geometry.h
/*
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
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*/
#ifndef GEOMETRY_INCLUDED
#define GEOMETRY_INCLUDED
#if defined __GNUC__
# pragma GCC system_header
#endif
#include <pcl/pcl_macros.h>
#include <math.h>
#include <vector>
#include "hash.h"
namespace pcl
{
namespace poisson
{
template<class Real>
Real Random(void);
template< class Real >
struct Point3D
{
Real coords[3];
Point3D( void ) { coords[0] = coords[1] = coords[2] = Real(0); }
inline Real& operator[] ( int i ) { return coords[i]; }
inline const Real& operator[] ( int i ) const { return coords[i]; }
inline Point3D& operator += ( Point3D p ){ coords[0] += p.coords[0] , coords[1] += p.coords[1] , coords[2] += p.coords[2] ; return *this; }
inline Point3D& operator -= ( Point3D p ){ coords[0] -= p.coords[0] , coords[1] -= p.coords[1] , coords[2] -= p.coords[2] ; return *this; }
inline Point3D& operator *= ( Real r ){ coords[0] *= r , coords[1] *= r , coords[2] *= r ; return *this; }
inline Point3D& operator /= ( Real r ){ coords[0] /= r , coords[1] /= r , coords[2] /= r ; return *this; }
inline Point3D operator + ( Point3D p ) const { Point3D q ; q.coords[0] = coords[0] + p.coords[0] , q.coords[1] = coords[1] + p.coords[1] , q.coords[2] = coords[2] + p.coords[2] ; return q; }
inline Point3D operator - ( Point3D p ) const { Point3D q ; q.coords[0] = coords[0] - p.coords[0] , q.coords[1] = coords[1] - p.coords[1] , q.coords[2] = coords[2] - p.coords[2] ; return q; }
inline Point3D operator * ( Real r ) const { Point3D q ; q.coords[0] = coords[0] * r , q.coords[1] = coords[1] * r , q.coords[2] = coords[2] * r ; return q; }
inline Point3D operator / ( Real r ) const { return (*this) * ( Real(1.)/r ); }
};
template<class Real>
Point3D<Real> RandomBallPoint(void);
template<class Real>
Point3D<Real> RandomSpherePoint(void);
template<class Real>
double Length(const Point3D<Real>& p);
template<class Real>
double SquareLength(const Point3D<Real>& p);
template<class Real>
double Distance(const Point3D<Real>& p1,const Point3D<Real>& p2);
template<class Real>
double SquareDistance(const Point3D<Real>& p1,const Point3D<Real>& p2);
template <class Real>
void CrossProduct(const Point3D<Real>& p1,const Point3D<Real>& p2,Point3D<Real>& p);
class Edge
{
public:
double p[2][2];
double Length(void) const
{
double d[2];
d[0]=p[0][0]-p[1][0];
d[1]=p[0][1]-p[1][1];
return sqrt(d[0]*d[0]+d[1]*d[1]);
}
};
class Triangle
{
public:
double p[3][3];
double Area(void) const
{
double v1[3] , v2[3] , v[3];
for( int d=0 ; d<3 ; d++ )
{
v1[d] = p[1][d] - p[0][d];
v2[d] = p[2][d] - p[0][d];
}
v[0] = v1[1]*v2[2] - v1[2]*v2[1];
v[1] = -v1[0]*v2[2] + v1[2]*v2[0];
v[2] = v1[0]*v2[1] - v1[1]*v2[0];
return sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] ) / 2;
}
double AspectRatio(void) const
{
double d=0;
int i,j;
for(i=0;i<3;i++){
for(i=0;i<3;i++)
for(j=0;j<3;j++){d+=(p[(i+1)%3][j]-p[i][j])*(p[(i+1)%3][j]-p[i][j]);}
}
return Area()/d;
}
};
class PCL_EXPORTS CoredPointIndex
{
public:
int index;
char inCore;
int operator == (const CoredPointIndex& cpi) const {return (index==cpi.index) && (inCore==cpi.inCore);};
int operator != (const CoredPointIndex& cpi) const {return (index!=cpi.index) || (inCore!=cpi.inCore);};
