split windows header-only tutorial actions (#2238)

* split windows header-only tutorial actions * double quote issue? * split 7 into 8 and 9
2023-08-19 11:06:48 -04:00
parent 83922780e1
commit 7765697eb6
16 changed files with 46 additions and 17 deletions
@@ -0,0 +1,108 @@
+// This file is part of libigl, a simple c++ geometry processing library.
+// 
+// Copyright (C) 2019 Alec Jacobson <alecjacobson@gmail.com>
+// 
+// This Source Code Form is subject to the terms of the Mozilla Public License 
+// v. 2.0. If a copy of the MPL was not distributed with this file, You can 
+// obtain one at http://mozilla.org/MPL/2.0/.
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <igl/read_triangle_mesh.h>
+#include <igl/opengl/glfw/Viewer.h>
+#include <igl/iterative_closest_point.h>
+#include <igl/random_dir.h>
+#include <igl/PI.h>
+#include <igl/AABB.h>
+#include <igl/per_face_normals.h>
+#include <igl/avg_edge_length.h>
+#include <igl/per_vertex_normals.h>
+#include <igl/barycenter.h>
+#include <igl/slice.h>
+#include <igl/slice_mask.h>
+#include <iostream>
+
+int main(int argc, char * argv[])
+{
+  Eigen::MatrixXd OVX,VX,VY;
+  Eigen::MatrixXi FX,FY;
+  igl::read_triangle_mesh( argc>1?argv[1]: TUTORIAL_SHARED_PATH "/decimated-max.obj",VY,FY);
+  const double bbd = (VY.colwise().maxCoeff()-VY.colwise().minCoeff()).norm();
+  FX = FY;
+  {
+    // sprinkle a noise so that we can see z-fighting when the match is perfect.
+    const double h = igl::avg_edge_length(VY,FY);
+    OVX = VY + 1e-2*h*Eigen::MatrixXd::Random(VY.rows(),VY.cols());
+  }
+  
+  VX = OVX;
+
+  igl::AABB<Eigen::MatrixXd,3> Ytree;
+  Ytree.init(VY,FY);
+  Eigen::MatrixXd NY;
+  igl::per_face_normals(VY,FY,NY);
+
+  igl::opengl::glfw::Viewer v;
+  std::cout<<R"(
+  [space]  conduct a single iterative closest point iteration
+  R,r      reset to a random orientation and offset
+)";
+
+  const auto apply_random_rotation = [&]()
+  {
+    const Eigen::Matrix3d R = Eigen::AngleAxisd(
+      2.*igl::PI*(double)rand()/RAND_MAX*0.3, igl::random_dir()).matrix();
+    const Eigen::RowVector3d cen = 
+      0.5*(VY.colwise().maxCoeff()+VY.colwise().minCoeff());
+    VX = ((OVX*R).rowwise()+(cen-cen*R)).eval();
+  };
+  const auto single_iteration = [&]()
+  {
+    ////////////////////////////////////////////////////////////////////////
+    // Perform single iteration of ICP method
+    ////////////////////////////////////////////////////////////////////////
+    Eigen::Matrix3d R;
+    Eigen::RowVector3d t;
+    igl::iterative_closest_point(VX,FX,VY,FY,Ytree,NY,1000,1,R,t);
+    VX = ((VX*R).rowwise()+t).eval();
+    v.data().set_mesh(VX,FX);
+    v.data().compute_normals();
+  };
+  v.callback_pre_draw = [&](igl::opengl::glfw::Viewer &)->bool
+  {
+    if(v.core().is_animating)
+    {
+      single_iteration();
+    }
+    return false;
+  };
+  v.callback_key_pressed = 
+    [&](igl::opengl::glfw::Viewer &,unsigned char key,int)->bool
+  {
+    switch(key)
+    {
+      case ' ':
+      {
+        v.core().is_animating = false;
+        single_iteration();
+        return true;
+      }
+      case 'R':
+      case 'r':
+        // Random rigid transformation
+        apply_random_rotation();
+        v.data().set_mesh(VX,FX);
+        v.data().compute_normals();
+        return true;
+        break;
+    }
+    return false;
+  };
+
+  v.data().set_mesh(VY,FY);
+  v.data().set_colors(Eigen::RowVector3d(1,1,1));
+  v.data().show_lines = false;
+  v.append_mesh();
+  v.data().set_mesh(VX,FX);
+  v.data().show_lines = false;
+  v.launch();
+}