! @@ -240,8 +242,9 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_energy), 20); const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximum_matching_distance), 0); - internal_registration::Vertices X(num_vertices(source), 3), Y(target.size(), 3); - internal_registration::Faces XF(num_faces(source), 3); + using namespace internal::registration; + Vertices X(num_vertices(source), 3), Y(target.size(), 3); + Faces XF(num_faces(source), 3); using NP_helper = Point_set_processing_3_np_helper; using Point_map = typename NP_helper::Point_map; @@ -282,7 +285,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, if (corr.rows() > 0) std::cout << "# correspondences = " << corr.rows() << std::endl; - internal_registration::Vertices NY(target.size(), 3); + Vertices NY(target.size(), 3); idx = 0; for (auto p : target) { @@ -297,7 +300,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, std::cout << std::endl; std::vector> neighbors(X.rows()); - for (internal_registration::Index i = 0; i < XF.rows(); ++i) { + for (Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); @@ -310,15 +313,15 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } // Non-rigid ICP - internal_registration::Vertices Z(X); - internal_registration::Index dim = Z.rows() * Z.cols(); + Vertices Z(X); + Index dim = Z.rows() * Z.cols(); - std::vector edge_coefficients; + std::vector edge_coefficients; // build Ni Eigen::MatrixXi Ni(XF.rows() * XF.cols(), 1); idx = 0; - for (internal_registration::Index i = 0; i < XF.rows(); ++i) { + for (Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); @@ -331,90 +334,90 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, edge_coefficients.clear(); edge_coefficients.reserve(XF.rows() * XF.cols()); idx = 0; - for (internal_registration::Index i = 0; i < XF.rows(); ++i) { + for (Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(SparseTriplet(idx, b, 1)); idx++; - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(SparseTriplet(idx, c, 1)); idx++; - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(SparseTriplet(idx, a, 1)); idx++; } - internal_registration::SparseMat Nr(XF.rows() * XF.cols(), X.rows()); + SparseMat Nr(XF.rows() * XF.cols(), X.rows()); Nr.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); // build MX edge_coefficients.clear(); edge_coefficients.reserve(XF.rows() * XF.cols() * 2); idx = 0; - for (internal_registration::Index i = 0; i < XF.rows(); ++i) { + for (Index i = 0; i < XF.rows(); ++i) { int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, 1)); - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, -1)); + edge_coefficients.push_back(SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(SparseTriplet(idx, b, -1)); idx++; - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, b, 1)); - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, -1)); + edge_coefficients.push_back(SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(SparseTriplet(idx, c, -1)); idx++; - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, c, 1)); - edge_coefficients.push_back(internal_registration::SparseTriplet(idx, a, -1)); + edge_coefficients.push_back(SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(SparseTriplet(idx, a, -1)); idx++; } - internal_registration::SparseMat B(XF.rows() * XF.cols(), X.rows()); + SparseMat B(XF.rows() * XF.cols(), X.rows()); B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); - internal_registration::Index edim = B.rows(); + Index edim = B.rows(); - internal_registration::Vertices BX = B * X;// edges in order: b to a, c to b, a to c. - internal_registration::Vertices BX_original(BX); + Vertices BX = B * X;// edges in order: b to a, c to b, a to c. + Vertices BX_original(BX); - std::vector coefficients; - internal_registration::SparseMat A(Z.rows() + 2 * dim + 3 * edim, dim + dim); - for (internal_registration::Index i = 0; i < dim; ++i) { - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + i, i, 1)); + std::vector coefficients; + SparseMat A(Z.rows() + 2 * dim + 3 * edim, dim + dim); + for (Index i = 0; i < dim; ++i) { + coefficients.push_back(SparseTriplet(Z.rows() + i, i, 1)); } - internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim, 0); - internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim + edim, Z.rows()); - internal_registration::insertSparseMatrix(B, coefficients, Z.rows() + dim + 2 * edim, 2 * Z.rows()); + insertSparseMatrix(B, coefficients, Z.rows() + dim, 0); + insertSparseMatrix(B, coefficients, Z.rows() + dim + edim, Z.rows()); + insertSparseMatrix(B, coefficients, Z.rows() + dim + 2 * edim, 2 * Z.rows()); - internal_registration::Matrix b(Z.rows() + 2 * dim + 3 * edim, 1); + Matrix b(Z.rows() + 2 * dim + 3 * edim, 1); - std::vector weight_coefficients; // system regularizer - internal_registration::SparseMat W(dim + dim, dim + dim); - for (internal_registration::Index i = dim; i < dim + dim; ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, 1)); + std::vector weight_coefficients; // system regularizer + SparseMat W(dim + dim, dim + dim); + for (Index i = dim; i < dim + dim; ++i) { + weight_coefficients.push_back(SparseTriplet(i, i, 1)); } W.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); weight_coefficients.clear(); - internal_registration::SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); - for (internal_registration::Index i = 0; i < Z.rows(); ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w2)); // point to plane energy + SparseMat D(Z.rows() + 2 * dim + 3 * edim, Z.rows() + 2 * dim + 3 * edim); + for (Index i = 0; i < Z.rows(); ++i) { + weight_coefficients.push_back(SparseTriplet(i, i, w2)); // point to plane energy } - for (internal_registration::Index i = Z.rows(); i < Z.rows() + dim; ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w1)); // point to point energy + for (Index i = Z.rows(); i < Z.rows() + dim; ++i) { + weight_coefficients.push_back(SparseTriplet(i, i, w1)); // point to point energy } - for (internal_registration::Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { - weight_coefficients.push_back(internal_registration::SparseTriplet(i, i, w3)); // arap energy + for (Index i = Z.rows() + dim; i < Z.rows() + dim + 3 * edim; ++i) { + weight_coefficients.push_back(SparseTriplet(i, i, w3)); // arap energy } D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); // Setting very high weight for given correspondences. - for (internal_registration::Index i = 0; i < corr.rows(); ++i) { + for (Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; } // Solver - Eigen::ConjugateGradient cg; + Eigen::ConjugateGradient cg; //cg.setMaxIterations(1000); //cg.setTolerance(1e-6); - Eigen::JacobiSVD> svd; - std::vector> Rotations(Z.rows()); + Eigen::JacobiSVD> svd; + std::vector> Rotations(Z.rows()); size_t coefficients_size = coefficients.size(); @@ -427,7 +430,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, // Compute correspondence //Eigen::VectorXi idz = nearest_neighbor(V1, Z).first.col(0); - std::pair nn_result = internal_registration::nearest_neighbor(Y, Z); + std::pair nn_result = nearest_neighbor(Y, Z); Eigen::VectorXi idz = nn_result.first.col(0); Eigen::VectorXf dist = nn_result.second.col(0); @@ -435,7 +438,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, D.setFromTriplets(weight_coefficients.begin(), weight_coefficients.end()); // reset weights // prune correspondences that are too distant int count = 0; - for (internal_registration::Index i = 0; i < Z.rows(); ++i) { + for (Index i = 0; i < Z.rows(); ++i) { if (dist[i] > max_matching_dist) { count++; D.coeffRef(i, i) = 0; @@ -446,7 +449,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } std::cout << "active = " << Z.rows() - count << " / " << Z.rows() << std::endl; // ensure hard correspondences have not been removed - for (internal_registration::Index i = 0; i < corr.rows(); ++i) { + for (Index i = 0; i < corr.rows(); ++i) { D.coeffRef(Z.rows() + corr(i, 0), Z.rows() + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 2 + corr(i, 0), Z.rows() * 2 + corr(i, 0)) = 1e15f; D.coeffRef(Z.rows() * 3 + corr(i, 0), Z.rows() * 3 + corr(i, 0)) = 1e15f; @@ -454,39 +457,39 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } // Restore hard correspondences - for (internal_registration::Index i = 0; i < corr.rows(); ++i) { + for (Index i = 0; i < corr.rows(); ++i) { idz(corr(i, 0)) = corr(i, 1); } - internal_registration::Vertices P(Y(idz, Eigen::indexing::all)); // target points - internal_registration::Vertices NP(NY(idz, Eigen::indexing::all)); // target normals + Vertices P(Y(idz, Eigen::indexing::all)); // target points + Vertices NP(NY(idz, Eigen::indexing::all)); // target normals // Filling coefficients for first part of A -> point_to_plane_energy - for (internal_registration::Index i = 0; i < Z.rows(); ++i) { - coefficients.push_back(internal_registration::SparseTriplet(i, i, NP(i, 0))); - coefficients.push_back(internal_registration::SparseTriplet(i, Z.rows() + i, NP(i, 1))); - coefficients.push_back(internal_registration::SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); + for (Index i = 0; i < Z.rows(); ++i) { + coefficients.push_back(SparseTriplet(i, i, NP(i, 0))); + coefficients.push_back(SparseTriplet(i, Z.rows() + i, NP(i, 1))); + coefficients.push_back(SparseTriplet(i, 2 * Z.rows() + i, NP(i, 2))); } // Filling coefficients from edges for last part of A -> as_rigid_as_possible_energy - for (internal_registration::Index i = 0; i < edim; ++i) { + for (Index i = 0; i < edim; ++i) { size_t ni = Ni(i); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + i, Z.rows() + ni + dim, -BX(i, 2))); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + edim + i, ni + dim, -BX(i, 0))); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + edim + i, 2 * Z.rows() + ni + dim, BX(i, 2))); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + 2 * edim + i, Z.rows() + ni + dim, BX(i, 0))); - coefficients.push_back(internal_registration::SparseTriplet(Z.rows() + dim + 2 * edim + i, 2 * Z.rows() + ni + dim, -BX(i, 1))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + i, ni + dim, BX(i, 1))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + i, Z.rows() + ni + dim, -BX(i, 2))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + edim + i, ni + dim, -BX(i, 0))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + edim + i, 2 * Z.rows() + ni + dim, BX(i, 2))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + 2 * edim + i, Z.rows() + ni + dim, BX(i, 0))); + coefficients.push_back(SparseTriplet(Z.rows() + dim + 2 * edim + i, 2 * Z.rows() + ni + dim, -BX(i, 1))); } - for (internal_registration::Index i = 0; i < Z.rows(); ++i) { + for (Index i = 0; i < Z.rows(); ++i) { b(i) = NP(i, 0) * P(i, 0) + NP(i, 1) * P(i, 1) + NP(i, 2) * P(i, 2); // distance of matched point to origin for point to plane energy // Coordinates of matched point for point to point energy b(i + Z.rows()) = P(i, 0); b(i + Z.rows() * 2) = P(i, 1); b(i + Z.rows() * 3) = P(i, 2); } - for (internal_registration::Index i = 0; i < edim; ++i) { + for (Index i = 0; i < edim; ++i) { b(i + Z.rows() + dim) = BX(i, 0); b(i + Z.rows() + dim + edim) = BX(i, 1); b(i + Z.rows() + dim + edim * 2) = BX(i, 2); @@ -499,7 +502,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, } cg.factorize(A.transpose() * D * A + W); - internal_registration::Vector x = cg.solve(A.transpose() * D * b); + Vector x = cg.solve(A.transpose() * D * b); // Solution Z(Eigen::indexing::all, 0) = x(Eigen::seq(0, Z.rows() - 1)); @@ -510,29 +513,29 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, if (it == (iter - 1)) { // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h // See also: compute_close_rotation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h - for (internal_registration::Index i = 0; i < Z.rows(); ++i) { + for (Index i = 0; i < Z.rows(); ++i) { std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); - internal_registration::Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); - internal_registration::Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); + Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); + Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); Rotations[i] = svd.matrixV() * svd.matrixU().transpose(); if (Rotations[i].determinant() < 0) { - Eigen::Matrix M = Eigen::Matrix3d::Identity(); + Eigen::Matrix M = Eigen::Matrix3d::Identity(); M(2, 2) = -1; Rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); } } - for (internal_registration::Index i = 0; i < edim; ++i) { - internal_registration::Matrix R = Rotations[Ni(i)]; + for (Index i = 0; i < edim; ++i) { + Matrix R = Rotations[Ni(i)]; BX.row(i) = BX.row(i) * R.transpose(); } } else { // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and rotating edges) - for (internal_registration::Index i = 0; i < edim; ++i) { + for (Index i = 0; i < edim; ++i) { int ni = Ni(i); - internal_registration::Matrix R = internal_registration::rot(x(dim + 2 * Z.rows() + ni), + Matrix R = rot(x(dim + 2 * Z.rows() + ni), x(dim + Z.rows() + ni), x(dim + ni)); BX.row(i) = BX.row(i) * R.transpose(); @@ -770,4 +773,4 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, } // namespace Polygon_mesh_processing } // namespace CGAL -#endif \ No newline at end of file +#endif From eebeff2a6ab4f1a678683acdacfed903ad71187c Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Tue, 20 Aug 2024 17:01:50 +0100 Subject: [PATCH 13/41] No 'should' after discussion with @robertod --- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index e3cd54ad3ad0..be44b3a4d479 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -164,7 +164,7 @@ Eigen::Matrix rot(T a, T b, T c) { * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters" * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" * -* @param source the triangle mesh that should be mapped onto `target`. +* @param source the triangle mesh to be mapped onto `target`. * @param target the target point set. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. @@ -585,7 +585,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1" * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2" * -* @param source the triangle mesh that should be mapped onto `target` +* @param source the triangle mesh to be mapped onto `target` * @param target the target triangle mesh * @param vtm a writable vertex property map of `source` to store the translation vector of the registration * @param vrm a writable vertex property map of `source` to store the rotation part of the registration @@ -713,7 +713,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, * as key type and a \cgal Kernel `Aff_transformation_3` as value type. * @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" * -* @param mesh the triangle mesh that should be transformed. +* @param mesh the triangle mesh to be transformed. * @param vtm a readable vertex property map of `mesh` to store the translation vector of the registration. * @param vrm a readable vertex property map of `mesh` to store the rotation part of the registration. * @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below From c013d13e3d047ee5625c1d68a1e76a42d8f25b6e Mon Sep 17 00:00:00 2001 From: Andreas Fabri Date: Wed, 21 Aug 2024 07:57:24 +0100 Subject: [PATCH 14/41] calculate -> compute https://langeek.co/en/grammar/course/1822 --- .../doc/Polygon_mesh_processing/Polygon_mesh_processing.txt | 6 +++--- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index f23a36265b40..8e9015e0ee9f 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -261,7 +261,7 @@ mesh relaxation function can be used. - Shape smoothing: `CGAL::Polygon_mesh_processing::smooth_shape()` moves vertices towards a weighted barycenter of their neighbors along the mean curvature flow. The curvature flow algorithm for shape smoothing is based on Desbrun et al. \cgalCite{cgal:dmsb-ifamdcf-99} and on Kazhdan et al. \cgalCite{kazhdan2012can}. -The algorithm uses the mean curvature flow to calculate the translation of vertices along the surface normal with a speed equal +The algorithm uses the mean curvature flow to compute the translation of vertices along the surface normal with a speed equal to the mean curvature of the area that is being smoothed. This means that vertices on sharp corners slide faster. If the region around a vertex is flat, this vertex does not move (zero curvature). To avoid the formation of undesirable neck pinches (cylindrical surface areas that form singularities) the algorithm slows @@ -1420,9 +1420,9 @@ and the number of surface patches that are separated by these edges. Registration of one mesh onto another is often required to map between multiple