};
class EdgeIndex{
public:
int idx[2];
};
class CoredEdgeIndex{
public:
CoredPointIndex idx[2];
};
class TriangleIndex{
public:
int idx[3];
};
class TriangulationEdge
{
public:
TriangulationEdge(void);
int pIndex[2];
int tIndex[2];
};
class TriangulationTriangle
{
public:
TriangulationTriangle(void);
int eIndex[3];
};
template<class Real>
class Triangulation
{
public:
std::vector<Point3D<Real> > points;
std::vector<TriangulationEdge> edges;
std::vector<TriangulationTriangle> triangles;
int factor( int tIndex,int& p1,int& p2,int& p3);
double area(void);
double area( int tIndex );
double area( int p1 , int p2 , int p3 );
int flipMinimize( int eIndex);
int addTriangle( int p1 , int p2 , int p3 );
protected:
hash_map<long long,int> edgeMap;
static long long EdgeIndex( int p1 , int p2 );
double area(const Triangle& t);
};
template<class Real>
void EdgeCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector< Point3D<Real> >& positions,std::vector<Point3D<Real> >* normals);
template<class Real>
void TriangleCollapse(const Real& edgeRatio,std::vector<TriangleIndex>& triangles,std::vector<Point3D<Real> >& positions,std::vector<Point3D<Real> >* normals);
struct CoredVertexIndex
{
int idx;
bool inCore;
};
class PCL_EXPORTS CoredMeshData
{
public:
std::vector<Point3D<float> > inCorePoints;
virtual void resetIterator( void ) = 0;
virtual int addOutOfCorePoint( const Point3D<float>& p ) = 0;
virtual int addPolygon( const std::vector< CoredVertexIndex >& vertices ) = 0;
virtual int nextOutOfCorePoint( Point3D<float>& p )=0;
virtual int nextPolygon( std::vector< CoredVertexIndex >& vertices ) = 0;
virtual int outOfCorePointCount(void)=0;
virtual int polygonCount( void ) = 0;
};
// Stores the iso-span of each vertex, rather than it's position
class PCL_EXPORTS CoredMeshData2
{
public:
struct Vertex
{
Point3D< float > start , end;
float value;
Vertex( void ) { ; }
Vertex( Point3D< float > s , Point3D< float > e , float v ) { start = s , end = e , value = v; }
Vertex( Point3D< float > s , Point3D< float > e , Point3D< float > p )
{
start = s , end = e;
// < p , e-s > = < s + v*(e-s) , e-s >
// < p , e-s > - < s , e-s > = v || e-s || ^2
// v = < p-s , e-s > / || e-s ||^2
Point3D< float > p1 = p-s , p2 = e-s;
value = ( p1[0] * p2[0] + p1[1] * p2[1] + p1[2] * p2[2] ) / ( p2[0] * p2[0] + p2[1] * p2[1] + p2[2] * p2[2] );
}
};
std::vector< Vertex > inCorePoints;
virtual void resetIterator( void ) = 0;
virtual int addOutOfCorePoint( const Vertex& v ) = 0;
virtual int addPolygon( const std::vector< CoredVertexIndex >& vertices ) = 0;
virtual int nextOutOfCorePoint( Vertex& v ) = 0;
virtual int nextPolygon( std::vector< CoredVertexIndex >& vertices ) = 0;
virtual int outOfCorePointCount( void )=0;
virtual int polygonCount( void ) = 0;
};
class PCL_EXPORTS CoredVectorMeshData : public CoredMeshData
{
std::vector<Point3D<float> > oocPoints;
std::vector< std::vector< int > > polygons;
int polygonIndex;
int oocPointIndex;
public:
CoredVectorMeshData(void);
void resetIterator(void);
int addOutOfCorePoint( const Point3D<float>& p );
int addPolygon( const std::vector< CoredVertexIndex >& vertices );
int nextOutOfCorePoint( Point3D<float>& p );
