geometry.hpp
/*
Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list of
conditions and the following disclaimer. Redistributions in binary form must reproduce
the above copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the distribution.
Neither the name of the Johns Hopkins University nor the names of its contributors
may be used to endorse or promote products derived from this software without specific
prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
*/
#include <pcl/console/print.h>
namespace pcl
{
namespace poisson
{
template<class Real>
Real Random(void){return Real(rand())/RAND_MAX;}
template<class Real>
Point3D<Real> RandomBallPoint(void){
Point3D<Real> p;
while(1){
p.coords[0]=Real(1.0-2.0*Random<Real>());
p.coords[1]=Real(1.0-2.0*Random<Real>());
p.coords[2]=Real(1.0-2.0*Random<Real>());
double l=SquareLength(p);
if(l<=1){return p;}
}
}
template<class Real>
Point3D<Real> RandomSpherePoint(void){
Point3D<Real> p=RandomBallPoint<Real>();
Real l=Real(Length(p));
p.coords[0]/=l;
p.coords[1]/=l;
p.coords[2]/=l;
return p;
}
template<class Real>
double SquareLength(const Point3D<Real>& p){return p.coords[0]*p.coords[0]+p.coords[1]*p.coords[1]+p.coords[2]*p.coords[2];}
template<class Real>
double Length(const Point3D<Real>& p){return sqrt(SquareLength(p));}
template<class Real>
double SquareDistance(const Point3D<Real>& p1,const Point3D<Real>& p2){
return (p1.coords[0]-p2.coords[0])*(p1.coords[0]-p2.coords[0])+(p1.coords[1]-p2.coords[1])*(p1.coords[1]-p2.coords[1])+(p1.coords[2]-p2.coords[2])*(p1.coords[2]-p2.coords[2]);
}
template<class Real>
double Distance(const Point3D<Real>& p1,const Point3D<Real>& p2){return sqrt(SquareDistance(p1,p2));}
template <class Real>
void CrossProduct(const Point3D<Real>& p1,const Point3D<Real>& p2,Point3D<Real>& p){
p.coords[0]= p1.coords[1]*p2.coords[2]-p1.coords[2]*p2.coords[1];
p.coords[1]=-p1.coords[0]*p2.coords[2]+p1.coords[2]*p2.coords[0];
p.coords[2]= p1.coords[0]*p2.coords[1]-p1.coords[1]*p2.coords[0];
}
template<class Real>
void EdgeCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector< Point3D<Real> >* normals){
int i,j,*remapTable,*pointCount,idx[3];
Point3D<Real> p[3],q[2],c;
double d[3],a;
double Ratio=12.0/sqrt(3.0); // (Sum of Squares Length / Area) for and equilateral triangle
remapTable=new int[positions.size()];
pointCount=new int[positions.size()];
for(i=0;i<int(positions.size());i++){
remapTable[i]=i;
pointCount[i]=1;
}
for(i=int(triangles.size()-1);i>=0;i--){
for(j=0;j<3;j++){
idx[j]=triangles[i].idx[j];
while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
}
if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
continue;
}
for(j=0;j<3;j++){
p[j].coords[0]=positions[idx[j]].coords[0]/pointCount[idx[j]];
p[j].coords[1]=positions[idx[j]].coords[1]/pointCount[idx[j]];
p[j].coords[2]=positions[idx[j]].coords[2]/pointCount[idx[j]];
}
for(j=0;j<3;j++){
q[0].coords[j]=p[1].coords[j]-p[0].coords[j];
q[1].coords[j]=p[2].coords[j]-p[0].coords[j];
d[j]=SquareDistance(p[j],p[(j+1)%3]);
}
CrossProduct(q[0],q[1],c);
a=Length(c)/2;
if((d[0]+d[1]+d[2])*edgeRatio > a*Ratio){
// Find the smallest edge
j=0;
if(d[1]<d[j]){j=1;}
if(d[2]<d[j]){j=2;}
int idx1,idx2;
if(idx[j]<idx[(j+1)%3]){
idx1=idx[j];
idx2=idx[(j+1)%3];
}
else{
idx2=idx[j];
idx1=idx[(j+1)%3];
}
positions[idx1].coords[0]+=positions[idx2].coords[0];
positions[idx1].coords[1]+=positions[idx2].coords[1];
positions[idx1].coords[2]+=positions[idx2].coords[2];
if(normals){