acquisitions of an object or between an acquisition and a CAD model, e.g., in quality assurance. A simple linear transformation is only sufficient in the case of rigid objects. -The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` calculate a non-rigid registration from a source mesh onto a target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is returned. +The functions `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` and `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` compute a non-rigid registration from a source mesh onto a target mesh or a target oriented point cloud. For each vertex in the source mesh a translation vector and a rotation matrix is returned. The registration is formulated as an energy to minimize the distance between source and target. The energy is iteratively minimized by solving sparse linear systems and finding closest rotation matrices. -The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the intermediate, initially a copy of the source, and the target and subsequently calculates the transformations which minimize the distance between them. The intermediate is updated after each iteration and converges towards the target. +The core algorithm is ICP, iterative closest point. In each iteration, the method identifies vertex or point pairs between the intermediate, initially a copy of the source, and the target and subsequently computes the transformations which minimize the distance between them. The intermediate is updated after each iteration and converges towards the target. \f{equation}{ \mathbf{E_{reg}} = w_1\mathbf{E_{match}} + w_2\mathbf{E_{point\_to\_plane}} + w_3\mathbf{E_{arap}}, diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index be44b3a4d479..cffe9d3cc6f6 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -146,7 +146,7 @@ Eigen::Matrix rot(T a, T b, T c) { /*! * \ingroup PMP_registration_grp * -* \brief calculates non-rigid transformation of a mesh onto a set of oriented points. +* \brief computes non-rigid transformation of a mesh onto a set of oriented points. * * A non-rigid ICP, iterative closest point, method based on * a SIGGRAPH'16 Tutorial. @@ -567,7 +567,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" /*! * \ingroup PMP_registration_grp * -* \brief calculates non-rigid transformation of a mesh onto another mesh. +* \brief computes non-rigid transformation of a mesh onto another mesh. * * A non-rigid ICP, iterative closest point, method based on * a SIGGRAPH'16 Tutorial. From 8667d66c39592f50439a54943e4005a0f55eb63f Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 21 Aug 2024 10:00:44 +0200 Subject: [PATCH 15/41] pass on doc --- .../non_rigid_mesh_registration_example.cpp | 2 +- .../non_rigid_mesh_registration.h | 56 +++++++++---------- 2 files changed, 29 insertions(+), 29 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 2d0011cc48fb..52382738c131 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -60,7 +60,7 @@ int main(int argc, char** argv) { FT w3 = 500; PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3)); - PMP::apply_non_rigid_transformation(source, vtm, vrm); + PMP::apply_non_rigid_transformation(source, vtm); CGAL::IO::write_polygon_mesh("bear" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); return EXIT_SUCCESS; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index cffe9d3cc6f6..417f1810aa38 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -156,11 +156,14 @@ Eigen::Matrix rot(T a, T b, T c) { * @note This function requires the \ref thirdpartyEigen library. * * @tparam TriangleMesh a model of `MutableFaceGraph`. -* @tparam PointRange a model of the `concept ForwardRange` whose value type is the point type. -* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` +* @tparam PointRange is a model of `ConstRange`. The value type of +* its iterator is the key type of the named parameter `point_map`. +* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Vector_3` as value type. -* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam CorrespondenceRange a model of the `ConstRange` whose value type is a pair of +* `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`. * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters" * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" * @@ -168,9 +171,9 @@ Eigen::Matrix rot(T a, T b, T c) { * @param target the target point set. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. -* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange` -* @param correspondences a vector given matching points between the `source` and the `target` +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below. +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange`. +* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -225,13 +228,14 @@ template void non_rigid_mesh_to_points_registration(TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const std::vector::vertex_descriptor, std::size_t>>& correspondences = std::vector::vertex_descriptor, std::size_t>>(), + const CorrespondenceRange &correspondences = std::vector::vertex_descriptor, std::size_t>>(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -576,22 +580,22 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * * @note This function requires the \ref thirdpartyEigen library. * -* @tparam TriangleMesh1 a model of `MutableFaceGraph` -* @tparam TriangleMesh2 a const model of the `MutableFaceGraph` +* @tparam TriangleMesh1 a model of `MutableFaceGraph`. +* @tparam TriangleMesh2 a const model of the `MutableFaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Vector_3` as value type + * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Aff_transformation_3` as value type -* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1" -* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2" + * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1". +* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2". * -* @param source the triangle mesh to be mapped onto `target` -* @param target the target triangle mesh -* @param vtm a writable vertex property map of `source` to store the translation vector of the registration -* @param vrm a writable vertex property map of `source` to store the rotation part of the registration -* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map -* @param correspondences a vector given matching points between the `source` and the `target` +* @param source the triangle mesh to be mapped onto `target`. +* @param target the target triangle mesh. +* @param vtm a writable vertex property map of `source` to store the translation vector of the registration. +* @param vrm a writable vertex property map of `source` to store the rotation part of the registration. +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below. +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map. +* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -646,13 +650,14 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" template void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const TriangleMesh2& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>& correspondences = std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>(), + const CorrespondenceRange &correspondences = std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -709,14 +714,11 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, * @tparam TriangleMesh a model of `MutableFaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Vector_3` as value type. -* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Aff_transformation_3` as value type. -* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters" +* @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters". * * @param mesh the triangle mesh to be transformed. * @param vtm a readable vertex property map of `mesh` to store the translation vector of the registration. -* @param vrm a readable vertex property map of `mesh` to store the rotation part of the registration. -* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below +* @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below. * * \cgalNamedParamsBegin * \cgalParamNBegin{geom_traits} @@ -738,11 +740,9 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, */ template void apply_non_rigid_transformation(TriangleMesh& mesh, const VertexTranslationMap& vtm, - const VertexRotationMap& vrm, const NamedParameters& np = parameters::default_values()) { using Gt = typename GetGeomTraits::type; using Vertex_point_map = typename GetVertexPointMap::type; From 3a274b302222bd381989fca366593669eeac8c08 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 21 Aug 2024 14:00:05 +0200 Subject: [PATCH 16/41] doc of CorrespondenceRange --- .../non_rigid_mesh_registration.h | 33 +++++++++---------- 1 file changed, 16 insertions(+), 17 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 417f1810aa38..d56fdc7619f7 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -171,9 +171,9 @@ Eigen::Matrix rot(T a, T b, T c) { * @param target the target point set. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. +* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below. * @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange`. -* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -228,14 +228,18 @@ template ::vertex_descriptor, std::size_t>>, +#endif typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters> void non_rigid_mesh_to_points_registration(TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const CorrespondenceRange &correspondences = std::vector::vertex_descriptor, std::size_t>>(), + const CorrespondenceRange &correspondences = CorrespondenceRange(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -583,9 +587,11 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * @tparam TriangleMesh1 a model of `MutableFaceGraph`. * @tparam TriangleMesh2 a const model of the `MutableFaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Vector_3` as value type. +* as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* @tparam CorrespondenceRange a model of the `ConstRange` whose value type is a pair of +* `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`. * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1". * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2". * @@ -593,9 +599,9 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * @param target the target triangle mesh. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. +* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below. * @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map. -* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. * * \cgalNamedParamsBegin * \cgalParamNBegin{number_of_iterations} @@ -650,14 +656,18 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" template ::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>, +#endif typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters> void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const TriangleMesh2& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const CorrespondenceRange &correspondences = std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>(), + const CorrespondenceRange &correspondences = CorrespondenceRange(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -673,11 +683,6 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np2, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, target)); Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np2, internal_np::vertex_normal_map), get(Vector_map_tag(), target)); -// if constexpr (!parameters::is_default_parameter::value) -// vnm = get(Vector_map_tag(), target).first; -// else -// vnm = parameters::get_parameter(np2, internal_np::vertex_normal_map); - // if the normal map is not provided, compute it if (parameters::is_default_parameter::value) compute_vertex_normals(target, vnm, np2); @@ -762,12 +767,6 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, Point p = get(vpm, v); p += get(vtm, v); put(vpm, v, p); -/* - if (!parameters::is_default_parameter::value) { - Vector n = get(vnm, v); - auto rotation = get(vrm, v); - put(vnm, v, rotation.inverse().transform(n)); - }*/ } } } // namespace Polygon_mesh_processing From 3e08965e2ab22be749daae274258218852d20733 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 21 Aug 2024 15:57:15 +0200 Subject: [PATCH 17/41] moving correspondences into named parameters --- .../non_rigid_mesh_registration_example.cpp | 4 +- .../non_rigid_mesh_registration.h | 91 +++++++++++++------ .../internal/parameters_interface.h | 1 + 3 files changed, 65 insertions(+), 31 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 52382738c131..738a6fff43b4 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -44,8 +44,6 @@ int main(int argc, char** argv) { std::cout << v0 << " " << v1 << std::endl; correspondences_mesh.push_back(std::make_pair(*(source.vertices_begin() + v0), *(target.vertices_begin() + v1))); } - - std::cout << correspondences_mesh.size() << " correspondences provided" << std::endl; } auto vnm = target.add_property_map("v:normal"); @@ -59,7 +57,7 @@ int main(int argc, char** argv) { FT w2 = 2.0; FT w3 = 500; - PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, correspondences_mesh, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3)); + PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3).correspondences(correspondences_mesh)); PMP::apply_non_rigid_transformation(source, vtm); CGAL::IO::write_polygon_mesh("bear" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index d56fdc7619f7..b7ca08c6f8e8 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -162,20 +162,17 @@ Eigen::Matrix rot(T a, T b, T c) { * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Aff_transformation_3` as value type. -* @tparam CorrespondenceRange a model of the `ConstRange` whose value type is a pair of -* `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`. -* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters" -* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters" +* @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters". +* @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters". * * @param source the triangle mesh to be mapped onto `target`. * @param target the target point set. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. -* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. -* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below. -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters" providing a point_map and normal_map for the `PointRange`. +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters 1" among the ones listed below. +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters 2" providing a point_map and normal_map for the `PointRange` as listed below. * -* \cgalNamedParamsBegin +* \cgalNamedParamsBegin{Named Parameters 1} * \cgalParamNBegin{number_of_iterations} * \cgalParamDescription{the number of registration iterations using ICP, iterative closest point} * \cgalParamType{unsigned int} @@ -206,6 +203,12 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamDefault{`0`} * \cgalParamNEnd * +* \cgalParamNBegin{correspondences} +* \cgalParamDescription{an range of matching vertex-point pairs between the `source` and the `target`.} +* \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`.} +* \cgalParamDefault{empty} +* \cgalParamNEnd +* * \cgalParamNBegin{vertex_point_map} * \cgalParamDescription{a property map associating points to the vertices of `source`} * \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` @@ -222,24 +225,34 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd +* +* \cgalNamedParamsBegin{Named Parameters 2} +* \cgalParamNBegin{point_map} +* \cgalParamDescription{a property map associating points to the elements of the point set `target`.} +* \cgalParamType{a model of `ReadablePropertyMap` whose key type is the value type +* of the iterator of `PointRange` and whose value type is `geom_traits::Point_3`.} +* \cgalParamDefault{`CGAL::Identity_property_map`.} +* \cgalParamNEnd +* +* \cgalParamNBegin{normal_map} +* \cgalParamDescription{a property map associating normals to the elements of the point set `target`.} +* \cgalParamType{a model of `ReadablePropertyMap` whose key type is the value type +* of the iterator of `PointRange` and whose value type is `geom_traits::Vector_3`.