mirror of https://github.com/CGAL/cgal
Use transform iterator to transform cgal range+pmaps to gr points on-the-fly
Usage of a point adapter is no longer needed: transform iterator adapts the cgal points to opengr points on-the-fly
This commit is contained in:
Necip Yildiran
parent
13ce95a98a
commit
7029fe4dcb
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@ -27,15 +27,14 @@
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#include <CGAL/assertions.h>
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#include <CGAL/boost/graph/named_function_params.h>
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#include <CGAL/boost/graph/named_params_helper.h>
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#include <CGAL/Iterator_range.h>
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#include <boost/type_traits/is_same.hpp>
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#include <boost/range/combine.hpp>
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#include <boost/range/iterator_range.hpp>
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#include <gr/algorithms/FunctorSuper4pcs.h>
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#include <gr/algorithms/PointPairFilter.h>
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#include "point_adapter.h"
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#include <Eigen/Dense>
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namespace CGAL {
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@ -44,13 +43,39 @@ namespace OpenGR {
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template<typename Kernel>
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using Options = typename gr::Match4pcsBase<gr::FunctorSuper4PCS,
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internal::PointAdapter<Kernel>,
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gr::Point3D<typename Kernel::FT>,
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gr::DummyTransformVisitor,
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gr::AdaptivePointFilter,
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gr::AdaptivePointFilter::Options>::OptionsType;
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namespace internal {
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template <typename Scalar, typename InputRange, typename PointMap, typename VectorMap>
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struct CGAL_range_and_pmaps_to_opengr_point3d_range
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{
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typedef typename InputRange::const_iterator::value_type argument_type;
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typedef gr::Point3D<Scalar> result_type;
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typedef typename result_type::VectorType vector_type;
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PointMap point_map;
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VectorMap normal_map;
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CGAL_range_and_pmaps_to_opengr_point3d_range (PointMap point_map, VectorMap normal_map)
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: point_map (point_map), normal_map (normal_map)
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{ }
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result_type operator() (const argument_type& arg) const
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{
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const auto& p = get (point_map, arg);
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const auto& n = get (normal_map, arg);
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result_type out (p.x(), p.y(), p.z());
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out.set_normal ( vector_type(n.x(), n.y(), n.z()) );
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return out;
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}
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};
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template <class Kernel,
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class PointRange1,
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class PointRange2,
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@ -67,16 +92,16 @@ compute_registration_transformation(const PointRange1& range1, const PointRan
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typedef typename Kernel::Point_3 Point_3;
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typedef typename Kernel::Vector_3 Vector_3;
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typedef PointAdapter<Kernel> PointAdapterType;
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typedef gr::Point3D<typename Kernel::FT> PointType;
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namespace GR=gr;
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// TODO: see if should allow user to change those types
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typedef Eigen::Matrix<typename PointAdapterType::Scalar, 4, 4> MatrixType;
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typedef Eigen::Matrix<typename PointType::Scalar, 4, 4> MatrixType;
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typedef gr::UniformDistSampler SamplerType;
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typedef gr::DummyTransformVisitor TrVisitorType;
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typedef gr::Match4pcsBase<gr::FunctorSuper4PCS,
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PointAdapterType,
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PointType,
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TrVisitorType,
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gr::AdaptivePointFilter,
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gr::AdaptivePointFilter::Options> MatcherType;
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@ -85,25 +110,28 @@ compute_registration_transformation(const PointRange1& range1, const PointRan
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SamplerType sampler;
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TrVisitorType visitor;
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// Do not copy the points but pass the ranges zipped with point and vector maps
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// to be resolved at point adapter. Pass copies of point and vector maps as they are
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// lightweight objects
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std::vector<PointMap1> pmap1(range1.size(), point_map1);
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std::vector<VectorMap1> vmap1(range1.size(), vector_map1);
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// Unary functions that convert value_type of point ranges to gr::Point3D
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CGAL_range_and_pmaps_to_opengr_point3d_range<typename Kernel::FT, PointRange1, PointMap1, VectorMap1> // TODO: remove deductible ones
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unary_function_1 (point_map1, vector_map1);
