mat.hpp
/*
Copyright (c) 2007, Michael Kazhdan
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*/
//////////////////////////////
// MinimalAreaTriangulation //
//////////////////////////////
namespace pcl
{
namespace poisson
{
template <class Real>
MinimalAreaTriangulation<Real>::MinimalAreaTriangulation(void)
{
bestTriangulation=NULL;
midPoint=NULL;
}
template <class Real>
MinimalAreaTriangulation<Real>::~MinimalAreaTriangulation(void)
{
delete[] bestTriangulation;
bestTriangulation=NULL;
delete[] midPoint;
midPoint=NULL;
}
template <class Real>
void MinimalAreaTriangulation<Real>::GetTriangulation(const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles)
{
if(vertices.size()==3)
{
triangles.resize(1);
triangles[0].idx[0]=0;
triangles[0].idx[1]=1;
triangles[0].idx[2]=2;
return;
}
else if(vertices.size()==4)
{
TriangleIndex tIndex[2][2];
Real area[2];
area[0]=area[1]=0;
triangles.resize(2);
tIndex[0][0].idx[0]=0;
tIndex[0][0].idx[1]=1;
tIndex[0][0].idx[2]=2;
tIndex[0][1].idx[0]=2;
tIndex[0][1].idx[1]=3;
tIndex[0][1].idx[2]=0;
tIndex[1][0].idx[0]=0;
tIndex[1][0].idx[1]=1;
tIndex[1][0].idx[2]=3;
tIndex[1][1].idx[0]=3;
tIndex[1][1].idx[1]=1;
tIndex[1][1].idx[2]=2;
Point3D<Real> n,p1,p2;
for(int i=0;i<2;i++)
for(int j=0;j<2;j++)
{
p1=vertices[tIndex[i][j].idx[1]]-vertices[tIndex[i][j].idx[0]];
p2=vertices[tIndex[i][j].idx[2]]-vertices[tIndex[i][j].idx[0]];
CrossProduct(p1,p2,n);
area[i] += Real( Length(n) );
}
if(area[0]>area[1])
{
triangles[0]=tIndex[1][0];
triangles[1]=tIndex[1][1];
}
else
{
triangles[0]=tIndex[0][0];
triangles[1]=tIndex[0][1];
}
return;
}
delete[] bestTriangulation;
delete[] midPoint;
bestTriangulation=NULL;
midPoint=NULL;
std::size_t eCount=vertices.size();
bestTriangulation=new Real[eCount*eCount];
midPoint=new int[eCount*eCount];
for(std::size_t i=0;i<eCount*eCount;i++)
bestTriangulation[i]=-1;
memset(midPoint,-1,sizeof(int)*eCount*eCount);
GetArea(0,1,vertices);
triangles.clear();
GetTriangulation(0,1,vertices,triangles);
}
template <class Real>
Real MinimalAreaTriangulation<Real>::GetArea(const std::vector<Point3D<Real> >& vertices)
{
delete[] bestTriangulation;
delete[] midPoint;
bestTriangulation=NULL;
midPoint=NULL;
int eCount=vertices.size();
bestTriangulation=new double[eCount*eCount];
midPoint=new int[eCount*eCount];
for(int i=0;i<eCount*eCount;i++)
bestTriangulation[i]=-1;
memset(midPoint,-1,sizeof(int)*eCount*eCount);
return GetArea(0,1,vertices);
}
template<class Real>
void MinimalAreaTriangulation<Real>::GetTriangulation(const std::size_t& i,const std::size_t& j,const std::vector<Point3D<Real> >& vertices,std::vector<TriangleIndex>& triangles)
{
TriangleIndex tIndex;
std::size_t eCount=vertices.size();
std::size_t ii=i;
if(i<j)
ii+=eCount;
if(j+1>=ii)
return;
ii=midPoint[i*eCount+j];
if(ii>=0)
{
tIndex.idx[0] = int( i );
tIndex.idx[1] = int( j );
tIndex.idx[2] = int( ii );
triangles.push_back(tIndex);
GetTriangulation(i,ii,vertices,triangles);
GetTriangulation(ii,j,vertices,triangles);
}
}
template<class Real>
Real MinimalAreaTriangulation<Real>::GetArea(const std::size_t& i,const std::size_t& j,const std::vector<Point3D<Real> >& vertices)
{
Real a=FLT_MAX,temp;
std::size_t eCount=vertices.size();
std::size_t idx=i*eCount+j;
std::size_t ii=i;
if(i<j)
ii+=eCount;
if(j+1>=ii)
{
bestTriangulation[idx]=0;
return 0;
}
if(midPoint[idx]!=-1)
return bestTriangulation[idx];
int mid=-1;
for(std::size_t r=j+1;r<ii;r++)
{
std::size_t rr=r%eCount;
std::size_t idx1=i*eCount+rr,idx2=rr*eCount+j;
Point3D<Real> p,p1,p2;
p1=vertices[i]-vertices[rr];
p2=vertices[j]-vertices[rr];
CrossProduct(p1,p2,p);
temp = Real( Length(p) );
if(bestTriangulation[idx1]>=0)
{
temp+=bestTriangulation[idx1];
if(temp>a)
continue;
if(bestTriangulation[idx2]>0)
temp+=bestTriangulation[idx2];
else
temp+=GetArea(rr,j,vertices);
}
else
{
if(bestTriangulation[idx2]>=0)
temp+=bestTriangulation[idx2];
else
temp+=GetArea(rr,j,vertices);
if(temp>a)
continue;
temp+=GetArea(i,rr,vertices);
}
if(temp<a)
{
a=temp;
mid=int(rr);
}
}
bestTriangulation[idx]=a;
midPoint[idx]=mid;
return a;
}
}
}
pcl::poisson::MinimalAreaTriangulation
Definition: mat.h:40
pcl::poisson::MinimalAreaTriangulation::MinimalAreaTriangulation
MinimalAreaTriangulation(void)
Definition: mat.hpp:38
pcl::poisson::MinimalAreaTriangulation::~MinimalAreaTriangulation
~MinimalAreaTriangulation(void)
Definition: mat.hpp:44
pcl::poisson::TriangleIndex
Definition: geometry.h:146
pcl::poisson::TriangleIndex::idx
int idx[3]
Definition: geometry.h:148
pcl::poisson::CrossProduct
void CrossProduct(const Point3D< Real > &p1, const Point3D< Real > &p2, Point3D< Real > &p)
Definition: geometry.hpp:74
pcl::poisson::Real
float Real
Definition: multi_grid_octree_data.h:85
pcl::poisson::Length
double Length(const Point3D< Real > &p)
Definition: geometry.hpp:63
pcl
Definition: convolution.h:46
pcl::poisson::Point3D
Definition: geometry.h:51