} +* \cgalParamNEnd +* \cgalNamedParamsEnd +* */ template ::vertex_descriptor, std::size_t>>, -#endif typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters> void non_rigid_mesh_to_points_registration(TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const CorrespondenceRange &correspondences = CorrespondenceRange(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -267,6 +280,9 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, source)); + typedef typename CGAL::internal_np::Lookup_named_param_def::vertex_descriptor, std::size_t>>>::reference Correspondences_type; + Correspondences_type correspondences = CGAL::parameters::choose_parameter(CGAL::parameters::get_parameter_reference(np1, CGAL::internal_np::correspondences), std::vector::vertex_descriptor, std::size_t>>()); + std::size_t idx = 0; for (auto v : vertices(source)) { X(idx, 0) = get(vpm, v).x(); @@ -590,8 +606,6 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Aff_transformation_3` as value type. -* @tparam CorrespondenceRange a model of the `ConstRange` whose value type is a pair of -* `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`. * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1". * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2". * @@ -599,11 +613,10 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * @param target the target triangle mesh. * @param vtm a writable vertex property map of `source` to store the translation vector of the registration. * @param vrm a writable vertex property map of `source` to store the rotation part of the registration. -* @param correspondences a `CorrespondenceRange` containing matching points between the `source` and the `target`. -* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters1" of the `source` and the method among the ones listed below. -* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters2" of the `target` providing a vertex point map and a vertex normal map. +* @param np1 an optional sequence of \ref bgl_namedparameters "Named Parameters 1" of the `source` and the method among the ones listed below. +* @param np2 an optional sequence of \ref bgl_namedparameters "Named Parameters 2" of the `target` providing a vertex point map and a vertex normal map as listed below. * -* \cgalNamedParamsBegin +* \cgalNamedParamsBegin{Named Parameters 1} * \cgalParamNBegin{number_of_iterations} * \cgalParamDescription{the number of registration iterations using ICP, iterative closest point} * \cgalParamType{unsigned int} @@ -634,9 +647,15 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamDefault{`0`} * \cgalParamNEnd * +* \cgalParamNBegin{correspondences} +* \cgalParamDescription{a range of matching vertex pairs between the `source` and the `target`.} +* \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and `boost::graph_traits::%vertex_descriptor`.} +* \cgalParamDefault{empty} +* \cgalParamNEnd +* * \cgalParamNBegin{vertex_point_map} * \cgalParamDescription{a property map associating points to the vertices of `source`} -* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` * as key type and `%Point_3` as value type} * \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} * \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` @@ -651,23 +670,36 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamNEnd * \cgalNamedParamsEnd * +* \cgalNamedParamsBegin{Named Parameters 2} +* \cgalParamNBegin{vertex_normal_map} +* \cgalParamDescription{a property map associating normals to the vertices of `target`} +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Vector_3` as value type} +* \cgalParamDefault{`get_const_property_map(dynamic_vertex_property_t(), target)`} +* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_normal_map_t` +* must be available in `TriangleMesh2`.} +* \cgalParamNEnd +* \cgalParamNBegin{vertex_point_map} +* \cgalParamDescription{a property map associating points to the vertices of `target`} +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Point_3` as value type} +* \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, target)`} +* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` +* must be available in `TriangleMesh2`.} +* \cgalParamNEnd +* \cgalNamedParamsEnd +* */ template ::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>, -#endif typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters> void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, const TriangleMesh2& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, - const CorrespondenceRange &correspondences = CorrespondenceRange(), const NamedParameters1& np1 = parameters::default_values(), const NamedParameters2& np2 = parameters::default_values()) { @@ -687,6 +719,9 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, if (parameters::is_default_parameter::value) compute_vertex_normals(target, vnm, np2); + typedef typename CGAL::internal_np::Lookup_named_param_def::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>>::reference Correspondences_type; + Correspondences_type correspondences = CGAL::parameters::choose_parameter(CGAL::parameters::get_parameter_reference(np1, CGAL::internal_np::correspondences), std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>()); + using Gt1 = typename GetGeomTraits::type; typedef std::pair Point_with_normal; @@ -704,7 +739,7 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, for (auto p : correspondences) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); - non_rigid_mesh_to_points_registration(source, points, vtm, vrm, correspondences_pts, np1, parameters::point_map(Point_map()).normal_map(Normal_map())); + non_rigid_mesh_to_points_registration(source, points, vtm, vrm, np1.combine(parameters::correspondences(correspondences_pts)), parameters::point_map(Point_map()).normal_map(Normal_map())); #else static_assert(false, "Eigen library is required for non-rigid mesh registration"); diff --git a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h index 7d735b4ed901..fe04b6160686 100644 --- a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h +++ b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h @@ -164,6 +164,7 @@ CGAL_add_named_parameter(region_primitive_map_t, region_primitive_map, region_pr CGAL_add_named_parameter(postprocess_regions_t, postprocess_regions, postprocess_regions) CGAL_add_named_parameter(sizing_function_t, sizing_function, sizing_function) CGAL_add_named_parameter(bbox_scaling_t, bbox_scaling, bbox_scaling) +CGAL_add_named_parameter(correspondences_t, correspondences, correspondences) CGAL_add_named_parameter(point_to_plane_energy_t, point_to_plane_energy, point_to_plane_energy) CGAL_add_named_parameter(point_to_point_energy_t, point_to_point_energy, point_to_point_energy) CGAL_add_named_parameter(as_rigid_as_possible_energy_t, as_rigid_as_possible_energy, as_rigid_as_possible_energy) From 5a4fae7131471f9d3624d1173b9608d2b5ddaec0 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 21 Aug 2024 17:15:16 +0200 Subject: [PATCH 18/41] added std::cref to doc of correspondences --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index b7ca08c6f8e8..adfc280255bd 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -207,6 +207,7 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamDescription{an range of matching vertex-point pairs between the `source` and the `target`.} * \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`.} * \cgalParamDefault{empty} +* \cgalParamExtra{to avoid copies, this parameter can be passed using `std::cref`.} * \cgalParamNEnd * * \cgalParamNBegin{vertex_point_map} @@ -651,6 +652,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamDescription{a range of matching vertex pairs between the `source` and the `target`.} * \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and `boost::graph_traits::%vertex_descriptor`.} * \cgalParamDefault{empty} +* \cgalParamExtra{to avoid copies, this parameter can be passed using `std::cref`.} * \cgalParamNEnd * * \cgalParamNBegin{vertex_point_map} From b0e53011ff0e50ea638709a2de64cb95186b23d2 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 2 Oct 2024 19:18:32 +0200 Subject: [PATCH 19/41] added apply_non_rigid_transformation to CHANGES.md removing warnings (unused variables and signed/unsigned comparison) switching to ARAP formulation also used in Surface deformation --- Installation/CHANGES.md | 2 +- .../non_rigid_mesh_registration_example.cpp | 8 +- .../non_rigid_mesh_registration.h | 112 ++++++++++++------ 3 files changed, 83 insertions(+), 39 deletions(-) diff --git a/Installation/CHANGES.md b/Installation/CHANGES.md index 2175a174b9bc..71e2703a847d 100644 --- a/Installation/CHANGES.md +++ b/Installation/CHANGES.md @@ -182,7 +182,7 @@ Release date: June 2024 which can be used to refine a polygon mesh along an isocurve. - Added the function [`CGAL::Polygon_mesh_processing::add_bbox()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PkgPolygonMeshProcessingRef.html#gabaf98d2fd9ae599ff1f3a5a6cde79cf3), which enables adding a tight or extended, triangulated or not, bounding box to a face graph. -- Added two functions for non-rigid registration of mesh to mesh and mesh to point cloud [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga8f009d2c73e58129c96ec9ae7f4f365c) and [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#gafebc57d7544dd2c7c9feaaf2f24f2eda) +- Added two functions for non-rigid registration of mesh to mesh and mesh to point cloud [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga04e4101a21663bebb689de30bb7d2f4e) and [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga466fd5b15e5de0b65faf48947a7f2bef) as well as a function to apply a transformation [`CGAL::Polygon_mesh_processing::apply_non_rigid_transformation()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#gac022fccce4796cba9ff710865154b127) ### [2D Triangulations](https://doc.cgal.org/6.0/Manual/packages.html#PkgTriangulation2) - **Breaking change**: the concept [`TriangulationTraits_2`](https://doc.cgal.org/6.0/Triangulation_2/classTriangulationTraits__2.html) now requires an additional functor `Compare_xy_2`. diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 738a6fff43b4..80a83c964da4 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -53,13 +53,13 @@ int main(int argc, char** argv) { Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; Mesh::Property_map vtm = source.add_property_map("v:translation").first; - FT w1 = 1.0; + FT w1 = 2.0; FT w2 = 2.0; - FT w3 = 500; + FT w3 = 50; - PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3).correspondences(correspondences_mesh)); + PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3).correspondences(std::cref(correspondences_mesh))); PMP::apply_non_rigid_transformation(source, vtm); - CGAL::IO::write_polygon_mesh("bear" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); + CGAL::IO::write_polygon_mesh("bear_" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); return EXIT_SUCCESS; } \ No newline at end of file diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index adfc280255bd..a530f9b00b3d 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -28,6 +28,9 @@ #include #include +#include +#include +#include #include #include @@ -92,8 +95,6 @@ std::pair nearest_neighbor(Vertices& points, V using Search_traits = CGAL::Search_traits_adapter>>; using Neighbor_search = CGAL::Orthogonal_k_neighbor_search; using KDTree = typename Neighbor_search::Tree; - const int leaf_max_size = 10; - const int ndim = 3; Eigen_matrix_to_point_map a(points); @@ -106,7 +107,7 @@ std::pair nearest_neighbor(Vertices& points, V for (Index i = 0; i < query.rows(); ++i) { Point_3 query_pt = { query(i, 0), query(i, 1), query(i, 2) }; Neighbor_search search(kdtree, query_pt, k, 0, true, Neighbor_search::Distance(Eigen_matrix_to_point_map(points))); - std::size_t j = 0; + Index j = 0; for (auto it = search.begin(); it != search.end() && j < k; ++it) { idz(i, j) = it->first; dist(i, j) = it->second; @@ -139,6 +140,31 @@ Eigen::Matrix rot(T a, T b, T c) { return R; } +template +Eigen::Matrix rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { + using Vertex_index = typename boost::graph_traits::vertex_descriptor; + Eigen::Matrix3d cov; + cov.setZero(); + + Eigen::Vector3d x_src = X.row(index), z_src = Z.row(index); + auto n = neighbors.begin(); + auto w = weights.begin(); + + v.rotation_matrix_pre(Vertex_index(index), source); + + for (std::size_t idx = 0; (n != neighbors.end()) && (w != weights.end()); idx++, n++, w++) { + Eigen::Vector3d x_dst = X.row(*n); + Eigen::Vector3d z_dst = Z.row(*n); + Eigen::Vector3d source_edge = x_src - x_dst; + Eigen::Vector3d moving_edge = z_src - z_dst; + + cov += weights[idx] * (source_edge * moving_edge.transpose()); + v.update_covariance_matrix(cov, rotations[index]); + } + + return cov; +} + #endif } // namespace registration } // namespace internal @@ -268,6 +294,8 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Vertices X(num_vertices(source), 3), Y(target.size(), 3); Faces XF(num_faces(source), 3); + using Vertex_index = typename boost::graph_traits::vertex_descriptor; + using NP_helper = Point_set_processing_3_np_helper; using Point_map = typename NP_helper::Point_map; using Normal_map = typename NP_helper::Normal_map; @@ -284,20 +312,33 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, typedef typename CGAL::internal_np::Lookup_named_param_def::vertex_descriptor, std::size_t>>>::reference Correspondences_type; Correspondences_type correspondences = CGAL::parameters::choose_parameter(CGAL::parameters::get_parameter_reference(np1, CGAL::internal_np::correspondences), std::vector::vertex_descriptor, std::size_t>>()); + using ARAP_visitor = typename CGAL::internal::Types_selectors < TriangleMesh, Vertex_point_map, SRE_ARAP>::ARAP_visitor; + using WC = typename CGAL::internal::Types_selectors < TriangleMesh, Vertex_point_map, SRE_ARAP>::Weight_calculator; + WC wc; + std::size_t idx = 0; + std::map::vertex_descriptor, std::size_t> vi; + std::vector::vertex_descriptor> iv; + std::vector > he_weights; + std::map, FT> halfedge_weights; + iv.resize(num_vertices(source)); for (auto v : vertices(source)) { X(idx, 0) = get(vpm, v).x(); X(idx, 1) = get(vpm, v).y(); X(idx, 2) = get(vpm, v).z(); + iv[idx] = v; + vi[v] = idx; idx++; } idx = 0; for (auto f : faces(source)) { - Vertex_around_face_circulator vit = Vertex_around_face_circulator(halfedge(f, source), source); - XF(idx, 0) = *vit++; - XF(idx, 1) = *vit++; - XF(idx, 2) = *vit++; + auto h = halfedge(f, source); + XF(idx, 0) = CGAL::target(h, source); + h = next(h, source); + XF(idx, 1) = CGAL::target(h, source); + h = next(h, source); + XF(idx, 2) = CGAL::target(h, source); idx++; } std::cout << std::endl; @@ -337,6 +378,22 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, neighbors[c].insert(b); } + // Calculate edge weights + he_weights.resize(X.rows()); + for (Index i = 0; i < X.rows(); ++i) { + std::size_t vi = XF(i, 0); + he_weights[vi].resize(neighbors[vi].size()); + std::size_t idx = 0; + for (int vj : neighbors[vi]) { + auto h = halfedge(Vertex_index(vi), Vertex_index(vj), source); + assert(h.second); + he_weights[vi][idx++] = wc(h.first, source, vpm); + } + } + + ARAP_visitor visitor; + visitor.init(source, vpm); + // Non-rigid ICP Vertices Z(X); Index dim = Z.rows() * Z.cols(); @@ -442,7 +499,10 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, //cg.setMaxIterations(1000); //cg.setTolerance(1e-6); Eigen::JacobiSVD> svd; - std::vector> Rotations(Z.rows()); + std::vector> rotations(Z.rows()); + + for (std::size_t i = 0; i < Z.rows(); i++) + rotations[i].setIdentity(); size_t coefficients_size = coefficients.size(); @@ -538,34 +598,19 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, if (it == (iter - 1)) { // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h // See also: compute_close_rotation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h + for (Index i = 0; i < Z.rows(); ++i) + rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + for (Index i = 0; i < Z.rows(); ++i) { - std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); - Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); - Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); - - svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); - Rotations[i] = svd.matrixV() * svd.matrixU().transpose(); - if (Rotations[i].determinant() < 0) { - Eigen::Matrix M = Eigen::Matrix3d::Identity(); - M(2, 2) = -1; - Rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); + rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + BX.row(i) = BX.row(i) * rotations[i].transpose(); } - } - for (Index i = 0; i < edim; ++i) { - Matrix R = Rotations[Ni(i)]; - BX.row(i) = BX.row(i) * R.transpose(); - } } - else { - // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and rotating edges) - for (Index i = 0; i < edim; ++i) { - int ni = Ni(i); - Matrix R = rot(x(dim + 2 * Z.rows() + ni), - x(dim + Z.rows() + ni), - x(dim + ni)); - BX.row(i) = BX.row(i) * R.transpose(); + else + for (Index i = 0; i < Z.rows(); ++i) { + rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + BX.row(i) = BX.row(i) * rotations[i].transpose(); } - } } idx = 0; @@ -575,7 +620,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, /* Aff_transformation_3 t1(CGAL::TRANSLATION, CGAL::ORIGIN - x); Aff_transformation_3 t2(CGAL::TRANSLATION, -(CGAL::ORIGIN - z));*/ - const auto& r = Rotations[idx]; + const auto& r = rotations[idx]; Aff_transformation_3 rota(r(0, 0), r(0, 1), r(0, 2), 0, r(1, 0), r(1, 1), r(1, 2), 0, r(2, 0), r(2, 1), r(2, 2), 0, @@ -795,7 +840,6 @@ void apply_non_rigid_transformation(TriangleMesh& mesh, NamedParameters, Default_vector_map>::type; using Point = typename Gt::Point_3; - using Vector = typename Gt::Vector_3; Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_property_map(CGAL::vertex_point, mesh)); Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_normal_map), get(Vector_map_tag(), mesh)); From 357d3453c554fbe2788febc43db27a73fdad9c47 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 2 Oct 2024 19:45:47 +0200 Subject: [PATCH 20/41] bug fixes --- .../non_rigid_mesh_registration_example.cpp | 2 +- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 80a83c964da4..5aa632b88eda 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -18,7 +18,7 @@ using FT = K::FT; namespace PMP = CGAL::Polygon_mesh_processing; -int main(int argc, char** argv) { +int main(int, char**) { const std::string source_fn = CGAL::data_file_path("meshes/bear.off"); const std::string target_fn = CGAL::data_file_path("meshes/bear_bis.off"); const std::string corr_fn = "data/bear_bear_bis.corr"; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index a530f9b00b3d..56b0ea72f352 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -18,6 +18,7 @@ #ifdef CGAL_EIGEN3_ENABLED #include +#include #include #include #include @@ -48,11 +49,10 @@ namespace registration { #ifdef CGAL_EIGEN3_ENABLED using ScalarType = double; -using Vertex = Eigen::Vector; using Vertices = Eigen::Matrix; using Faces = Eigen::Matrix; using Matrix = Eigen::Matrix; -using Vector = Eigen::Vector; +using Vector = Eigen::VectorXd; using SparseMat = Eigen::SparseMatrix; using SparseTriplet = Eigen::Triplet; From ab51f7340274da2285314b0e4ee6b65374247e1b Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 2 Oct 2024 20:25:46 +0200 Subject: [PATCH 21/41] removed unused variable --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 +- .../package_info/Polygon_mesh_processing/dependencies | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 56b0ea72f352..959da4529315 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -320,7 +320,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, std::map::vertex_descriptor, std::size_t> vi; std::vector::vertex_descriptor> iv; std::vector > he_weights; - std::map, FT> halfedge_weights; + iv.resize(num_vertices(source)); for (auto v : vertices(source)) { X(idx, 0) = get(vpm, v).x(); diff --git a/Polygon_mesh_processing/package_info/Polygon_mesh_processing/dependencies b/Polygon_mesh_processing/package_info/Polygon_mesh_processing/dependencies index f44718e3c9bc..f750d8e39e74 100644 --- a/Polygon_mesh_processing/package_info/Polygon_mesh_processing/dependencies +++ b/Polygon_mesh_processing/package_info/Polygon_mesh_processing/dependencies @@ -31,6 +31,7 @@ Solver_interface Spatial_searching Spatial_sorting Stream_support +Surface_mesh_deformation TDS_2 TDS_3 Triangulation_2 From 7e0022c11b4a7cb037f1fb15f815d4a07c6e32db Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Fri, 4 Oct 2024 08:49:18 +0200 Subject: [PATCH 22/41] fix warning --- .../non_rigid_mesh_registration.h | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 959da4529315..1a92b25212bf 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -128,18 +128,6 @@ void insertSparseMatrix(const SparseMat& mat, std::vector& coeffi coefficients.push_back(SparseTriplet(start_i + it.row(), start_j + it.col(), it.value())); } -template -Eigen::Matrix rot(T a, T b, T c) { - T ca = cos(a), cb = cos(b), cc = cos(c); - T sa = sin(a), sb = sin(b), sc = sin(c); - Eigen::Matrix R; - R << cb * cc, cc* sa* sb - ca * sc, ca* cc* sb + sa * sc, - cb* sc, ca* cc + sa * sb * sc, ca* sb* sc - cc * sa, - -sb, cb* sa, ca* cb; - - return R; -} - template Eigen::Matrix rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { using Vertex_index = typename boost::graph_traits::vertex_descriptor; @@ -501,7 +489,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Eigen::JacobiSVD> svd; std::vector> rotations(Z.rows()); - for (std::size_t i = 0; i < Z.rows(); i++) + for (std::size_t i = 0; i < std::size_t(Z.rows()); i++) rotations[i].setIdentity(); size_t coefficients_size = coefficients.size(); From 36f59c3a00d5653f65a8be048657ffdb9607a44f Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 8 Oct 2024 16:39:40 +0200 Subject: [PATCH 23/41] compatibility with Eigen3.3 removed deprecation warning --- .../non_rigid_mesh_registration.h | 113 +++++++++++++++--- 1 file changed, 99 insertions(+), 14 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 1a92b25212bf..90b77e3c27cd 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -18,7 +18,6 @@ #ifdef CGAL_EIGEN3_ENABLED #include -#include #include #include #include @@ -129,8 +128,10 @@ void insertSparseMatrix(const SparseMat& mat, std::vector& coeffi } template -Eigen::Matrix rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { +void rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { using Vertex_index = typename boost::graph_traits::vertex_descriptor; + Deformation_Eigen_closest_rotation_traits_3 cr; + Eigen::Matrix3d cov; cov.setZero(); @@ -146,11 +147,23 @@ Eigen::Matrix rotation(std::size_t index, Visitor &v, TriangleMesh &sou Eigen::Vector3d source_edge = x_src - x_dst; Eigen::Vector3d moving_edge = z_src - z_dst; - cov += weights[idx] * (source_edge * moving_edge.transpose()); + cr.add_scalar_t_vector_t_vector_transpose(cov, *w, source_edge, moving_edge); v.update_covariance_matrix(cov, rotations[index]); } - return cov; + cr.compute_close_rotation(cov, rotations[index]); +} + +template +Eigen::Matrix rot(T a, T b, T c) { + T ca = cos(a), cb = cos(b), cc = cos(c); + T sa = sin(a), sb = sin(b), sc = sin(c); + Eigen::Matrix R; + R << cb * cc, cc* sa* sb - ca * sc, ca* cc* sb + sa * sc, + cb* sc, ca* cc + sa * sb * sc, ca* sb* sc - cc * sa, + -sb, cb* sa, ca* cb; + + return R; } #endif @@ -486,7 +499,13 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Eigen::ConjugateGradient cg; //cg.setMaxIterations(1000); //cg.setTolerance(1e-6); + +#if EIGEN_VERSION_AT_LEAST(3,4,90) + Eigen::JacobiSVD svd; +#else Eigen::JacobiSVD> svd; +#endif + std::vector> rotations(Z.rows()); for (std::size_t i = 0; i < std::size_t(Z.rows()); i++) @@ -534,8 +553,17 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, idz(corr(i, 0)) = corr(i, 1); } +#if EIGEN_VERSION_AT_LEAST(3,4,0) Vertices P(Y(idz, Eigen::indexing::all)); // target points Vertices NP(NY(idz, Eigen::indexing::all)); // target normals +#else + Vertices P(idz.size(), 3); // target points + Vertices NP(idz.size(), 3); // target normals + for (std::size_t i = 0; i < idz.rows(); i++) { + P.row(i) = Y.row(idz(i)); + NP.row(i) = NY.row(idz(i)); + } +#endif // Filling coefficients for first part of A -> point_to_plane_energy for (Index i = 0; i < Z.rows(); ++i) { @@ -578,26 +606,83 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, Vector x = cg.solve(A.transpose() * D * b); // Solution +#if EIGEN_VERSION_AT_LEAST(3,4,0) Z(Eigen::indexing::all, 0) = x(Eigen::seq(0, Z.rows() - 1)); Z(Eigen::indexing::all, 1) = x(Eigen::seq(Z.rows(), 2 * Z.rows() - 1)); Z(Eigen::indexing::all, 2) = x(Eigen::seq(2 * Z.rows(), 3 * Z.rows() - 1)); +#else + for (Index i = 0; i < Z.rows(); i++) { + Z(i, 0) = x(i); + Z(i, 1) = x(Z.rows() + i); + Z(i, 2) = x(2 * Z.rows() + i); + } +#endif // Update edge neighborhoods by new local rotation + bool new_arap = true; if (it == (iter - 1)) { - // Should replace with CGAL's ARAP implementation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h - // See also: compute_close_rotation https://github.com/CGAL/cgal/blob/master/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h - for (Index i = 0; i < Z.rows(); ++i) - rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + if (new_arap) { + for (Index i = 0; i < Z.rows(); ++i) + rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); - for (Index i = 0; i < Z.rows(); ++i) { - rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); - BX.row(i) = BX.row(i) * rotations[i].transpose(); + for (Index i = 0; i < edim; ++i) { + BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); } + } + else { + for (Index i = 0; i < Z.rows(); ++i) { +#if EIGEN_VERSION_AT_LEAST(3,4,0) + std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); + Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); + Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); +#else + Matrix A(neighbors[i].size(), 3); + Matrix B_(neighbors[i].size(), 3); + auto xi = X.row(i); + auto zi = Z.row(i); + auto nit = neighbors[i].begin(); + for (Index j = 0; j < neighbors[i].size(); j++, nit++) { + A.row(j) = X.row(*nit) - xi; + B_.row(j) = Z.row(*nit) - zi; + } +#endif + +#if EIGEN_VERSION_AT_LEAST(3,4,90) + svd.compute(A.transpose() * B_); +#else + svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); +#endif + + rotations[i] = svd.matrixV() * svd.matrixU().transpose(); + if (rotations[i].determinant() < 0) { + Eigen::Matrix M = Eigen::Matrix3d::Identity(); + M(2, 2) = -1; + rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); + } + } + for (Index i = 0; i < edim; ++i) { + Matrix R = rotations[Ni(i)]; + BX.row(i) = BX.row(i) * R.transpose(); + } + } } else - for (Index i = 0; i < Z.rows(); ++i) { - rotations[i] = rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); - BX.row(i) = BX.row(i) * rotations[i].transpose(); + if (new_arap) { + for (Index i = 0; i < Z.rows(); ++i) + rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + + for (Index i = 0; i < edim; ++i) + BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); + } + else { + // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and rotating edges) + for (Index i = 0; i < edim; ++i) { + int ni = Ni(i); + Matrix R = rot(x(dim + 2 * Z.rows() + ni), + x(dim + Z.rows() + ni), + x(dim + ni)); + BX.row(i) = BX.row(i) * R.transpose(); + } } } From d328aacb78ff9527eaea0cbbd3e5faae46950ae4 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 9 Oct 2024 09:49:51 +0200 Subject: [PATCH 24/41] fix warnings --- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 90b77e3c27cd..a71f289015b6 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -141,7 +141,7 @@ void rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertice v.rotation_matrix_pre(Vertex_index(index), source); - for (std::size_t idx = 0; (n != neighbors.end()) && (w != weights.end()); idx++, n++, w++) { + for (; (n != neighbors.end()) && (w != weights.end()); n++, w++) { Eigen::Vector3d x_dst = X.row(*n); Eigen::Vector3d z_dst = Z.row(*n); Eigen::Vector3d source_edge = x_src - x_dst; @@ -559,7 +559,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, #else Vertices P(idz.size(), 3); // target points Vertices NP(idz.size(), 3); // target normals - for (std::size_t i = 0; i < idz.rows(); i++) { + for (Index i = 0; i < idz.rows(); i++) { P.row(i) = Y.row(idz(i)); NP.row(i) = NY.row(idz(i)); } @@ -641,7 +641,7 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, auto xi = X.row(i); auto zi = Z.row(i); auto nit = neighbors[i].begin(); - for (Index j = 0; j < neighbors[i].size(); j++, nit++) { + for (std::size_t j = 0; j < neighbors[i].size(); j++, nit++) { A.row(j) = X.row(*nit) - xi; B_.row(j) = Z.row(*nit) - zi; } From 09ca6d5c7336189c4e2d17c45bb463de8a77a7fd Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 9 Oct 2024 16:12:17 +0200 Subject: [PATCH 25/41] making it easy to switch between both arap terms --- .../non_rigid_mesh_registration_example.cpp | 20 ++++++++++++++----- .../non_rigid_mesh_registration.h | 3 ++- 2 files changed, 17 insertions(+), 6 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 5aa632b88eda..5b5fe2af64b3 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -9,6 +9,7 @@ #include #include +#include using K = CGAL::Exact_predicates_inexact_constructions_kernel; using Mesh = CGAL::Surface_mesh; @@ -41,7 +42,6 @@ int main(int, char**) { if (corr.is_open()) { std::size_t v0, v1; while (corr >> v0 >> v1) { - std::cout << v0 << " " << v1 << std::endl; correspondences_mesh.push_back(std::make_pair(*(source.vertices_begin() + v0), *(target.vertices_begin() + v1))); } } @@ -53,13 +53,23 @@ int main(int, char**) { Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; Mesh::Property_map vtm = source.add_property_map("v:translation").first; - FT w1 = 2.0; - FT w2 = 2.0; - FT w3 = 50; + FT w1 = 0.2; + FT w2 = 0.2; + FT w3 = 5000; + new_arap = true; + + std::ostringstream out; + out.precision(2); + if (new_arap) + out << "bear_" << std::fixed << w1 << "_" << w2 << "_" << w3 << "_new.off"; + else + out << "bear_" << std::fixed << w1 << "_" << w2 << "_" << w3 << "_old.off"; + + std::cout << std::endl << out.str() << std::endl; PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3).correspondences(std::cref(correspondences_mesh))); PMP::apply_non_rigid_transformation(source, vtm); - CGAL::IO::write_polygon_mesh("bear_" + std::to_string(w1) + "_" + std::to_string(w2) + "_" + std::to_string(w3) + ".off", source); + CGAL::IO::write_polygon_mesh(out.str(), source); return EXIT_SUCCESS; } \ No newline at end of file diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index a71f289015b6..edbcd2b64b8a 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -41,6 +41,8 @@ #include +bool new_arap = true; + namespace CGAL { namespace Polygon_mesh_processing { namespace internal { @@ -619,7 +621,6 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, #endif // Update edge neighborhoods by new local rotation - bool new_arap = true; if (it == (iter - 1)) { if (new_arap) { for (Index i = 0; i < Z.rows(); ++i) From a093496241db5ce678433007ae176cf449f34aa6 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 16 Oct 2024 13:20:51 +0200 Subject: [PATCH 26/41] changes following review --- .../data/bear_bear_bis.corr | 12 +- .../data/bear_bis_simple.off | 7005 +++++++++++++++++ .../data/bear_simple.off | 7005 +++++++++++++++++ .../non_rigid_mesh_registration_example.cpp | 11 +- .../non_rigid_mesh_registration.h | 58 +- .../internal/parameters_interface.h | 6 +- .../include/CGAL/Surface_mesh_deformation.h | 8 +- 7 files changed, 14058 insertions(+), 47 deletions(-) create mode 100644 Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bis_simple.off create mode 100644 Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_simple.off diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr b/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr index 671a6140f512..21b0a725ac10 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bear_bis.corr @@ -1,6 +1,6 @@ -8311 3104 -7094 7161 -7642 4861 -4292 51 -5651 6476 -2481 8045 \ No newline at end of file +1136 824 +1229 1747 +1089 1426 +1914 129 +1957 144 +1714 1293 \ No newline at end of file diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bis_simple.off b/Polygon_mesh_processing/examples/Polygon_mesh_processing/data/bear_bis_simple.off new file mode 100644 index 000000000000..54c8a5816a54 --- /dev/null +++ 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1956 +3 2265 2334 1564 +3 1564 1573 2179 +3 2267 2179 1199 +3 1573 1199 2179 +3 2267 1199 2329 +3 1959 2266 2329 +3 1959 2263 2266 +3 2325 2332 1943 +3 1956 2178 1927 + diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 5b5fe2af64b3..7dede40b07bd 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -20,8 +20,8 @@ using FT = K::FT; namespace PMP = CGAL::Polygon_mesh_processing; int main(int, char**) { - const std::string source_fn = CGAL::data_file_path("meshes/bear.off"); - const std::string target_fn = CGAL::data_file_path("meshes/bear_bis.off"); + const std::string source_fn = "data/bear_simple.off"; + const std::string target_fn = "data/bear_bis_simple.off"; const std::string corr_fn = "data/bear_bear_bis.corr"; Mesh source, target; @@ -67,7 +67,12 @@ int main(int, char**) { std::cout << std::endl << out.str() << std::endl; - PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, CGAL::parameters::point_to_point_energy(w1).point_to_plane_energy(w2).as_rigid_as_possible_energy(w3).correspondences(std::cref(correspondences_mesh))); + PMP::non_rigid_mesh_to_mesh_registration(source, target, vtm, vrm, + CGAL::parameters::point_to_point_weight(w1) + .point_to_plane_weight(w2) + .as_rigid_as_possible_weight(w3) + .correspondences(std::cref(correspondences_mesh))); + PMP::apply_non_rigid_transformation(source, vtm); CGAL::IO::write_polygon_mesh(out.str(), source); diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index edbcd2b64b8a..4475d22eeb36 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -130,7 +130,7 @@ void insertSparseMatrix(const SparseMat& mat, std::vector& coeffi } template -void rotation(std::size_t index, Visitor &v, TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { +void rotation(std::size_t index, Visitor &v, const TriangleMesh &source, const Vertices& X, const Vertices& Z, const std::set& neighbors, const std::vector &weights, std::vector> &rotations) { using Vertex_index = typename boost::graph_traits::vertex_descriptor; Deformation_Eigen_closest_rotation_traits_3 cr; @@ -184,7 +184,7 @@ Eigen::Matrix rot(T a, T b, T c) { * * @note This function requires the \ref thirdpartyEigen library. * -* @tparam TriangleMesh a model of `MutableFaceGraph`. +* @tparam TriangleMesh a const model of `FaceGraph`. * @tparam PointRange is a model of `ConstRange`. The value type of * its iterator is the key type of the named parameter `point_map`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` @@ -208,19 +208,19 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamDefault{`50`} * \cgalParamNEnd * -* \cgalParamNBegin{point_to_plane_energy} -* \cgalParamDescription{the weight of the point to plane distance in the registration} +* \cgalParamNBegin{point_to_plane_weight} +* \cgalParamDescription{the weight of the point to plane energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} * \cgalParamNEnd * -* \cgalParamNBegin{point_to_point_energy} -* \cgalParamDescription{the weight of the point to matching point distance in the registration} +* \cgalParamNBegin{point_to_point_weight} +* \cgalParamDescription{the weight of the point to matching point energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} * \cgalParamNEnd * -* \cgalParamNBegin{as_rigid_as_possible_energy} +* \cgalParamNBegin{as_rigid_as_possible_weight} * \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} * \cgalParamDefault{`50`} @@ -233,8 +233,8 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamNEnd * * \cgalParamNBegin{correspondences} -* \cgalParamDescription{an range of matching vertex-point pairs between the `source` and the `target`.} -* \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and the element type of `PointRange`.} +* \cgalParamDescription{a range of matching vertex-point pairs between the `source` and the `target`.} +* \cgalParamType{`ConstRange` whose value type is a pair of `boost::graph_traits::%vertex_descriptor` and the value type of `PointRange`.} * \cgalParamDefault{empty} * \cgalParamExtra{to avoid copies, this parameter can be passed using `std::cref`.} * \cgalParamNEnd @@ -279,7 +279,7 @@ template -void non_rigid_mesh_to_points_registration(TriangleMesh& source, +void non_rigid_mesh_to_points_registration(const TriangleMesh& source, const PointRange& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, @@ -288,9 +288,9 @@ void non_rigid_mesh_to_points_registration(TriangleMesh& source, { #ifdef CGAL_EIGEN3_ENABLED const size_t iter = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::number_of_iterations), 50); - const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_energy), 2); - const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_energy), 0.1); - const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_energy), 20); + const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_weight), 2); + const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_weight), 0.1); + const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_weight), 20); const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximum_matching_distance), 0); using namespace internal::registration; @@ -720,8 +720,8 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * * @note This function requires the \ref thirdpartyEigen library. * -* @tparam TriangleMesh1 a model of `MutableFaceGraph`. -* @tparam TriangleMesh2 a const model of the `MutableFaceGraph`. +* @tparam TriangleMesh1 a const model of `FaceGraph`. +* @tparam TriangleMesh2 a const model of `FaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` @@ -743,19 +743,19 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamDefault{`50`} * \cgalParamNEnd * -* \cgalParamNBegin{point_to_plane_energy} -* \cgalParamDescription{the weight of the point to plane distance in the registration} +* \cgalParamNBegin{point_to_plane_weight} +* \cgalParamDescription{the weight of the point to plane energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} * \cgalParamNEnd * -* \cgalParamNBegin{point_to_point_energy} -* \cgalParamDescription{the weight of the point to matching point distance in the registration} +* \cgalParamNBegin{point_to_point_weight} +* \cgalParamDescription{the weight of the point to matching point energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} * \cgalParamNEnd * -* \cgalParamNBegin{as_rigid_as_possible_energy} +* \cgalParamNBegin{as_rigid_as_possible_weight} * \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} * \cgalParamDefault{`50`} @@ -817,7 +817,7 @@ template -void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, +void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, const TriangleMesh2& target, VertexTranslationMap& vtm, VertexRotationMap& vrm, @@ -870,9 +870,9 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, /*! * \ingroup PMP_registration_grp * -* \brief applies a non-rigid transformation to the vertices of the mesh. Face and vertex normal vectors are invalid after transformation. +* \brief applies a non-rigid transformation to the vertices of the mesh. Face and vertex normal vectors are not updated after transformation. * -* @tparam TriangleMesh a model of `MutableFaceGraph`. +* @tparam TriangleMesh a model of `FaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` * as key type and a \cgal Kernel `Vector_3` as value type. * @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters". @@ -902,21 +902,17 @@ void non_rigid_mesh_to_mesh_registration(TriangleMesh1& source, template -void apply_non_rigid_transformation(TriangleMesh& mesh, +void apply_non_rigid_transformation(const TriangleMesh& mesh, const VertexTranslationMap& vtm, const NamedParameters& np = parameters::default_values()) { - using Gt = typename GetGeomTraits::type; + using Gt = typename GetGeomTraits::type; using Vertex_point_map = typename GetVertexPointMap::type; using Vector_map_tag = dynamic_vertex_property_t; - using Vector_map_tag = dynamic_vertex_property_t; using Default_vector_map = typename boost::property_map::type; - using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; + using Point = typename Gt::Point_3; - Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_property_map(CGAL::vertex_point, mesh)); - Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_normal_map), get(Vector_map_tag(), mesh)); + Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, mesh)); for (auto v : vertices(mesh)) { Point p = get(vpm, v); diff --git a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h index fe04b6160686..2580d2120cd5 100644 --- a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h +++ b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h @@ -165,9 +165,9 @@ CGAL_add_named_parameter(postprocess_regions_t, postprocess_regions, postprocess CGAL_add_named_parameter(sizing_function_t, sizing_function, sizing_function) CGAL_add_named_parameter(bbox_scaling_t, bbox_scaling, bbox_scaling) CGAL_add_named_parameter(correspondences_t, correspondences, correspondences) -CGAL_add_named_parameter(point_to_plane_energy_t, point_to_plane_energy, point_to_plane_energy) -CGAL_add_named_parameter(point_to_point_energy_t, point_to_point_energy, point_to_point_energy) -CGAL_add_named_parameter(as_rigid_as_possible_energy_t, as_rigid_as_possible_energy, as_rigid_as_possible_energy) +CGAL_add_named_parameter(point_to_plane_weight_t, point_to_plane_weight, point_to_plane_weight) +CGAL_add_named_parameter(point_to_point_weight_t, point_to_point_weight, point_to_point_weight) +CGAL_add_named_parameter(as_rigid_as_possible_weight_t, as_rigid_as_possible_weight, as_rigid_as_possible_weight) CGAL_add_named_parameter(maximum_matching_distance_t, maximum_matching_distance, maximum_matching_distance) // List of named parameters that we use in the package 'Surface Mesh Simplification' diff --git a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h index a536e13ddaed..629bec74032f 100644 --- a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h +++ b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -90,10 +90,10 @@ struct Types_selectors struct ARAP_visitor { - void init(TriangleMesh, VertexPointMap){} + void init(const TriangleMesh, VertexPointMap){} void rotation_matrix_pre(typename boost::graph_traits::vertex_descriptor, - TriangleMesh&){} + const TriangleMesh&){} template void update_covariance_matrix(Square_matrix_3&, @@ -125,7 +125,7 @@ struct Types_selectors public: ARAP_visitor(): m_alpha(0.02) {} - void init(TriangleMesh triangle_mesh, const VertexPointMap& vpmap) + void init(const TriangleMesh triangle_mesh, const VertexPointMap& vpmap) { // calculate area m_area = 0; @@ -143,7 +143,7 @@ struct Types_selectors void rotation_matrix_pre( typename boost::graph_traits::vertex_descriptor vi, - TriangleMesh& hg) + const TriangleMesh& hg) { typename boost::graph_traits::in_edge_iterator e, e_end; std::tie(e,e_end) = in_edges(vi, hg); From 6b363ec9772e6a228276a4e34686a563f5c3a853 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 16 Oct 2024 13:47:06 +0200 Subject: [PATCH 27/41] adapt CHANGES.md --- Installation/CHANGES.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/Installation/CHANGES.md b/Installation/CHANGES.md index c7ab2ea4d9df..501f59c27c79 100644 --- a/Installation/CHANGES.md +++ b/Installation/CHANGES.md @@ -1,5 +1,11 @@ # Release History +## [Release 6.1](https://github.com/CGAL/cgal/releases/tag/v6.1) + +### [Polygon Mesh Processing](https://doc.cgal.org/6.1/Manual/packages.html#PkgPolygonMeshProcessing) + +- Added two functions for non-rigid registration of mesh to mesh and mesh to point cloud [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()`](https://doc.cgal.org/6.1/Polygon_mesh_processing/group__PMP__registration__grp.html#ga04e4101a21663bebb689de30bb7d2f4e) and [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()`](https://doc.cgal.org/6.1/Polygon_mesh_processing/group__PMP__registration__grp.html#ga466fd5b15e5de0b65faf48947a7f2bef) as well as a function to apply a transformation [`CGAL::Polygon_mesh_processing::apply_non_rigid_transformation()`](https://doc.cgal.org/6.1/Polygon_mesh_processing/group__PMP__registration__grp.html#gac022fccce4796cba9ff710865154b127) + ## [Release 6.0.1](https://github.com/CGAL/cgal/releases/tag/v6.0.1) ### [Poisson Surface Reconstruction](https://doc.cgal.org/6.0.1/Manual/packages.html#PkgPoissonSurfaceReconstruction3) @@ -185,7 +191,6 @@ Release date: September 2024 which can be used to refine a polygon mesh along an isocurve. - Added the function [`CGAL::Polygon_mesh_processing::add_bbox()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PkgPolygonMeshProcessingRef.html#gabaf98d2fd9ae599ff1f3a5a6cde79cf3), which enables adding a tight or extended, triangulated or not, bounding box to a face graph. -- Added two functions for non-rigid registration of mesh to mesh and mesh to point cloud [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga04e4101a21663bebb689de30bb7d2f4e) and [`CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#ga466fd5b15e5de0b65faf48947a7f2bef) as well as a function to apply a transformation [`CGAL::Polygon_mesh_processing::apply_non_rigid_transformation()`](https://doc.cgal.org/6.0/Polygon_mesh_processing/group__PMP__registration__grp.html#gac022fccce4796cba9ff710865154b127) ### [2D Triangulations](https://doc.cgal.org/6.0/Manual/packages.html#PkgTriangulation2) - **Breaking change**: the concept [`TriangulationTraits_2`](https://doc.cgal.org/6.0/Triangulation_2/classTriangulationTraits__2.html) now requires an additional functor `Compare_xy_2`. From 7a10001fbb0e35fdfcd43ddf727b3ddc0197ca67 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 17 Oct 2024 08:22:36 +0200 Subject: [PATCH 28/41] another pass for review removed warning --- .../doc/Polygon_mesh_processing/PackageDescription.txt | 5 +++++ .../doc/Polygon_mesh_processing/Polygon_mesh_processing.txt | 4 ++-- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 -- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt index 50eb6d7a7caa..ec6dfae534d4 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/PackageDescription.txt @@ -261,6 +261,11 @@ The page \ref bgl_namedparameters "Named Parameters" describes their usage. - `CGAL::Polygon_mesh_processing::region_growing_of_planes_on_faces()` - `CGAL::Polygon_mesh_processing::detect_corners_of_regions()` +\cgalCRPSection{Registration Functions} +- `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration()` +- `CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration()` +- `CGAL::Polygon_mesh_processing::apply_non_rigid_transformation()` + \cgalCRPSection{Miscellaneous} - `CGAL::Polygon_mesh_slicer` diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index 8e9015e0ee9f..91826ebd1f13 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1457,7 +1457,7 @@ where: - \f$\mathbf{M}\f$ is the intermediate mesh (initially equal to the source mesh). - \f$N(\mathbf{v}_i)\f$ denotes the set of vertices adjacent to \f$\mathbf{v}_i\f$. -The \f$\mathbf{E_{match}}\f$ energy penalizes the distance between point pairs \f$\mathbf{v}_i\f$ and \f$\mathbf{\tilde{v}}_i\f$. The point pairs are restablished after each iteration. In addition, the method can take fixed point pairs of correspondences between source and target. This greatly improves the quality of the registration and is generally required for non-simple meshes. +The \f$\mathbf{E_{match}}\f$ energy penalizes the distance between point pairs \f$\mathbf{v}_i\f$ and \f$\mathbf{\tilde{v}}_i\f$. The point pairs are restablished after each iteration. In addition, the method can take fixed point pairs of correspondences between source and target. This greatly improves the quality of the registration and is generally required when the initial alignment of the source and target is poor. The \f$\mathbf{E_{point\_to\_plane}}\f$ energy is similar to \f$\mathbf{E_{match}}\f$, but instead penalizes the distance to the plane given by the target vertex and its normal. This energy compensates for different discretizations, i.e., for source and target mesh that were not created by deforming one mesh into the other. @@ -1489,7 +1489,7 @@ Non-rigid registration using five correspondences on top of the head and at the \subsection PMPNonRigidRegistrationExample Non-rigid registration Example -In the following example the bear.off model is registered onto the bear_bis.off model. The resulting transformed mesh is then saved as off file with a name depending on the chosen parameters. +In the following example the bear_simple.off model is registered onto the bear_simple_bis.off model. The resulting transformed mesh is then saved as off file with a name depending on the chosen parameters. \cgalExample{Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp} diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 4475d22eeb36..9d92acac0729 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -907,8 +907,6 @@ void apply_non_rigid_transformation(const TriangleMesh& mesh, const NamedParameters& np = parameters::default_values()) { using Gt = typename GetGeomTraits::type; using Vertex_point_map = typename GetVertexPointMap::type; - using Vector_map_tag = dynamic_vertex_property_t; - using Default_vector_map = typename boost::property_map::type; using Point = typename Gt::Point_3; From b8937ab401fb12381c121d4997e67daaac7ffc8b Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 30 Oct 2024 13:51:52 +0100 Subject: [PATCH 29/41] adding proper edge weights for new arap weight as suggested by Roberto --- .../non_rigid_mesh_registration_example.cpp | 6 +-- .../non_rigid_mesh_registration.h | 37 ++++++++++++++----- 2 files changed, 31 insertions(+), 12 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 7dede40b07bd..2ef29674cd9b 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -53,9 +53,9 @@ int main(int, char**) { Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; Mesh::Property_map vtm = source.add_property_map("v:translation").first; - FT w1 = 0.2; - FT w2 = 0.2; - FT w3 = 5000; + FT w1 = 5; + FT w2 = 20; + FT w3 = 500; new_arap = true; std::ostringstream out; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 9d92acac0729..7bb1664ecba3 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -441,15 +441,34 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - edge_coefficients.push_back(SparseTriplet(idx, a, 1)); - edge_coefficients.push_back(SparseTriplet(idx, b, -1)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, b, 1)); - edge_coefficients.push_back(SparseTriplet(idx, c, -1)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, c, 1)); - edge_coefficients.push_back(SparseTriplet(idx, a, -1)); - idx++; + if (new_arap) { + auto ha = halfedge(Vertex_index(a), Vertex_index(b), source); + double w_a = wc(ha.first, source, vpm); + auto hb = halfedge(Vertex_index(b), Vertex_index(c), source); + double w_b = wc(hb.first, source, vpm); + auto hc = halfedge(Vertex_index(c), Vertex_index(a), source); + double w_c = wc(hc.first, source, vpm); + edge_coefficients.push_back(SparseTriplet(idx, a, w_a)); + edge_coefficients.push_back(SparseTriplet(idx, b, -w_a)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, b, w_b)); + edge_coefficients.push_back(SparseTriplet(idx, c, -w_b)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, c, w_c)); + edge_coefficients.push_back(SparseTriplet(idx, a, -w_c)); + idx++; + } + else { + edge_coefficients.push_back(SparseTriplet(idx, a, 1)); + edge_coefficients.push_back(SparseTriplet(idx, b, -1)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, b, 1)); + edge_coefficients.push_back(SparseTriplet(idx, c, -1)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, c, 1)); + edge_coefficients.push_back(SparseTriplet(idx, a, -1)); + idx++; + } } SparseMat B(XF.rows() * XF.cols(), X.rows()); B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); From 47b7f67983cd56aa1b82efdea0c8cecdc39411e0 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Mon, 18 Nov 2024 08:35:38 +0100 Subject: [PATCH 30/41] switching licenses from LGPL to GPL --- .../include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h | 2 +- .../CGAL/Deformation_Eigen_polar_closest_rotation_traits_3.