int nextPolygon( std::vector< CoredVertexIndex >& vertices );
int outOfCorePointCount(void);
int polygonCount( void );
};
class PCL_EXPORTS CoredVectorMeshData2 : public CoredMeshData2
{
std::vector< CoredMeshData2::Vertex > oocPoints;
std::vector< std::vector< int > > polygons;
int polygonIndex;
int oocPointIndex;
public:
CoredVectorMeshData2( void );
void resetIterator(void);
int addOutOfCorePoint( const CoredMeshData2::Vertex& v );
int addPolygon( const std::vector< CoredVertexIndex >& vertices );
int nextOutOfCorePoint( CoredMeshData2::Vertex& v );
int nextPolygon( std::vector< CoredVertexIndex >& vertices );
int outOfCorePointCount( void );
int polygonCount( void );
};
class CoredFileMeshData : public CoredMeshData
{
FILE *oocPointFile , *polygonFile;
int oocPoints , polygons;
public:
CoredFileMeshData(void);
~CoredFileMeshData(void);
void resetIterator(void);
int addOutOfCorePoint(const Point3D<float>& p);
int addPolygon( const std::vector< CoredVertexIndex >& vertices );
int nextOutOfCorePoint(Point3D<float>& p);
int nextPolygon( std::vector< CoredVertexIndex >& vertices );
int outOfCorePointCount(void);
int polygonCount( void );
};
class CoredFileMeshData2 : public CoredMeshData2
{
FILE *oocPointFile , *polygonFile;
int oocPoints , polygons;
public:
CoredFileMeshData2( void );
~CoredFileMeshData2( void );
void resetIterator( void );
int addOutOfCorePoint( const CoredMeshData2::Vertex& v );
int addPolygon( const std::vector< CoredVertexIndex >& vertices );
int nextOutOfCorePoint( CoredMeshData2::Vertex& v );
int nextPolygon( std::vector< CoredVertexIndex >& vertices );
int outOfCorePointCount( void );
int polygonCount( void );
};
}
}
#include "geometry.hpp"
#endif // GEOMETRY_INCLUDED
pcl::poisson::Point3D::Point3D
Point3D(void)
Definition: geometry.h:53
pcl::poisson::TriangulationEdge
Definition: geometry.h:151
pcl::poisson::CoredVertexIndex::idx
int idx
Definition: geometry.h:196
pcl::poisson::SquareLength
double SquareLength(const Point3D< Real > &p)
Definition: geometry.hpp:62
pcl::poisson::CoredEdgeIndex
Definition: geometry.h:142
pcl::poisson::EdgeIndex
Definition: geometry.h:138
pcl::poisson::Real
float Real
Definition: multi_grid_octree_data.h:85
pcl::poisson::CoredFileMeshData2
Definition: geometry.h:306
pcl::poisson::CoredVectorMeshData
Definition: geometry.h:247
pcl::poisson::CoredMeshData2::Vertex::Vertex
Vertex(Point3D< float > s, Point3D< float > e, float v)
Definition: geometry.h:223
pcl::poisson::Point3D::operator-=
Point3D & operator-=(Point3D p)
Definition: geometry.h:57
pcl::poisson::Length
double Length(const Point3D< Real > &p)
Definition: geometry.hpp:65
pcl::poisson::Triangulation
Definition: geometry.h:167
pcl
Definition: cloud_iterator.h:46
pcl::poisson::CrossProduct
void CrossProduct(const Point3D< Real > &p1, const Point3D< Real > &p2, Point3D< Real > &p)
Definition: geometry.hpp:76
pcl::poisson::CoredVectorMeshData2
Definition: geometry.h:267
pcl::poisson::Triangulation::triangles
std::vector< TriangulationTriangle > triangles
Definition: geometry.h:173
pcl::poisson::Edge
Definition: geometry.h:87
pcl::poisson::Triangle::Area
double Area(void) const
Definition: geometry.h:104
pcl::poisson::TriangleIndex
Definition: geometry.h:146