(*normals)[idx1].coords[0]+=(*normals)[idx2].coords[0];
(*normals)[idx1].coords[1]+=(*normals)[idx2].coords[1];
(*normals)[idx1].coords[2]+=(*normals)[idx2].coords[2];
}
pointCount[idx1]+=pointCount[idx2];
remapTable[idx2]=idx1;
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
}
}
int pCount=0;
for(i=0;i<int(positions.size());i++){
for(j=0;j<3;j++){positions[i].coords[j]/=pointCount[i];}
if(normals){
Real l=Real(Length((*normals)[i]));
for(j=0;j<3;j++){(*normals)[i].coords[j]/=l;}
}
if(remapTable[i]==i){ // If vertex i is being used
positions[pCount]=positions[i];
if(normals){(*normals)[pCount]=(*normals)[i];}
pointCount[i]=pCount;
pCount++;
}
}
positions.resize(pCount);
for(i=int(triangles.size()-1);i>=0;i--){
for(j=0;j<3;j++){
idx[j]=triangles[i].idx[j];
while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
triangles[i].idx[j]=pointCount[idx[j]];
}
if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
}
}
delete[] pointCount;
delete[] remapTable;
}
template<class Real>
void TriangleCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector< Point3D<Real> >* normals){
int i,j,*remapTable,*pointCount,idx[3];
Point3D<Real> p[3],q[2],c;
double d[3],a;
double Ratio=12.0/sqrt(3.0); // (Sum of Squares Length / Area) for and equilateral triangle
remapTable=new int[positions.size()];
pointCount=new int[positions.size()];
for(i=0;i<int(positions.size());i++){
remapTable[i]=i;
pointCount[i]=1;
}
for(i=int(triangles.size()-1);i>=0;i--){
for(j=0;j<3;j++){
idx[j]=triangles[i].idx[j];
while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
}
if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
continue;
}
for(j=0;j<3;j++){
p[j].coords[0]=positions[idx[j]].coords[0]/pointCount[idx[j]];
p[j].coords[1]=positions[idx[j]].coords[1]/pointCount[idx[j]];
p[j].coords[2]=positions[idx[j]].coords[2]/pointCount[idx[j]];
}
for(j=0;j<3;j++){
q[0].coords[j]=p[1].coords[j]-p[0].coords[j];
q[1].coords[j]=p[2].coords[j]-p[0].coords[j];
d[j]=SquareDistance(p[j],p[(j+1)%3]);
}
CrossProduct(q[0],q[1],c);
a=Length(c)/2;
if((d[0]+d[1]+d[2])*edgeRatio > a*Ratio){
// Find the smallest edge
j=0;
if(d[1]<d[j]){j=1;}
if(d[2]<d[j]){j=2;}
int idx1,idx2,idx3;
if(idx[0]<idx[1]){
if(idx[0]<idx[2]){
idx1=idx[0];
idx2=idx[2];
idx3=idx[1];
}
else{
idx1=idx[2];
idx2=idx[0];
idx3=idx[1];
}
}
else{
if(idx[1]<idx[2]){
idx1=idx[1];
idx2=idx[2];
idx3=idx[0];
}
else{
idx1=idx[2];
idx2=idx[1];
idx3=idx[0];
}
}
positions[idx1].coords[0]+=positions[idx2].coords[0]+positions[idx3].coords[0];
positions[idx1].coords[1]+=positions[idx2].coords[1]+positions[idx3].coords[1];
positions[idx1].coords[2]+=positions[idx2].coords[2]+positions[idx3].coords[2];
if(normals){
(*normals)[idx1].coords[0]+=(*normals)[idx2].coords[0]+(*normals)[idx3].coords[0];
(*normals)[idx1].coords[1]+=(*normals)[idx2].coords[1]+(*normals)[idx3].coords[1];
(*normals)[idx1].coords[2]+=(*normals)[idx2].coords[2]+(*normals)[idx3].coords[2];
}
pointCount[idx1]+=pointCount[idx2]+pointCount[idx3];
remapTable[idx2]=idx1;
remapTable[idx3]=idx1;
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
}
}
int pCount=0;
for(i=0;i<int(positions.size());i++){
for(j=0;j<3;j++){positions[i].coords[j]/=pointCount[i];}
if(normals){
Real l=Real(Length((*normals)[i]));
for(j=0;j<3;j++){(*normals)[i].coords[j]/=l;}
}
if(remapTable[i]==i){ // If vertex i is being used
positions[pCount]=positions[i];
if(normals){(*normals)[pCount]=(*normals)[i];}
pointCount[i]=pCount;
pCount++;
}
}
positions.resize(pCount);
for(i=int(triangles.size()-1);i>=0;i--){