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std::vector<PointMap2> pmap2(range2.size(), point_map2);
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std::vector<VectorMap2> vmap2(range2.size(), vector_map2);
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CGAL_range_and_pmaps_to_opengr_point3d_range<typename Kernel::FT, PointRange2, PointMap2, VectorMap2> // TODO: remove deductible ones
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unary_function_2 (point_map2, vector_map2);
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auto gr_point_range_1 = boost::make_iterator_range(
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boost::make_transform_iterator (range1.begin(), unary_function_1),
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boost::make_transform_iterator (range1.end(), unary_function_1));
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auto gr_point_range_2 = boost::make_iterator_range(
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boost::make_transform_iterator (range2.begin(), unary_function_2),
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boost::make_transform_iterator (range2.end(), unary_function_2));
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auto range_pmap_vmap_1 = boost::combine(range1, pmap1, vmap1);
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auto range_pmap_vmap_2 = boost::combine(range2, pmap2, vmap2);
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// logger
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GR::Utils::Logger logger(GR::Utils::NoLog);
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// matcher
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MatcherType matcher(options, logger);
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double score =
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matcher.ComputeTransformation(range_pmap_vmap_1, range_pmap_vmap_2, mat, sampler, visitor);
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matcher.ComputeTransformation(gr_point_range_1, gr_point_range_2, mat, sampler, visitor);
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#ifdef CGAL_OPENGR_VERBOSE
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std::cerr << "Transformation matrix: " << std::endl;
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@ -1,77 +0,0 @@
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// Copyright (c) 2018 GeometryFactory(France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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// You can redistribute it and/or modify it under the terms of the GNU
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// General Public License as published by the Free Software Foundation,
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// either version 3 of the License, or (at your option) any later version.
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//
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// Licensees holding a valid commercial license may use this file in
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// accordance with the commercial license agreement provided with the software.
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//
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// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// $URL$
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// $Id$
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// SPDX-License-Identifier: GPL-3.0+
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//
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// Author(s) : Necip Fazil Yildiran
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#ifndef CGAL_OPENGR_POINT_ADAPTER_H
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#define CGAL_OPENGR_POINT_ADAPTER_H
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#include <CGAL/Simple_cartesian.h>
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#include <boost/tuple/tuple.hpp>
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#include <iostream>
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namespace CGAL {
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namespace OpenGR {
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namespace internal {
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template<typename Kernel>
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struct PointAdapter {
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public:
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enum {Dim = 3};
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using Scalar = typename Kernel::FT;
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using VectorType = typename Eigen::Matrix<Scalar, Dim, 1>;
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private:
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using Base = typename gr::Point3D<Scalar>;
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Base base;
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public:
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PointAdapter(const PointAdapter&) = default;
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//template<typename RangeVal, typename PointMap, typename VectorMap>
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//PointAdapter(const boost::tuple<RangeVal, PointMap, VectorMap> &t)
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template<typename RangePointVectorTuple>
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inline PointAdapter(const RangePointVectorTuple &t)
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: base( get(t.get<1>(), t.get<0>()).x(),
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get(t.get<1>(), t.get<0>()).y(),
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get(t.get<1>(), t.get<0>()).z() ) // pos
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{
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using BaseVectorType = typename Base::VectorType;
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// normal
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base.set_normal(
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BaseVectorType( get(t.get<2>(), t.get<0>()).x(),
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get(t.get<2>(), t.get<0>()).y(),
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get(t.get<2>(), t.get<0>()).z() )
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);
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}
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inline const VectorType pos() const { return base.pos(); }
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inline const VectorType normal() const { return base.normal(); }
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inline const VectorType rgb() const { return base.rgb(); }
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};
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}
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} }
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#endif // CGAL_OPENGR_POINT_ADAPTER_H
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