pcl::poisson::RandomBallPoint
Point3D< Real > RandomBallPoint(void)
Definition: geometry.hpp:41
pcl::poisson::CoredMeshData2::Vertex::start
Point3D< float > start
Definition: geometry.h:220
pcl::poisson::CoredPointIndex
Definition: geometry.h:129
pcl::poisson::Point3D::operator-
Point3D operator-(Point3D p) const
Definition: geometry.h:61
pcl::poisson::CoredMeshData2::Vertex::Vertex
Vertex(void)
Definition: geometry.h:222
pcl::poisson::Point3D
Definition: geometry.h:50
pcl::poisson::CoredVertexIndex
Definition: geometry.h:194
pcl::poisson::Point3D::operator*=
Point3D & operator*=(Real r)
Definition: geometry.h:58
pcl::poisson::CoredMeshData2::Vertex::Vertex
Vertex(Point3D< float > s, Point3D< float > e, Point3D< float > p)
Definition: geometry.h:224
pcl::poisson::CoredMeshData2::Vertex::value
float value
Definition: geometry.h:221
pcl::poisson::Point3D::coords
Real coords[3]
Definition: geometry.h:52
pcl::poisson::CoredFileMeshData
Definition: geometry.h:287
pcl::poisson::CoredMeshData
Definition: geometry.h:199
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::Point3D::operator+=
Point3D & operator+=(Point3D p)
Definition: geometry.h:56
pcl::poisson::Point3D::operator/=
Point3D & operator/=(Real r)
Definition: geometry.h:59
pcl::poisson::Distance
double Distance(const Point3D< Real > &p1, const Point3D< Real > &p2)
Definition: geometry.hpp:73
pcl::poisson::TriangulationTriangle
Definition: geometry.h:159
pcl::poisson::Triangulation::points
std::vector< Point3D< Real > > points
Definition: geometry.h:171
pcl::poisson::Point3D::operator/
Point3D operator/(Real r) const
Definition: geometry.h:63
pcl::poisson::Triangulation::edges
std::vector< TriangulationEdge > edges
Definition: geometry.h:172
pcl::poisson::CoredPointIndex::index
int index
Definition: geometry.h:132
pcl::poisson::Triangle::AspectRatio
double AspectRatio(void) const
Definition: geometry.h:117
pcl::poisson::Triangle
Definition: geometry.h:100
pcl::poisson::Random
Real Random(void)
Definition: geometry.hpp:38
pcl::poisson::Triangulation::edgeMap
hash_map< long long, int > edgeMap
Definition: geometry.h:183
pcl::poisson::CoredMeshData2::Vertex
Definition: geometry.h:218
pcl::poisson::Edge::Length
double Length(void) const
Definition: geometry.h:91
pcl::poisson::Point3D::operator*
Point3D operator*(Real r) const
Definition: geometry.h:62
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::RandomSpherePoint
Point3D< Real > RandomSpherePoint(void)
Definition: geometry.hpp:52
pcl::poisson::CoredPointIndex::inCore
char inCore
Definition: geometry.h:133
pcl::poisson::CoredMeshData2::inCorePoints
std::vector< Vertex > inCorePoints
Definition: geometry.h:234
pcl::poisson::Point3D::operator[]
Real & operator[](int i)
Definition: geometry.h:54
pcl::poisson::CoredMeshData::inCorePoints
std::vector< Point3D< float > > inCorePoints
Definition: geometry.h:202
pcl::poisson::CoredVertexIndex::inCore
bool inCore
Definition: geometry.h:197
pcl::poisson::Point3D::operator+
Point3D operator+(Point3D p) const
Definition: geometry.h:60
pcl::poisson::SquareDistance
double SquareDistance(const Point3D< Real > &p1, const Point3D< Real > &p2)
Definition: geometry.hpp:68
pcl::poisson::CoredMeshData2
Definition: geometry.h:215