Registration Functions

Functions to compute the transformation for mapping one mesh onto another or onto a set of points.

Functions
template<typename TriangleMesh , typename PointRange , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters>
void	CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration (const TriangleMesh &source, const PointRange &target, VertexTranslationMap &vtm, VertexRotationMap &vrm, const NamedParameters1 &np1=parameters::default_values(), const NamedParameters2 &np2=parameters::default_values())
	computes non-rigid transformation of a mesh onto a set of oriented points.
template<typename TriangleMesh1 , typename TriangleMesh2 , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters>
void	CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration (const TriangleMesh1 &source, const TriangleMesh2 &target, VertexTranslationMap &vtm, VertexRotationMap &vrm, const NamedParameters1 &np1=parameters::default_values(), const NamedParameters2 &np2=parameters::default_values())
	computes non-rigid transformation of a mesh onto another mesh.
template<typename TriangleMesh , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters = parameters::Default_named_parameters>
void	CGAL::Polygon_mesh_processing::apply_non_rigid_transformation (const TriangleMesh &mesh, const VertexTranslationMap &vtm, const VertexRotationMap &vrm, const NamedParameters &np=parameters::default_values())
	applies a non-rigid transformation to the vertices of the mesh.

Function Documentation

apply_non_rigid_transformation()

template<typename TriangleMesh , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters = parameters::Default_named_parameters>

void CGAL::Polygon_mesh_processing::apply_non_rigid_transformation	(	const TriangleMesh &	mesh,
		const VertexTranslationMap &	vtm,
		const VertexRotationMap &	vrm,
		const NamedParameters &	np = parameters::default_values()
	)

#include <CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h>

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.

Template Parameters

TriangleMesh	a model of FaceGraph.
VertexTranslationMap	is a property map with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and GeomTraits::Vector_3 as value type, GeomTraits being the type of the parameter geom_traits.
VertexRotationMap	is a property map with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and CGAL::Aff_transformation_3<GeomTraits> as value type, GeomTraits being the type of the parameter geom_traits. Only the rotational part of the transformations is considered.
NamedParameters	a sequence of Named Parameters.

Parameters

mesh	the triangle mesh to be transformed.
vtm	a readable vertex property map of mesh that contains the translation vector of the registration.
vrm	a readable vertex property map of mesh that contains the rotational part of the registration.
np	an optional sequence of Named Parameters among the ones listed below.

Optional Named Parameters

vertex_point_map a property map associating points to the vertices of mesh Type: a class model of ReadWritePropertyMap with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and Point_3 as value type Default: get_const_property_map(CGAL::vertex_point, source) Extra: If this parameter is omitted, an internal property map for CGAL::vertex_point_t must be available in TriangleMesh.
vertex_normal_map a property map associating normals to the vertices of mesh Type: a class model of ReadWritePropertyMap with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and Vector_3 as value type Extra: If this parameter is provided, the contained normals will be updated.
geom_traits an instance of a geometric traits class Type: a class model of Kernel Default: a CGAL Kernel deduced from the point type, using CGAL::Kernel_traits Extra: The geometric traits class must be compatible with the vertex point type.

non_rigid_mesh_to_mesh_registration()

template<typename TriangleMesh1 , typename TriangleMesh2 , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters>

void CGAL::Polygon_mesh_processing::non_rigid_mesh_to_mesh_registration	(	const TriangleMesh1 &	source,
		const TriangleMesh2 &	target,
		VertexTranslationMap &	vtm,
		VertexRotationMap &	vrm,
		const NamedParameters1 &	np1 = parameters::default_values(),
		const NamedParameters2 &	np2 = parameters::default_values()
	)

#include <CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h>

computes non-rigid transformation of a mesh onto another mesh.

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 vertices of the target.

Note

This function requires the Eigen library.

Template Parameters

TriangleMesh1	a const model of FaceGraph.
TriangleMesh2	a const model of FaceGraph.
VertexTranslationMap	is a property map with boost::graph_traits<TriangleMesh1>::vertex_descriptor as key type and GeomTraits::Vector_3 as value type, GeomTraits being the type of the parameter geom_traits.
VertexRotationMap	is a property map with boost::graph_traits<TriangleMesh1>::vertex_descriptor as key type and CGAL::Aff_transformation_3<GeomTraits> as value type, GeomTraits being the type of the parameter geom_traits.
NamedParameters1	a sequence of Named Parameters1.
NamedParameters2	a sequence of Named Parameters2.

Parameters

source	the triangle mesh to be mapped onto target.
target	the target triangle mesh.
vtm	a writable vertex property map of source to store the translation vector of the registration.
vrm	a writable vertex property map of source to store the rotation part of the registration.
np1	an optional sequence of Named Parameters 1 of the source and the method among the ones listed below.
np2	an optional sequence of Named Parameters 2 of the target providing a vertex point map and a vertex normal map as listed below.