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h b/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h index b74261b1250b..ae1085f06866 100644 --- a/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h +++ b/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_closest_rotation_traits_3.h @@ -5,7 +5,7 @@ // // $URL$ // $Id$ -// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // Author(s) : Gael Guennebaud and Ilker O. Yaz diff --git a/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_polar_closest_rotation_traits_3.h b/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_polar_closest_rotation_traits_3.h index 9a94375100e3..4ca1c5d54e11 100644 --- a/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_polar_closest_rotation_traits_3.h +++ b/Surface_mesh_deformation/include/CGAL/Deformation_Eigen_polar_closest_rotation_traits_3.h @@ -5,7 +5,7 @@ // // $URL$ // $Id$ -// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial // // Author(s) : Gael Guennebaud Ilker O. Yaz From 688f4a1e2b17507d06ec777d0c2d0ed4275a3512 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Mon, 18 Nov 2024 12:13:00 +0100 Subject: [PATCH 31/41] moving ARAP visitor into Weights package changing license of ARAP visitor from GPL to LGPL --- .../include/CGAL/Surface_mesh_deformation.h | 94 +------------- Weights/include/CGAL/Weights/arap_weights.h | 118 ++++++++++++++++++ 2 files changed, 119 insertions(+), 93 deletions(-) create mode 100644 Weights/include/CGAL/Weights/arap_weights.h diff --git a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h index 629bec74032f..cb92205fed0b 100644 --- a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h +++ b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -22,6 +22,7 @@ #include #include #include +#include #include #include @@ -43,15 +44,6 @@ namespace CGAL { -/// \ingroup PkgSurfaceMeshDeformationRef -///@brief Deformation algorithm type -enum Deformation_algorithm_tag -{ - ORIGINAL_ARAP, /**< use original as-rigid-as possible algorithm */ - SPOKES_AND_RIMS, /**< use spokes and rims version of as-rigid-as possible algorithm */ - SRE_ARAP /**< use smooth rotation enhanced As-rigid-as-possible */ -}; - /// @cond CGAL_DOCUMENT_INTERNAL namespace internal { @@ -79,90 +71,6 @@ struct SC_on_the_fly_pmap } }; -template -struct Types_selectors; - -template -struct Types_selectors -{ - typedef CGAL::Weights::Single_cotangent_weight Weight_calculator; - - struct ARAP_visitor - { - void init(const TriangleMesh, VertexPointMap){} - - void rotation_matrix_pre(typename boost::graph_traits::vertex_descriptor, - const TriangleMesh&){} - - template - void update_covariance_matrix(Square_matrix_3&, - const Square_matrix_3&){} - - void set_sre_arap_alpha(double){} - }; -}; - -template -struct Types_selectors -{ - typedef CGAL::Weights::Cotangent_weight Weight_calculator; - - typedef typename Types_selectors::ARAP_visitor ARAP_visitor; -}; - -template -struct Types_selectors -{ - typedef CGAL::Weights::Cotangent_weight Weight_calculator; - - class ARAP_visitor - { - double m_nb_edges_incident; - double m_area; - double m_alpha; - - public: - ARAP_visitor(): m_alpha(0.02) {} - - void init(const TriangleMesh triangle_mesh, const VertexPointMap& vpmap) - { - // calculate area - m_area = 0; - typedef typename boost::graph_traits::face_descriptor face_descriptor; - for(face_descriptor f : faces(triangle_mesh)) - { - typename boost::graph_traits::halfedge_descriptor - h = halfedge(f, triangle_mesh); - m_area += std::sqrt(CGAL::squared_area( - get(vpmap, source(h, triangle_mesh) ), - get(vpmap, target(h, triangle_mesh) ), - get(vpmap, target(next(h, triangle_mesh), triangle_mesh) ) )); - } - } - - void rotation_matrix_pre( - typename boost::graph_traits::vertex_descriptor vi, - const TriangleMesh& hg) - { - typename boost::graph_traits::in_edge_iterator e, e_end; - std::tie(e,e_end) = in_edges(vi, hg); - m_nb_edges_incident=(double) std::distance(e,e_end); - } - - template - void update_covariance_matrix( - Square_matrix_3& cov, - const Square_matrix_3& rot_mtr) - { - // add neighbor rotation - cov += m_alpha * m_area * rot_mtr.transpose() / m_nb_edges_incident; - } - - void set_sre_arap_alpha(double a){ m_alpha=a; } - }; -}; - }//namespace internal /// @endcond diff --git a/Weights/include/CGAL/Weights/arap_weights.h b/Weights/include/CGAL/Weights/arap_weights.h new file mode 100644 index 000000000000..8c6114360487 --- /dev/null +++ b/Weights/include/CGAL/Weights/arap_weights.h @@ -0,0 +1,118 @@ +// Copyright (c) 2014 GeometryFactory SARL (France). +// All rights reserved. +// +// This file is part of CGAL (www.cgal.org). +// +// $URL$ +// $Id$ +// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial +// +// Author(s) : Yin Xu, Andreas Fabri and Ilker O. Yaz + +#ifndef CGAL_ARAP_WEIGHTS_H +#define CGAL_ARAP_WEIGHTS_H + +#include "cotangent_weights.h" + +namespace CGAL { + +/// \ingroup PkgWeightsRefARAPWeights +///@brief Deformation algorithm type +enum Deformation_algorithm_tag +{ + ORIGINAL_ARAP, /**< use original as-rigid-as possible algorithm */ + SPOKES_AND_RIMS, /**< use spokes and rims version of as-rigid-as possible algorithm */ + SRE_ARAP /**< use smooth rotation enhanced As-rigid-as-possible */ +}; + +namespace internal { + +template +struct Types_selectors; + +template +struct Types_selectors +{ + typedef CGAL::Weights::Single_cotangent_weight Weight_calculator; + + struct ARAP_visitor + { + void init(const TriangleMesh, VertexPointMap) {} + + void rotation_matrix_pre(typename boost::graph_traits::vertex_descriptor, + const TriangleMesh&) {} + + template + void update_covariance_matrix(Square_matrix_3&, + const Square_matrix_3&) {} + + void set_sre_arap_alpha(double) {} + }; +}; + +template +struct Types_selectors +{ + typedef CGAL::Weights::Cotangent_weight Weight_calculator; + + typedef typename Types_selectors::ARAP_visitor ARAP_visitor; +}; + +template +struct Types_selectors +{ + typedef CGAL::Weights::Cotangent_weight Weight_calculator; + + class ARAP_visitor + { + double m_nb_edges_incident; + double m_area; + double m_alpha; + + public: + ARAP_visitor() : m_alpha(0.02) {} + + void init(const TriangleMesh triangle_mesh, const VertexPointMap& vpmap) + { + // calculate area + m_area = 0; + typedef typename boost::graph_traits::face_descriptor face_descriptor; + for (face_descriptor f : faces(triangle_mesh)) + { + typename boost::graph_traits::halfedge_descriptor + h = halfedge(f, triangle_mesh); + m_area += std::sqrt(CGAL::squared_area( + get(vpmap, source(h, triangle_mesh)), + get(vpmap, target(h, triangle_mesh)), + get(vpmap, target(next(h, triangle_mesh), triangle_mesh)))); + } + } + + void rotation_matrix_pre( + typename boost::graph_traits::vertex_descriptor vi, + const TriangleMesh& hg) + { + typename boost::graph_traits::in_edge_iterator e, e_end; + std::tie(e, e_end) = in_edges(vi, hg); + m_nb_edges_incident = (double)std::distance(e, e_end); + } + + template + void update_covariance_matrix( + Square_matrix_3& cov, + const Square_matrix_3& rot_mtr) + { + // add neighbor rotation + cov += m_alpha * m_area * rot_mtr.transpose() / m_nb_edges_incident; + } + + void set_sre_arap_alpha(double a) { m_alpha = a; } + }; +}; + +} + +} + +#endif From 2159beeca55b4e2bbc38b6ce4ac07c83654e75a4 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Mon, 18 Nov 2024 15:13:29 +0100 Subject: [PATCH 32/41] vertex normals are estimated if not provided --- .../non_rigid_mesh_registration_example.cpp | 4 --- .../non_rigid_mesh_registration.h | 27 +++++++++++-------- 2 files changed, 16 insertions(+), 15 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 2ef29674cd9b..2ffe5d99a365 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -46,10 +46,6 @@ int main(int, char**) { } } - auto vnm = target.add_property_map("v:normal"); - if (vnm.second) - PMP::compute_vertex_normals(target, vnm.first); - Mesh::Property_map> vrm = source.add_property_map>("v:rotation").first; Mesh::Property_map vtm = source.add_property_map("v:translation").first; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 7bb1664ecba3..2ab91e1dbf4d 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -209,21 +209,24 @@ Eigen::Matrix rot(T a, T b, T c) { * \cgalParamNEnd * * \cgalParamNBegin{point_to_plane_weight} -* \cgalParamDescription{the weight of the point to plane energy in the registration} +* \cgalParamDescription{the weight \f$w_2\f$ of the point to plane energy in the registration. } * \cgalParamType{double} * \cgalParamDefault{`1`} +* \cgalParamExtra{\f$w_2\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{point_to_point_weight} -* \cgalParamDescription{the weight of the point to matching point energy in the registration} +* \cgalParamDescription{the weight \f$w_1\f$ of the point to matching point energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} +* \cgalParamExtra{\f$w_1\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{as_rigid_as_possible_weight} * \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} * \cgalParamDefault{`50`} +* \cgalParamExtra{The weight \f$w_3\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{maximum_matching_distance} @@ -763,21 +766,24 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamNEnd * * \cgalParamNBegin{point_to_plane_weight} -* \cgalParamDescription{the weight of the point to plane energy in the registration} +* \cgalParamDescription{the weight \f$w_2\f$ of the point to plane energy in the registration. } * \cgalParamType{double} * \cgalParamDefault{`1`} +* \cgalParamExtra{\f$w_2\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{point_to_point_weight} -* \cgalParamDescription{the weight of the point to matching point energy in the registration} +* \cgalParamDescription{the weight \f$w_1\f$ of the point to matching point energy in the registration} * \cgalParamType{double} * \cgalParamDefault{`1`} +* \cgalParamExtra{\f$w_1\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{as_rigid_as_possible_weight} * \cgalParamDescription{defines the rigidity of the registration} * \cgalParamType{double} * \cgalParamDefault{`50`} +* \cgalParamExtra{The weight \f$w_3\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * * \cgalParamNBegin{maximum_matching_distance} @@ -795,7 +801,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * * \cgalParamNBegin{vertex_point_map} * \cgalParamDescription{a property map associating points to the vertices of `source`} -* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` * as key type and `%Point_3` as value type} * \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} * \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` @@ -815,13 +821,12 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamDescription{a property map associating normals to the vertices of `target`} * \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` * as key type and `%Vector_3` as value type} -* \cgalParamDefault{`get_const_property_map(dynamic_vertex_property_t(), target)`} -* \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_normal_map_t` -* must be available in `TriangleMesh2`.} +* \cgalParamDefault{`get(dynamic_vertex_property_t(), target)`} +* \cgalParamExtra{If this parameter is omitted, vertex normals will be computed using `compute_vertex_normals()`.} * \cgalParamNEnd * \cgalParamNBegin{vertex_point_map} * \cgalParamDescription{a property map associating points to the vertices of `target`} -* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* \cgalParamType{a class model of `ReadablePropertyMap` with `boost::graph_traits::%vertex_descriptor` * as key type and `%Point_3` as value type} * \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, target)`} * \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` @@ -856,8 +861,8 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, Vertex_normal_map vnm = parameters::choose_parameter(parameters::get_parameter(np2, internal_np::vertex_normal_map), get(Vector_map_tag(), target)); // if the normal map is not provided, compute it - if (parameters::is_default_parameter::value) - compute_vertex_normals(target, vnm, np2); + if (parameters::is_default_parameter::value) + compute_vertex_normals(target, vnm, np2); typedef typename CGAL::internal_np::Lookup_named_param_def::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>>::reference Correspondences_type; Correspondences_type correspondences = CGAL::parameters::choose_parameter(CGAL::parameters::get_parameter_reference(np1, CGAL::internal_np::correspondences), std::vector::vertex_descriptor, typename boost::graph_traits::vertex_descriptor>>()); From 37d66b779bb742c5086250d1854adefb90217872 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Wed, 20 Nov 2024 17:12:51 +0100 Subject: [PATCH 33/41] documentation of Deformation_algorithm_tag --- .../non_rigid_mesh_registration_example.cpp | 5 +- .../non_rigid_mesh_registration.h | 67 +++++++++++++++---- .../include/CGAL/Surface_mesh_deformation.h | 12 ++++ Weights/include/CGAL/Weights/arap_weights.h | 6 +- 4 files changed, 73 insertions(+), 17 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 2ffe5d99a365..3b5a5615e4de 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -69,7 +69,10 @@ int main(int, char**) { .as_rigid_as_possible_weight(w3) .correspondences(std::cref(correspondences_mesh))); - PMP::apply_non_rigid_transformation(source, vtm); + //auto vnm4 = source.add_property_map("v:normal"); + auto vnm4 = source.property_map("v:normal"); + + PMP::apply_non_rigid_transformation(source, vtm, vrm); CGAL::IO::write_polygon_mesh(out.str(), source); return EXIT_SUCCESS; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 2ab91e1dbf4d..d2112802e407 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -28,8 +28,8 @@ #include #include -#include #include +#include #include #include @@ -169,6 +169,27 @@ Eigen::Matrix rot(T a, T b, T c) { } #endif + +template +struct Rotate_vertex_normals { + Rotate_vertex_normals() { std::cout << "empty" << std::endl; } + void update(const Mesh& mesh, const VertexRotationMap& vrm, const VertexNormalMap& vnm) const { + } +}; + +template +struct Rotate_vertex_normals { + Rotate_vertex_normals() { std::cout << "vertex" << std::endl; } + void update(const Mesh& mesh, const VertexRotationMap &vrm, const VertexNormalMap& vnm) const { + using Vector_3 = typename VertexNormalMap::value_type; + for (auto v : vertices(mesh)) { + Vector_3 n = get(vnm, v); + auto rotation = get(vrm, v); + put(vnm, v, rotation.inverse().transform(n)); + } + } +}; + } // namespace registration } // namespace internal @@ -898,37 +919,49 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, * * @tparam TriangleMesh a model of `FaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` - * as key type and a \cgal Kernel `Vector_3` as value type. +* as key type and a \cgal Kernel `Vector_3` as value type. +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` +* as key type and a \cgal Kernel `Aff_transformation_3` as value type. Only the rotational part of the transformations is considered. * @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters". * * @param mesh the triangle mesh to be transformed. -* @param vtm a readable vertex property map of `mesh` to store the translation vector of the registration. +* @param vtm a readable vertex property map of `mesh` that contains the translation vector of the registration. +* @param vrm a readable vertex property map of `mesh` that contains the rotational part of the registration. * @param np an optional sequence of \ref bgl_namedparameters "Named Parameters" among the ones listed below. * * \cgalNamedParamsBegin -* \cgalParamNBegin{geom_traits} -* \cgalParamDescription{an instance of a geometric traits class} -* \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} -* \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} -* \cgalParamNEnd -* * \cgalParamNBegin{vertex_point_map} -* \cgalParamDescription{a property map associating points to the vertices of `source`} +* \cgalParamDescription{a property map associating points to the vertices of `mesh`} * \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` * as key type and `%Point_3` as value type} * \cgalParamDefault{`get_const_property_map(CGAL::vertex_point, source)`} * \cgalParamExtra{If this parameter is omitted, an internal property map for `CGAL::vertex_point_t` * must be available in `TriangleMesh`.