for(j=0;j<3;j++){
idx[j]=triangles[i].idx[j];
while(remapTable[idx[j]]<idx[j]){idx[j]=remapTable[idx[j]];}
triangles[i].idx[j]=pointCount[idx[j]];
}
if(idx[0]==idx[1] || idx[0]==idx[2] || idx[1]==idx[2]){
triangles[i]=triangles[triangles.size()-1];
triangles.pop_back();
}
}
delete[] pointCount;
delete[] remapTable;
}
///////////////////
// Triangulation //
///////////////////
template<class Real>
long long Triangulation<Real>::EdgeIndex( int p1 , int p2 )
{
if(p1>p2) {return ((long long)(p1)<<32) | ((long long)(p2));}
else {return ((long long)(p2)<<32) | ((long long)(p1));}
}
template<class Real>
int Triangulation<Real>::factor(int tIndex,int& p1,int& p2,int & p3){
if(triangles[tIndex].eIndex[0]<0 || triangles[tIndex].eIndex[1]<0 || triangles[tIndex].eIndex[2]<0){return 0;}
if(edges[triangles[tIndex].eIndex[0]].tIndex[0]==tIndex){p1=edges[triangles[tIndex].eIndex[0]].pIndex[0];}
else {p1=edges[triangles[tIndex].eIndex[0]].pIndex[1];}
if(edges[triangles[tIndex].eIndex[1]].tIndex[0]==tIndex){p2=edges[triangles[tIndex].eIndex[1]].pIndex[0];}
else {p2=edges[triangles[tIndex].eIndex[1]].pIndex[1];}
if(edges[triangles[tIndex].eIndex[2]].tIndex[0]==tIndex){p3=edges[triangles[tIndex].eIndex[2]].pIndex[0];}
else {p3=edges[triangles[tIndex].eIndex[2]].pIndex[1];}
return 1;
}
template<class Real>
double Triangulation<Real>::area(int p1,int p2,int p3){
Point3D<Real> q1,q2,q;
for(int i=0;i<3;i++){
q1.coords[i]=points[p2].coords[i]-points[p1].coords[i];
q2.coords[i]=points[p3].coords[i]-points[p1].coords[i];
}
CrossProduct(q1,q2,q);
return Length(q);
}
template<class Real>
double Triangulation<Real>::area(int tIndex){
int p1,p2,p3;
factor(tIndex,p1,p2,p3);
return area(p1,p2,p3);
}
template<class Real>
double Triangulation<Real>::area(void){
double a=0;
for(int i=0;i<int(triangles.size());i++){a+=area(i);}
return a;
}
template<class Real>
int Triangulation<Real>::addTriangle(int p1,int p2,int p3){
int tIdx,eIdx,p[3];
p[0]=p1;
p[1]=p2;
p[2]=p3;
triangles.push_back(TriangulationTriangle());
tIdx=int(triangles.size())-1;
for(int i=0;i<3;i++)
{
long long e = EdgeIndex(p[i],p[(i+1)%3]);
if(edgeMap.count(e) == 0)
{
TriangulationEdge edge;
edge.pIndex[0]=p[i];
edge.pIndex[1]=p[(i+1)%3];
edges.push_back(edge);
eIdx=int(edges.size())-1;
edgeMap[e]=eIdx;
edges[eIdx].tIndex[0]=tIdx;
}
else{
eIdx=edgeMap[e];
if(edges[eIdx].pIndex[0]==p[i]){
if(edges[eIdx].tIndex[0]<0){edges[eIdx].tIndex[0]=tIdx;}
else{PCL_DEBUG("Edge Triangle in use 1\n");return 0;}
}
else{
if(edges[eIdx].tIndex[1]<0){edges[eIdx].tIndex[1]=tIdx;}
else{PCL_DEBUG("Edge Triangle in use 2\n");return 0;}
}
}
triangles[tIdx].eIndex[i]=eIdx;
}
return tIdx;
}
template<class Real>
int Triangulation<Real>::flipMinimize(int eIndex){
double oldArea,newArea;
int oldP[3],oldQ[3],newP[3],newQ[3];
TriangulationEdge newEdge;
if(edges[eIndex].tIndex[0]<0 || edges[eIndex].tIndex[1]<0){return 0;}
if(!factor(edges[eIndex].tIndex[0],oldP[0],oldP[1],oldP[2])){return 0;}
if(!factor(edges[eIndex].tIndex[1],oldQ[0],oldQ[1],oldQ[2])){return 0;}
oldArea=area(oldP[0],oldP[1],oldP[2])+area(oldQ[0],oldQ[1],oldQ[2]);
int idxP,idxQ;
for(idxP=0;idxP<3;idxP++){
int i;
for(i=0;i<3;i++){if(oldP[idxP]==oldQ[i]){break;}}
if(i==3){break;}
}
for(idxQ=0;idxQ<3;idxQ++){
int i;
for(i=0;i<3;i++){if(oldP[i]==oldQ[idxQ]){break;}}
if(i==3){break;}
}
if(idxP==3 || idxQ==3){return 0;}
newP[0]=oldP[idxP];
newP[1]=oldP[(idxP+1)%3];
newP[2]=oldQ[idxQ];
newQ[0]=oldQ[idxQ];
newQ[1]=oldP[(idxP+2)%3];