Named Parameters 1

number_of_iterations the number of registration iterations using ICP, iterative closest point Type: unsigned int Default: 50
point_to_plane_weight the weight \(w_2\) of the point to plane energy in the registration. Type: double Default: 1 Extra: \(w_2\) needs to be 0 or positive. See Parameters.
point_to_point_weight the weight \(w_1\) of the point to matching point energy in the registration Type: double Default: 1 Extra: \(w_1\) needs to be 0 or positive. See Parameters.
as_rigid_as_possible_weight defines the rigidity of the registration Type: double Default: 50 Extra: The weight \(w_3\) needs to be 0 or positive. See Parameters.
maximal_matching_distance the maximal distance for a vertex in source to match with a point in target. The value 0 means no maximal matching distance. Type: double Default: average edge length in the target mesh.
correspondences a range of matching vertex pairs between the source and the target. Type: ConstRange whose value type is a pair of boost::graph_traits<TriangleMesh1>::vertex_descriptor and boost::graph_traits<TriangleMesh2>::vertex_descriptor. Default: empty Extra: to avoid copies, this parameter can be passed using std::cref.
vertex_point_map a property map associating points to the vertices of source Type: a class model of ReadablePropertyMap with boost::graph_traits<TriangleMesh1>::vertex_descriptor as key type and Point_3 as value type Default: get_const_property_map(CGAL::vertex_point, source) Extra: If this parameter is omitted, an internal property map for CGAL::vertex_point_t must be available in TriangleMesh1.
geom_traits an instance of a geometric traits class Type: a class model of Kernel Default: a CGAL Kernel deduced from the point type, using CGAL::Kernel_traits Extra: The geometric traits class must be compatible with the vertex point type.

Named Parameters 2

vertex_normal_map a property map associating normals to the vertices of target Type: a class model of ReadablePropertyMap with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and Vector_3 as value type Default: get(dynamic_vertex_property_t<Vector_3>(), target) Extra: If this parameter is omitted, vertex normals will be computed using compute_vertex_normals().
vertex_point_map a property map associating points to the vertices of target Type: a class model of ReadablePropertyMap with boost::graph_traits<TriangleMesh2>::vertex_descriptor as key type and Point_3 as value type Default: get_const_property_map(CGAL::vertex_point, target) Extra: If this parameter is omitted, an internal property map for CGAL::vertex_point_t must be available in TriangleMesh2.

non_rigid_mesh_to_points_registration()

template<typename TriangleMesh , typename PointRange , typename VertexTranslationMap , typename VertexRotationMap , typename NamedParameters1 = parameters::Default_named_parameters, typename NamedParameters2 = parameters::Default_named_parameters>

void CGAL::Polygon_mesh_processing::non_rigid_mesh_to_points_registration	(	const TriangleMesh &	source,
		const PointRange &	target,
		VertexTranslationMap &	vtm,
		VertexRotationMap &	vrm,
		const NamedParameters1 &	np1 = parameters::default_values(),
		const NamedParameters2 &	np2 = parameters::default_values()
	)

#include <CGAL/Polygon_mesh_processing/non_rigid_mesh_registration.h>

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. 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 Eigen library.

Template Parameters

TriangleMesh	a const model of FaceGraph.
PointRange	is a model of ConstRange. The value type of its iterator is the key type of the named parameter point_map.
VertexTranslationMap	is a property map with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and GeomTraits::Vector_3 as value type, GeomTraits being the type of the parameter geom_traits.
VertexRotationMap	is a property map with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and CGAL::Aff_transformation_3<GeomTraits> as value type, GeomTraits being the type of the parameter geom_traits.
NamedParameters1	a sequence of Named Parameters.
NamedParameters2	a sequence of Named Parameters.

Parameters

source	the triangle mesh to be mapped onto target.
target	the target point set.
vtm	a writable vertex property map of source to store the translation vector of the registration.
vrm	a writable vertex property map of source to store the rotation part of the registration.
np1	an optional sequence of Named Parameters 1 among the ones listed below.
np2	an optional sequence of Named Parameters 2 providing a point_map and normal_map for the PointRange as listed below.

Named Parameters 1

number_of_iterations the number of registration iterations using ICP, iterative closest point Type: unsigned int Default: 50
point_to_plane_weight the weight \(w_2\) of the point to plane energy in the registration. Type: double Default: 1 Extra: \(w_2\) needs to be 0 or positive. See Parameters.
point_to_point_weight the weight \(w_1\) of the point to matching point energy in the registration Type: double Default: 1 Extra: \(w_1\) needs to be 0 or positive. See Parameters.
as_rigid_as_possible_weight defines the rigidity of the registration Type: double Default: 50 Extra: The weight \(w_3\) needs to be 0 or positive. See Parameters.
maximal_matching_distance the maximal distance for a vertex in source to match with a point in target. The value 0 means no maximal matching distance. Type: double Default: average point spacing in the target
correspondences a range of matching vertex-point pairs between the source and the target. Type: ConstRange whose value type is a pair of boost::graph_traits<TriangleMesh>::vertex_descriptor and the value type of PointRange. Default: empty Extra: to avoid copies, this parameter can be passed using std::cref.
vertex_point_map a property map associating points to the vertices of source Type: a class model of ReadablePropertyMap with boost::graph_traits<TriangleMesh>::vertex_descriptor as key type and Point_3 as value type Default: get_const_property_map(CGAL::vertex_point, source) Extra: If this parameter is omitted, an internal property map for CGAL::vertex_point_t must be available in TriangleMesh.
geom_traits an instance of a geometric traits class Type: a class model of Kernel Default: a CGAL Kernel deduced from the point type, using CGAL::Kernel_traits Extra: The geometric traits class must be compatible with the vertex point type.

Named Parameters 2

point_map a property map associating points to the elements of the point set target. Type: 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. Default: CGAL::Identity_property_map<geom_traits::Point_3>.
normal_map a property map associating normals to the elements of the point set target. Type: 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.