} * \cgalParamNEnd +* +* \cgalParamNBegin{vertex_normal_map} +* \cgalParamDescription{a property map associating normals to the vertices of `mesh`} +* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Vector_3` as value type} +* \cgalParamExtra{If this parameter is provided, the contained normals will be updated.} +* \cgalParamNEnd +* +* \cgalParamNBegin{face_normal_map} +* \cgalParamDescription{a property map associating normals to the faces of `mesh`} +* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` +* as key type and `%Vector_3` as value type} +* \cgalParamExtra{If this parameter is provided, the contained normals will be updated.} +* \cgalParamNEnd * \cgalNamedParamsEnd */ template void apply_non_rigid_transformation(const TriangleMesh& mesh, - const VertexTranslationMap& vtm, - const NamedParameters& np = parameters::default_values()) { + const VertexTranslationMap& vtm, + const VertexRotationMap& vrm, + const NamedParameters& np = parameters::default_values()) { using Gt = typename GetGeomTraits::type; using Vertex_point_map = typename GetVertexPointMap::type; @@ -936,11 +969,19 @@ void apply_non_rigid_transformation(const TriangleMesh& mesh, Vertex_point_map vpm = parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_point), get_const_property_map(CGAL::vertex_point, mesh)); + using Vector_map_tag = dynamic_vertex_property_t; + using Default_vector_map = typename boost::property_map::const_type; + using Vertex_normal_map = typename internal_np::Lookup_named_param_def::type; + for (auto v : vertices(mesh)) { Point p = get(vpm, v); p += get(vtm, v); put(vpm, v, p); } + + internal::registration::Rotate_vertex_normals::value> rvn; + rvn.update(mesh, vrm, parameters::choose_parameter(parameters::get_parameter(np, internal_np::vertex_normal_map), get(Vector_map_tag(), mesh))); } } // namespace Polygon_mesh_processing } // namespace CGAL diff --git a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h index cb92205fed0b..858c2af2b114 100644 --- a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h +++ b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -44,6 +44,18 @@ namespace CGAL { +#ifdef DOXYGEN_RUNNING + /// \ingroup PkgWeightsRefARAPWeights + ///@brief Deformation algorithm type + enum Deformation_algorithm_tag + { + ORIGINAL_ARAP, /**< use original as-rigid-as possible algorithm */ + SPOKES_AND_RIMS, /**< use spokes and rims version of as-rigid-as possible algorithm */ + SRE_ARAP /**< use smooth rotation enhanced As-rigid-as-possible */ + }; + // The implementation uses the enum declared in CGAL/Weights/arap_weights.h +#endif + /// @cond CGAL_DOCUMENT_INTERNAL namespace internal { diff --git a/Weights/include/CGAL/Weights/arap_weights.h b/Weights/include/CGAL/Weights/arap_weights.h index 8c6114360487..f8928689aa44 100644 --- a/Weights/include/CGAL/Weights/arap_weights.h +++ b/Weights/include/CGAL/Weights/arap_weights.h @@ -12,18 +12,18 @@ #ifndef CGAL_ARAP_WEIGHTS_H #define CGAL_ARAP_WEIGHTS_H -#include "cotangent_weights.h" +#include namespace CGAL { -/// \ingroup PkgWeightsRefARAPWeights -///@brief Deformation algorithm type +#ifndef DOXYGEN_RUNNING enum Deformation_algorithm_tag { ORIGINAL_ARAP, /**< use original as-rigid-as possible algorithm */ SPOKES_AND_RIMS, /**< use spokes and rims version of as-rigid-as possible algorithm */ SRE_ARAP /**< use smooth rotation enhanced As-rigid-as-possible */ }; +#endif namespace internal { From d1059acc0e043bb64bc677b104a3399047463295 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 21 Nov 2024 12:19:10 +0100 Subject: [PATCH 34/41] doc fix --- .../include/CGAL/Surface_mesh_deformation.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h index 858c2af2b114..a6d4eb546ab0 100644 --- a/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h +++ b/Surface_mesh_deformation/include/CGAL/Surface_mesh_deformation.h @@ -45,7 +45,7 @@ namespace CGAL { #ifdef DOXYGEN_RUNNING - /// \ingroup PkgWeightsRefARAPWeights + /// \ingroup PkgSurfaceMeshDeformationRef ///@brief Deformation algorithm type enum Deformation_algorithm_tag { From 608de95c69da0700f0c38b463189ac8cb0cc4671 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Thu, 21 Nov 2024 12:26:11 +0100 Subject: [PATCH 35/41] fixing vertex normal rotation after registration --- .../non_rigid_mesh_registration_example.cpp | 9 ++--- .../non_rigid_mesh_registration.h | 36 +++++++------------ 2 files changed, 18 insertions(+), 27 deletions(-) diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 3b5a5615e4de..43e80357d10a 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -69,11 +69,12 @@ int main(int, char**) { .as_rigid_as_possible_weight(w3) .correspondences(std::cref(correspondences_mesh))); - //auto vnm4 = source.add_property_map("v:normal"); - auto vnm4 = source.property_map("v:normal"); + auto vnm = source.add_property_map("v:normal"); + if (vnm.second) + PMP::compute_vertex_normals(source, vnm.first); - PMP::apply_non_rigid_transformation(source, vtm, vrm); + PMP::apply_non_rigid_transformation(source, vtm, vrm, CGAL::parameters::vertex_normal_map(vnm.first)); CGAL::IO::write_polygon_mesh(out.str(), source); return EXIT_SUCCESS; -} \ No newline at end of file +} diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index d2112802e407..518cfe2e5600 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -172,21 +172,14 @@ Eigen::Matrix rot(T a, T b, T c) { template struct Rotate_vertex_normals { - Rotate_vertex_normals() { std::cout << "empty" << std::endl; } - void update(const Mesh& mesh, const VertexRotationMap& vrm, const VertexNormalMap& vnm) const { - } + void update(const Mesh& mesh, const VertexRotationMap& vrm, const VertexNormalMap& vnm) const {} }; template struct Rotate_vertex_normals { - Rotate_vertex_normals() { std::cout << "vertex" << std::endl; } void update(const Mesh& mesh, const VertexRotationMap &vrm, const VertexNormalMap& vnm) const { - using Vector_3 = typename VertexNormalMap::value_type; - for (auto v : vertices(mesh)) { - Vector_3 n = get(vnm, v); - auto rotation = get(vrm, v); - put(vnm, v, rotation.inverse().transform(n)); - } + for (auto v : vertices(mesh)) + put(vnm, v, get(vrm, v).inverse().transform(get(vnm, v))); } }; @@ -382,12 +375,14 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, idx = 0; for (auto p : target) { - Y(idx, 0) = get(point_map, p).x(); - Y(idx, 1) = get(point_map, p).y(); - Y(idx, 2) = get(point_map, p).z(); - NY(idx, 0) = get(normal_map, p).x(); - NY(idx, 1) = get(normal_map, p).y(); - NY(idx, 2) = get(normal_map, p).z(); + const Point& pt = get(point_map, p); + Y(idx, 0) = pt.x(); + Y(idx, 1) = pt.y(); + Y(idx, 2) = pt.z(); + const typename Gt::Vector_3& v = get(normal_map, p); + NY(idx, 0) = v.x(); + NY(idx, 1) = v.y(); + NY(idx, 2) = v.z(); idx++; } std::cout << std::endl; @@ -915,7 +910,8 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, /*! * \ingroup PMP_registration_grp * -* \brief applies a non-rigid transformation to the vertices of the mesh. Face and vertex normal vectors are not updated after transformation. +* \brief applies a non-rigid transformation to the vertices of the mesh. Vertex normal vectors are updated when the vertex normal property map is provided in the named parameters. +* Potential face normal vectors are not updated. * * @tparam TriangleMesh a model of `FaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` @@ -946,12 +942,6 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, * \cgalParamExtra{If this parameter is provided, the contained normals will be updated.} * \cgalParamNEnd * -* \cgalParamNBegin{face_normal_map} -* \cgalParamDescription{a property map associating normals to the faces of `mesh`} -* \cgalParamType{a class model of `ReadWritePropertyMap` with `boost::graph_traits::%vertex_descriptor` -* as key type and `%Vector_3` as value type} -* \cgalParamExtra{If this parameter is provided, the contained normals will be updated.} -* \cgalParamNEnd * \cgalNamedParamsEnd */ template Date: Thu, 21 Nov 2024 15:39:29 +0100 Subject: [PATCH 36/41] doc updates --- .../non_rigid_mesh_registration.h | 27 ++++++++++++------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 518cfe2e5600..acf057e6d6c1 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -202,9 +202,9 @@ struct Rotate_vertex_normals { * @tparam PointRange is a model of `ConstRange`. The value type of * its iterator is the key type of the named parameter `point_map`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Vector_3` as value type. +* as key type and `GeomTraits::Vector_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* as key type and `CGAL::Aff_transformation_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters". * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters". * @@ -268,7 +268,7 @@ struct Rotate_vertex_normals { * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} +* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd @@ -761,9 +761,9 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * @tparam TriangleMesh1 a const model of `FaceGraph`. * @tparam TriangleMesh2 a const model of `FaceGraph`. * @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Vector_3` as value type. +* as key type and `GeomTraits::Vector_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. * @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Aff_transformation_3` as value type. +* as key type and `CGAL::Aff_transformation_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. * @tparam NamedParameters1 a sequence of \ref bgl_namedparameters "Named Parameters1". * @tparam NamedParameters2 a sequence of \ref bgl_namedparameters "Named Parameters2". * @@ -827,7 +827,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} +* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd @@ -914,10 +914,10 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, * Potential face normal vectors are not updated. * * @tparam TriangleMesh a model of `FaceGraph`. -* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Vector_3` as value type. -* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` -* as key type and a \cgal Kernel `Aff_transformation_3` as value type. Only the rotational part of the transformations is considered. +* @tparam VertexTranslationMap is a property map with `boost::graph_traits::%vertex_descriptor` +* as key type and `GeomTraits::Vector_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. +* @tparam VertexRotationMap is a property map with `boost::graph_traits::%vertex_descriptor` +* as key type and `CGAL::Aff_transformation_3` as value type, `GeomTraits` being the type of the parameter `geom_traits`. Only the rotational part of the transformations is considered. * @tparam NamedParameters a sequence of \ref bgl_namedparameters "Named Parameters". * * @param mesh the triangle mesh to be transformed. @@ -942,6 +942,13 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, * \cgalParamExtra{If this parameter is provided, the contained normals will be updated.} * \cgalParamNEnd * +* \cgalParamNBegin{geom_traits} +* \cgalParamDescription{an instance of a geometric traits class} +* \cgalParamType{a class model of `Kernel`} +* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} +* \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} +* \cgalParamNEnd +* * \cgalNamedParamsEnd */ template Date: Thu, 21 Nov 2024 16:04:35 +0100 Subject: [PATCH 37/41] doc of geom_traits --- .../Polygon_mesh_processing/non_rigid_mesh_registration.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index acf057e6d6c1..05c63be0096b 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -268,7 +268,7 @@ struct Rotate_vertex_normals { * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd @@ -827,7 +827,7 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * \cgalNamedParamsEnd @@ -945,7 +945,7 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, * \cgalParamNBegin{geom_traits} * \cgalParamDescription{an instance of a geometric traits class} * \cgalParamType{a class model of `Kernel`} -* \cgalParamDefault{a \cgal Kernel deduced from `TriangleMesh`, using `CGAL::GetGeomTraits`} +* \cgalParamDefault{a \cgal Kernel deduced from the point type, using `CGAL::Kernel_traits`} * \cgalParamExtra{The geometric traits class must be compatible with the vertex point type.} * \cgalParamNEnd * From 1f897b82196076bb4dd9bc036ee6b772a6b62dde Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Fri, 22 Nov 2024 09:36:10 +0100 Subject: [PATCH 38/41] fixed warning --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 05c63be0096b..4151bbd102cd 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -172,7 +172,7 @@ Eigen::Matrix rot(T a, T b, T c) { template struct Rotate_vertex_normals { - void update(const Mesh& mesh, const VertexRotationMap& vrm, const VertexNormalMap& vnm) const {} + void update(const Mesh&, const VertexRotationMap&, const VertexNormalMap&) const {} }; template From 0a03248ee59fb545a53c8a64652760a396bc02b8 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 3 Dec 2024 14:51:03 +0100 Subject: [PATCH 39/41] Update Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt Co-authored-by: Andreas Fabri --- .../doc/Polygon_mesh_processing/Polygon_mesh_processing.