Method teaser

plugins/teaser/filters/TeaserFilter.cpp:218–335

}

void TeaserFilter::teaser()
{
    using namespace std::chrono; // steady_clock, duration_cast, microseconds

    // Compute centroid of fixed PointView such that both the fixed an moving
    // PointViews can be centered.
    PointIdList ids(m_fixed->size());
    std::iota(ids.begin(), ids.end(), 0);
    Vector3d centroid = math::computeCentroid(*m_fixed, ids);

    // Compute bounds of fixed PointView. All coordinates will subsequently be
    // shifted by minimum values.
    BOX3D fixedBounds, movingBounds;
    m_fixed->calculateBounds(fixedBounds);
    m_moving->calculateBounds(movingBounds);

    m_bounds.clear();
    m_bounds.minx = std::min(fixedBounds.minx, movingBounds.minx);
    m_bounds.miny = std::min(fixedBounds.miny, movingBounds.miny);
    m_bounds.minz = std::min(fixedBounds.minz, movingBounds.minz);
    m_bounds.maxx = std::max(fixedBounds.maxx, movingBounds.maxx);
    m_bounds.maxy = std::max(fixedBounds.maxy, movingBounds.maxy);
    m_bounds.maxz = std::max(fixedBounds.maxz, movingBounds.maxz);

    // To fit our data to the unit cube, we must also determine the appropriate
    // scale by finding the max range in XYZ.
    double xrange = m_bounds.maxx - m_bounds.minx;
    double yrange = m_bounds.maxy - m_bounds.miny;
    double zrange = m_bounds.maxz - m_bounds.minz;
    m_scale = std::max(xrange, std::max(yrange, zrange));

    // hack alert
    m_bounds.minx = centroid.x();
    m_bounds.miny = centroid.y();
    m_bounds.minz = centroid.z();
    m_scale /= 2;

    // T will contain the final affine transformation.
    Affine3d T = Affine3d::Identity();

    // Choose one of two registration approaches depending on whether FPFH
    // correspondences are to be used or if TEASER will run correspondence
    // free.
    steady_clock::time_point begin = steady_clock::now();
    if (m_fpfh)
        T = fpfh();
    else
        T = nofpfh();
    steady_clock::time_point end = steady_clock::now();

    // Log results
    log()->get(LogLevel::Debug)
        << "=====================================" << std::endl;
    log()->get(LogLevel::Debug)
        << "          TEASER++ Results           " << std::endl;
    log()->get(LogLevel::Debug)
        << "=====================================" << std::endl;
    log()->get(LogLevel::Debug) << "Estimated rotation: " << std::endl;