newQ[2]=oldP[idxP];
newArea=area(newP[0],newP[1],newP[2])+area(newQ[0],newQ[1],newQ[2]);
if(oldArea<=newArea){return 0;}
// Remove the entry in the hash_table for the old edge
edgeMap.erase(EdgeIndex(edges[eIndex].pIndex[0],edges[eIndex].pIndex[1]));
// Set the new edge so that the zero-side is newQ
edges[eIndex].pIndex[0]=newP[0];
edges[eIndex].pIndex[1]=newQ[0];
// Insert the entry into the hash_table for the new edge
edgeMap[EdgeIndex(newP[0],newQ[0])]=eIndex;
// Update the triangle information
for(int i=0;i<3;i++){
int idx;
idx=edgeMap[EdgeIndex(newQ[i],newQ[(i+1)%3])];
triangles[edges[eIndex].tIndex[0]].eIndex[i]=idx;
if(idx!=eIndex){
if(edges[idx].tIndex[0]==edges[eIndex].tIndex[1]){edges[idx].tIndex[0]=edges[eIndex].tIndex[0];}
if(edges[idx].tIndex[1]==edges[eIndex].tIndex[1]){edges[idx].tIndex[1]=edges[eIndex].tIndex[0];}
}
idx=edgeMap[EdgeIndex(newP[i],newP[(i+1)%3])];
triangles[edges[eIndex].tIndex[1]].eIndex[i]=idx;
if(idx!=eIndex){
if(edges[idx].tIndex[0]==edges[eIndex].tIndex[0]){edges[idx].tIndex[0]=edges[eIndex].tIndex[1];}
if(edges[idx].tIndex[1]==edges[eIndex].tIndex[0]){edges[idx].tIndex[1]=edges[eIndex].tIndex[1];}
}
}
return 1;
}
}
}
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::poisson::EdgeCollapse
void EdgeCollapse(const Real &edgeRatio, std::vector< TriangleIndex > &triangles, std::vector< Point3D< Real > > &positions, std::vector< Point3D< Real > > *normals)
Definition: geometry.hpp:82
pcl::poisson::Triangulation::area
double area(void)
Definition: geometry.hpp:326
pcl::poisson::TriangleCollapse
void TriangleCollapse(const Real &edgeRatio, std::vector< TriangleIndex > &triangles, std::vector< Point3D< Real > > &positions, std::vector< Point3D< Real > > *normals)
Definition: geometry.hpp:177
pcl::poisson::Random
Real Random(void)
Definition: geometry.hpp:38
pcl::poisson::Point3D
Definition: geometry.h:50
pcl::poisson::RandomSpherePoint
Point3D< Real > RandomSpherePoint(void)
Definition: geometry.hpp:52
pcl::poisson::SquareLength
double SquareLength(const Point3D< Real > &p)
Definition: geometry.hpp:62
pcl::poisson::EdgeIndex
Definition: geometry.h:138
pcl::poisson::Length
double Length(const Point3D< Real > &p)
Definition: geometry.hpp:65
pcl::poisson::RandomBallPoint
Point3D< Real > RandomBallPoint(void)
Definition: geometry.hpp:41
pcl::poisson::Triangulation::flipMinimize
int flipMinimize(int eIndex)
Definition: geometry.hpp:370
pcl::poisson::Triangulation::factor
int factor(int tIndex, int &p1, int &p2, int &p3)
Definition: geometry.hpp:299
pcl::poisson::TriangulationEdge::pIndex
int pIndex[2]
Definition: geometry.h:155
pcl::poisson::Triangulation::addTriangle
int addTriangle(int p1, int p2, int p3)
Definition: geometry.hpp:332
pcl::poisson::Triangulation::EdgeIndex
static long long EdgeIndex(int p1, int p2)
Definition: geometry.hpp:292
pcl::poisson::Point3D::coords
Real coords[3]
Definition: geometry.h:52
pcl::poisson::SquareDistance
double SquareDistance(const Point3D< Real > &p1, const Point3D< Real > &p2)
Definition: geometry.hpp:68
pcl::poisson::Distance
double Distance(const Point3D< Real > &p1, const Point3D< Real > &p2)
Definition: geometry.hpp:73
pcl::poisson::Real
float Real
Definition: multi_grid_octree_data.h:85
pcl::poisson::TriangulationTriangle
Definition: geometry.h:159
pcl::poisson::CrossProduct
void CrossProduct(const Point3D< Real > &p1, const Point3D< Real > &p2, Point3D< Real > &p)
Definition: geometry.hpp:76
pcl::poisson::TriangulationEdge
Definition: geometry.h:151