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index 91826ebd1f13..928638e30c7e 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1471,7 +1471,7 @@ Sets the weight `w1` of the \f$\mathbf{E_{match}}\f$. Penalizes the distance bet - `point_to_plane_energy`: Sets the weight `w2` of the \f$\mathbf{E_{point\_to\_plane}}\f$. Also penalizes the distances between the meshes, but is more forgiving towards different discretization. - `as_rigid_as_possible_energy`: -Controls the rigidity weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the source and may thus prefers rigidity over a tight fit. +Controls the rigidity weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the source and may thus prefer rigidity over a tight fit. - maximum_matching_distance: The maximal distance for finding vertex/point pairs between the intermediate and target. A pair is ignored during an iteration if the specified distance is exceeded. - number_of_iterations: From fe9e8d98340923fa0d2c122faf84c4370268979b Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 10 Dec 2024 13:00:02 +0100 Subject: [PATCH 40/41] renaming maximum_matching_distance to maximal_matching_distance more useful default value for maximal_matching_distance removing former arap implementation more changes from review --- .../Polygon_mesh_processing.txt | 8 +- .../non_rigid_mesh_registration_example.cpp | 9 +- .../non_rigid_mesh_registration.h | 192 +++++++----------- .../internal/parameters_interface.h | 2 +- 4 files changed, 79 insertions(+), 132 deletions(-) diff --git a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt index 928638e30c7e..d20ccfd207a0 100644 --- a/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt +++ b/Polygon_mesh_processing/doc/Polygon_mesh_processing/Polygon_mesh_processing.txt @@ -1472,11 +1472,11 @@ Sets the weight `w1` of the \f$\mathbf{E_{match}}\f$. Penalizes the distance bet Sets the weight `w2` of the \f$\mathbf{E_{point\_to\_plane}}\f$. Also penalizes the distances between the meshes, but is more forgiving towards different discretization. - `as_rigid_as_possible_energy`: Controls the rigidity weight `w3` of the \f$\mathbf{E_{arap}}\f$. Penalizes the deformation of the source and may thus prefer rigidity over a tight fit. -- maximum_matching_distance: +- `maximal_matching_distance`: The maximal distance for finding vertex/point pairs between the intermediate and target. A pair is ignored during an iteration if the specified distance is exceeded. -- number_of_iterations: +- `number_of_iterations`: The number of ICP iterations. The default value is 50. -- correspondences: +- `correspondences`: Optional fixed vertex/point pairs can be provided to guide the registration. These are especially helpful when source and target are not roughly aligned initially. \cgalFigureAnchor{registration_results} @@ -1487,7 +1487,7 @@ Optional fixed vertex/point pairs can be provided to guide the registration. The Non-rigid registration using five correspondences on top of the head and at the tips of hand and feet. A low rigidity leads to a distortion and a self-intersection of the transformed mesh. The topology of the mesh as well as the number of vertices and faces remain unchanged. The lack of correspondences also causes self-intersection and leads to a flattening of the left arm. \cgalFigureCaptionEnd -\subsection PMPNonRigidRegistrationExample Non-rigid registration Example +\subsection PMPNonRigidRegistrationExample Non-Rigid Registration Example In the following example the bear_simple.off model is registered onto the bear_simple_bis.off model. The resulting transformed mesh is then saved as off file with a name depending on the chosen parameters. diff --git a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp index 43e80357d10a..ae1f39f835e3 100644 --- a/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp +++ b/Polygon_mesh_processing/examples/Polygon_mesh_processing/non_rigid_mesh_registration_example.cpp @@ -1,5 +1,4 @@ #include -#include #include #include @@ -7,8 +6,6 @@ #include #include - -#include #include using K = CGAL::Exact_predicates_inexact_constructions_kernel; @@ -52,14 +49,10 @@ int main(int, char**) { FT w1 = 5; FT w2 = 20; FT w3 = 500; - new_arap = true; std::ostringstream out; out.precision(2); - if (new_arap) - out << "bear_" << std::fixed << w1 << "_" << w2 << "_" << w3 << "_new.off"; - else - out << "bear_" << std::fixed << w1 << "_" << w2 << "_" << w3 << "_old.off"; + out << "bear_" << std::fixed << w1 << "_" << w2 << "_" << w3 << "_new.off"; std::cout << std::endl << out.str() << std::endl; diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index 4151bbd102cd..b20c9f1f8508 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -9,8 +9,8 @@ // // Author(s) : Roberto Dyke, Sven Oesau // -#ifndef CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H -#define CGAL_POLYGON_MESH_PROCESSING_REGISTER_MESH_H +#ifndef CGAL_POLYGON_MESH_PROCESSING_NON_RIGID_MESH_REGISTRATION_H +#define CGAL_POLYGON_MESH_PROCESSING_NON_RIGID_MESH_REGISTRATION_H #include @@ -41,8 +41,6 @@ #include -bool new_arap = true; - namespace CGAL { namespace Polygon_mesh_processing { namespace internal { @@ -76,6 +74,10 @@ Eigen_matrix_to_point_map::reference get(const Eigen_matrix_to_point_map& ppmap, return ppmap[i]; } +using Search_traits = CGAL::Search_traits_adapter>>; +using Neighbor_search = CGAL::Orthogonal_k_neighbor_search; +using KDTree = typename Neighbor_search::Tree; + template void dump(const Matrix& m, const std::string &filename) { std::ofstream file(filename); @@ -92,16 +94,7 @@ void dump(const Matrix& m, const std::string &filename) { file.close(); } -std::pair nearest_neighbor(Vertices& points, Vertices& query, const Index k = 1) { - using Search_traits = CGAL::Search_traits_adapter>>; - using Neighbor_search = CGAL::Orthogonal_k_neighbor_search; - using KDTree = typename Neighbor_search::Tree; - - Eigen_matrix_to_point_map a(points); - - KDTree kdtree(boost::counting_iterator(0), boost::counting_iterator(points.rows()), KDTree::Splitter(), Search_traits(Eigen_matrix_to_point_map(points))); - kdtree.build(); - +std::pair nearest_neighbor(Vertices& points, Vertices& query, KDTree &kdtree, const Index k = 1) { Eigen::MatrixXi idz(query.rows(), k); Eigen::MatrixXf dist(query.rows(), k); @@ -118,11 +111,6 @@ std::pair nearest_neighbor(Vertices& points, V return std::make_pair(idz, dist); } -template -int sign(T val) { - return (T(0) < val) - (val < T(0)); -} - void insertSparseMatrix(const SparseMat& mat, std::vector& coefficients, size_t start_i = 0, size_t start_j = 0) { for (int k = 0; k < mat.outerSize(); ++k) for (SparseMat::InnerIterator it(mat, k); it; ++it) @@ -243,10 +231,10 @@ struct Rotate_vertex_normals { * \cgalParamExtra{The weight \f$w_3\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * -* \cgalParamNBegin{maximum_matching_distance} -* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a point in `target`. The default value 0 means no maximum matching distance.} +* \cgalParamNBegin{maximal_matching_distance} +* \cgalParamDescription{the maximal distance for a vertex in `source` to match with a point in `target`. The value 0 means no maximal matching distance.} * \cgalParamType{double} -* \cgalParamDefault{`0`} +* \cgalParamDefault{average point spacing in the target} * \cgalParamNEnd * * \cgalParamNBegin{correspondences} @@ -308,7 +296,7 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, const double w2 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_plane_weight), 2); const double w1 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::point_to_point_weight), 0.1); const double w3 = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::as_rigid_as_possible_weight), 20); - const double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximum_matching_distance), 0); + double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximal_matching_distance), -1); using namespace internal::registration; Vertices X(num_vertices(source), 3), Y(target.size(), 3); @@ -460,34 +448,23 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, int a = XF(i, 0); int b = XF(i, 1); int c = XF(i, 2); - if (new_arap) { - auto ha = halfedge(Vertex_index(a), Vertex_index(b), source); - double w_a = wc(ha.first, source, vpm); - auto hb = halfedge(Vertex_index(b), Vertex_index(c), source); - double w_b = wc(hb.first, source, vpm); - auto hc = halfedge(Vertex_index(c), Vertex_index(a), source); - double w_c = wc(hc.first, source, vpm); - edge_coefficients.push_back(SparseTriplet(idx, a, w_a)); - edge_coefficients.push_back(SparseTriplet(idx, b, -w_a)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, b, w_b)); - edge_coefficients.push_back(SparseTriplet(idx, c, -w_b)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, c, w_c)); - edge_coefficients.push_back(SparseTriplet(idx, a, -w_c)); - idx++; - } - else { - edge_coefficients.push_back(SparseTriplet(idx, a, 1)); - edge_coefficients.push_back(SparseTriplet(idx, b, -1)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, b, 1)); - edge_coefficients.push_back(SparseTriplet(idx, c, -1)); - idx++; - edge_coefficients.push_back(SparseTriplet(idx, c, 1)); - edge_coefficients.push_back(SparseTriplet(idx, a, -1)); - idx++; - } + + auto ha = halfedge(Vertex_index(a), Vertex_index(b), source); + double w_a = wc(ha.first, source, vpm); + auto hb = halfedge(Vertex_index(b), Vertex_index(c), source); + double w_b = wc(hb.first, source, vpm); + auto hc = halfedge(Vertex_index(c), Vertex_index(a), source); + double w_c = wc(hc.first, source, vpm); + edge_coefficients.push_back(SparseTriplet(idx, a, w_a)); + edge_coefficients.push_back(SparseTriplet(idx, b, -w_a)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, b, w_b)); + edge_coefficients.push_back(SparseTriplet(idx, c, -w_b)); + idx++; + edge_coefficients.push_back(SparseTriplet(idx, c, w_c)); + edge_coefficients.push_back(SparseTriplet(idx, a, -w_c)); + idx++; + } SparseMat B(XF.rows() * XF.cols(), X.rows()); B.setFromTriplets(edge_coefficients.begin(), edge_coefficients.end()); @@ -553,6 +530,22 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, size_t coefficients_size = coefficients.size(); + KDTree kdtree(boost::counting_iterator(0), boost::counting_iterator(Y.rows()), KDTree::Splitter(), Search_traits(Eigen_matrix_to_point_map(Y))); + kdtree.build(); + + if (max_matching_dist < 0) { + FT sum = 0; + for (Index i = 0; i < Y.rows(); ++i) { + Point_3 query_pt = { Y(i, 0), Y(i, 1), Y(i, 2) }; + Neighbor_search search(kdtree, query_pt, 2, 0, true, Neighbor_search::Distance(Eigen_matrix_to_point_map(Y))); + auto it = search.begin(); + it++; // The first entry is the query point itself. + + sum += it->second; + } + max_matching_dist = sum / Y.rows(); + } + for (size_t it = 0; it < iter; ++it) { std::cout << "." << std::flush; // Reset coefficients (removes point pairs, e.g.) @@ -562,7 +555,7 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, // Compute correspondence //Eigen::VectorXi idz = nearest_neighbor(V1, Z).first.col(0); - std::pair nn_result = nearest_neighbor(Y, Z); + std::pair nn_result = nearest_neighbor(Y, Z, kdtree); Eigen::VectorXi idz = nn_result.first.col(0); Eigen::VectorXf dist = nn_result.second.col(0); @@ -660,78 +653,27 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, // Update edge neighborhoods by new local rotation if (it == (iter - 1)) { - if (new_arap) { - for (Index i = 0; i < Z.rows(); ++i) - rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + for (Index i = 0; i < Z.rows(); ++i) + rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); - for (Index i = 0; i < edim; ++i) { - BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); - } - } - else { - for (Index i = 0; i < Z.rows(); ++i) { -#if EIGEN_VERSION_AT_LEAST(3,4,0) - std::vector nbrs(neighbors[i].begin(), neighbors[i].end()); - Matrix A = X(nbrs, Eigen::indexing::all).rowwise() - X.row(i); - Matrix B_ = Z(nbrs, Eigen::indexing::all).rowwise() - Z.row(i); -#else - Matrix A(neighbors[i].size(), 3); - Matrix B_(neighbors[i].size(), 3); - auto xi = X.row(i); - auto zi = Z.row(i); - auto nit = neighbors[i].begin(); - for (std::size_t j = 0; j < neighbors[i].size(); j++, nit++) { - A.row(j) = X.row(*nit) - xi; - B_.row(j) = Z.row(*nit) - zi; - } -#endif - -#if EIGEN_VERSION_AT_LEAST(3,4,90) - svd.compute(A.transpose() * B_); -#else - svd.compute(A.transpose() * B_, Eigen::ComputeFullU | Eigen::ComputeFullV); -#endif - - rotations[i] = svd.matrixV() * svd.matrixU().transpose(); - if (rotations[i].determinant() < 0) { - Eigen::Matrix M = Eigen::Matrix3d::Identity(); - M(2, 2) = -1; - rotations[i] = svd.matrixV() * M * svd.matrixU().transpose(); - } - } - for (Index i = 0; i < edim; ++i) { - Matrix R = rotations[Ni(i)]; - BX.row(i) = BX.row(i) * R.transpose(); - } + for (Index i = 0; i < edim; ++i) { + BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); } } - else - if (new_arap) { - for (Index i = 0; i < Z.rows(); ++i) - rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); + else { + for (Index i = 0; i < Z.rows(); ++i) + rotation(std::size_t(i), visitor, source, X, Z, neighbors[i], he_weights[i], rotations); - for (Index i = 0; i < edim; ++i) - BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); - } - else { - // Regular matrix update is happening here (taking linearized coefficients, recreating matrix and rotating edges) - for (Index i = 0; i < edim; ++i) { - int ni = Ni(i); - Matrix R = rot(x(dim + 2 * Z.rows() + ni), - x(dim + Z.rows() + ni), - x(dim + ni)); - BX.row(i) = BX.row(i) * R.transpose(); - } - } + for (Index i = 0; i < edim; ++i) + BX.row(i) = BX_original.row(i) * rotations[Ni(i)].transpose(); + } } idx = 0; for (auto v : vertices(source)) { Point z(Z(idx, 0), Z(idx, 1), Z(idx, 2)); Point x(X(idx, 0), X(idx, 1), X(idx, 2)); -/* - Aff_transformation_3 t1(CGAL::TRANSLATION, CGAL::ORIGIN - x); - Aff_transformation_3 t2(CGAL::TRANSLATION, -(CGAL::ORIGIN - z));*/ + const auto& r = rotations[idx]; Aff_transformation_3 rota(r(0, 0), r(0, 1), r(0, 2), 0, r(1, 0), r(1, 1), r(1, 2), 0, @@ -802,10 +744,10 @@ static_assert(false, "Eigen library is required for non-rigid mesh registration" * \cgalParamExtra{The weight \f$w_3\f$ needs to be 0 or positive. See \ref PMPNonRigidRegistrationParameters.} * \cgalParamNEnd * -* \cgalParamNBegin{maximum_matching_distance} -* \cgalParamDescription{the maximum distance for a vertex in `source` to match with a point in `target`. The default value 0 means no maximum matching distance.} +* \cgalParamNBegin{maximal_matching_distance} +* \cgalParamDescription{the maximal distance for a vertex in `source` to match with a point in `target`. The value 0 means no maximal matching distance.} * \cgalParamType{double} -* \cgalParamDefault{`0`} +* \cgalParamDefault{average edge length in the target mesh.} * \cgalParamNEnd * * \cgalParamNBegin{correspondences} @@ -892,7 +834,7 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, Pwn_vector points; points.reserve(target.num_vertices()); - for (auto v : target.vertices()) + for (auto v : vertices(target)) points.push_back(std::make_pair(get(vpm, v), get(vnm, v))); std::vector::vertex_descriptor, std::size_t>> correspondences_pts; @@ -900,6 +842,18 @@ void non_rigid_mesh_to_mesh_registration(const TriangleMesh1& source, for (auto p : correspondences) correspondences_pts.push_back(std::make_pair(p.first, static_cast(p.second))); + double max_matching_dist = parameters::choose_parameter(parameters::get_parameter(np1, internal_np::maximal_matching_distance), -1); + + if (max_matching_dist < 0) { + typename Gt2::FT sum = 0; + std::size_t count = 0; + for (auto e : edges(target)) { + sum += CGAL::sqrt((get(vpm, CGAL::target(e, target)) - get(vpm, CGAL::source(e, target))).squared_length()); + count++; + } + max_matching_dist = sum / count; + } + non_rigid_mesh_to_points_registration(source, points, vtm, vrm, np1.combine(parameters::correspondences(correspondences_pts)), parameters::point_map(Point_map()).normal_map(Normal_map())); #else @@ -983,4 +937,4 @@ void apply_non_rigid_transformation(const TriangleMesh& mesh, } // namespace Polygon_mesh_processing } // namespace CGAL -#endif +#endif // CGAL_POLYGON_MESH_PROCESSING_NON_RIGID_MESH_REGISTRATION_H diff --git a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h index 2580d2120cd5..6dae78bb61cf 100644 --- a/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h +++ b/STL_Extension/include/CGAL/STL_Extension/internal/parameters_interface.h @@ -168,7 +168,7 @@ CGAL_add_named_parameter(correspondences_t, correspondences, correspondences) CGAL_add_named_parameter(point_to_plane_weight_t, point_to_plane_weight, point_to_plane_weight) CGAL_add_named_parameter(point_to_point_weight_t, point_to_point_weight, point_to_point_weight) CGAL_add_named_parameter(as_rigid_as_possible_weight_t, as_rigid_as_possible_weight, as_rigid_as_possible_weight) -CGAL_add_named_parameter(maximum_matching_distance_t, maximum_matching_distance, maximum_matching_distance) +CGAL_add_named_parameter(maximal_matching_distance_t, maximal_matching_distance, maximal_matching_distance) // List of named parameters that we use in the package 'Surface Mesh Simplification' CGAL_add_named_parameter(get_cost_policy_t, get_cost_policy, get_cost) From c8bb8018da3be3a1a0d18907d3371cf7fd25b162 Mon Sep 17 00:00:00 2001 From: Sven Oesau Date: Tue, 10 Dec 2024 13:56:52 +0100 Subject: [PATCH 41/41] CI fix --- .../CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h index b20c9f1f8508..f5048b3736f1 100644 --- a/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h +++ b/Polygon_mesh_processing/include/CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h @@ -534,7 +534,7 @@ void non_rigid_mesh_to_points_registration(const TriangleMesh& source, kdtree.build(); if (max_matching_dist < 0) { - FT sum = 0; + double sum = 0; for (Index i = 0; i < Y.rows(); ++i) { Point_3 query_pt = { Y(i, 0), Y(i, 1), Y(i, 2) }; Neighbor_search search(kdtree, query_pt, 2, 0, true, Neighbor_search::Distance(Eigen_matrix_to_point_map(Y)));