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Lite3DReg / cpp /core /registration.h
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#ifndef REGISTRATION_H
#define REGISTRATION_H
#include "Types.h"
#include "parameters.h"
class Registration
{
public:
Registration() = default;
virtual ~Registration() = default;
Matrix3X src_points_; // (3,n)
Matrix3X src_normals_; // (3,n)
Matrix3X src_vert_colors_; // (3,n)
Matrix3X deformed_normals_; // (3,n)
Matrix3X deformed_points_3X_;
VectorX deformed_points_; // (3n,)
Matrix3X tar_points_; // (3,n);
Matrix3X target_normals_; // (3,n)
Matrix3X tar_vert_colors; // (3,n)
double scale=1;
Mesh src_mesh;
Mesh tar_mesh;
Mesh deformed_mesh;
Mesh* src_mesh_;
Mesh* tar_mesh_;
Mesh* deformed_mesh_;
int n_src_vertex_;
int n_tar_vertex_;
int n_landmark_nodes_;
KDtree* target_tree_; // correspondence paras
spare::Parameters pars_;
std::string res_trans_path_;
MatrixXX res_trans;
struct Closest{
int src_idx; // vertex index from source model
int tar_idx; // face index from target model
Vector3 position;
Vector3 normal;
Scalar min_dist2;
};
typedef std::vector<Closest> VPairs;
VPairs correspondence_pairs_;
VectorX corres_U0_; // all correspondence points (3, n)
void InitCorrespondence(VPairs & corres);
void FindClosestPoints(VPairs & corres);
void FindClosestPoints(KDtree* target_tree_tem,VectorX & deformed_v,VPairs & corres);
void FindClosestPoints(KDtree* target_tree_tem,VPairs & corres, VectorX & deformed_v, std::vector<size_t>& sample_indices);
double FindKnearestMed(const KDtree& kdtree,
const Matrix3X& X, int nk);
void LandMarkCorres(VPairs & correspondence_pairs);
bool read_landmark(const char* filename, std::vector<int>& landmark_src, std::vector<int>& landmark_tar);
virtual void Read_data(const std::string& file_target,
const std::string& file_source) ;
virtual void Read_data(const Matrix3X &target_p,const Matrix3X &source_p,const Matrix3X &target_n,const Matrix3X &source_n) ;
virtual void Read_data(const Mesh& tar,const Mesh& src);
virtual void Register(){};
virtual void Init_data();
Scalar SetMeshPoints(Mesh* mesh, const Matrix3X &point,const Matrix3X &point_n);
virtual void Output_data(const std::string& out_path,const std::string& method_name) ;
virtual void Reg(const std::string& file_target,
const std::string& file_source,
const std::string& out_path){};
};
#endif // REGISTRATION_H