void MeshGeometry::createCubeFaces(FaceGeometry& topFace, FaceGeometry& frontFace, FaceGeometry& leftFace,
FaceGeometry& backFace, FaceGeometry& rightFace, FaceGeometry& bottomFace,
tgt::vec3 coordLlf, tgt::vec3 coordUrb, tgt::vec3 texLlf,
tgt::vec3 texUrb, tgt::vec3 colorLlf, tgt::vec3 colorUrb, float alpha)
{
// expecting coordLlf < coordUrb
if (coordLlf.x > coordUrb.x) {
std::swap(coordLlf.x, coordUrb.x);
std::swap(texLlf.x, texUrb.x);
std::swap(colorLlf.x, colorUrb.x);
}
if (coordLlf.y > coordUrb.y) {
std::swap(coordLlf.y, coordUrb.y);
std::swap(texLlf.y, texUrb.y);
std::swap(colorLlf.y, colorUrb.y);
}
if (coordLlf.z > coordUrb.z) {
std::swap(coordLlf.z, coordUrb.z);
std::swap(texLlf.z, texUrb.z);
std::swap(colorLlf.z, colorUrb.z);
}
VertexGeometry llf(vec3(coordLlf.x, coordLlf.y, coordLlf.z), vec3(texLlf.x, texLlf.y, texLlf.z), vec4(colorLlf.x, colorLlf.y, colorLlf.z, alpha));
VertexGeometry lrf(vec3(coordUrb.x, coordLlf.y, coordLlf.z), vec3(texUrb.x, texLlf.y, texLlf.z), vec4(colorUrb.x, colorLlf.y, colorLlf.z, alpha));
VertexGeometry lrb(vec3(coordUrb.x, coordLlf.y, coordUrb.z), vec3(texUrb.x, texLlf.y, texUrb.z), vec4(colorUrb.x, colorLlf.y, colorUrb.z, alpha));
VertexGeometry llb(vec3(coordLlf.x, coordLlf.y, coordUrb.z), vec3(texLlf.x, texLlf.y, texUrb.z), vec4(colorLlf.x, colorLlf.y, colorUrb.z, alpha));
VertexGeometry ulb(vec3(coordLlf.x, coordUrb.y, coordUrb.z), vec3(texLlf.x, texUrb.y, texUrb.z), vec4(colorLlf.x, colorUrb.y, colorUrb.z, alpha));
VertexGeometry ulf(vec3(coordLlf.x, coordUrb.y, coordLlf.z), vec3(texLlf.x, texUrb.y, texLlf.z), vec4(colorLlf.x, colorUrb.y, colorLlf.z, alpha));
VertexGeometry urf(vec3(coordUrb.x, coordUrb.y, coordLlf.z), vec3(texUrb.x, texUrb.y, texLlf.z), vec4(colorUrb.x, colorUrb.y, colorLlf.z, alpha));
VertexGeometry urb(vec3(coordUrb.x, coordUrb.y, coordUrb.z), vec3(texUrb.x, texUrb.y, texUrb.z), vec4(colorUrb.x, colorUrb.y, colorUrb.z, alpha));
topFace.addVertex(urb);
topFace.addVertex(urf);
topFace.addVertex(ulf);
topFace.addVertex(ulb);
frontFace.addVertex(llf);
frontFace.addVertex(ulf);
frontFace.addVertex(urf);
frontFace.addVertex(lrf);
leftFace.addVertex(llf);
leftFace.addVertex(llb);
leftFace.addVertex(ulb);
leftFace.addVertex(ulf);
backFace.addVertex(urb);
backFace.addVertex(ulb);
backFace.addVertex(llb);
backFace.addVertex(lrb);
rightFace.addVertex(urb);
rightFace.addVertex(lrb);
rightFace.addVertex(lrf);
rightFace.addVertex(urf);
bottomFace.addVertex(llf);
bottomFace.addVertex(lrf);
bottomFace.addVertex(lrb);
bottomFace.addVertex(llb);
}
LinePrimitive::LinePrimitive(const LidarOctree* octree,const Vector& translation,Cluster::MulticastPipe* pipe)
{
/* Create a LiDAR line extractor: */
LidarLineExtractor lle;
/* Process all selected points: */
octree->processSelectedPoints(lle);
if(lle.getNumPoints()>=2)
{
/* Extract the line's coordinate frame: */
LidarLineExtractor::Point centroid;
LidarLineExtractor::Vector laxis;
lle.calcLine(centroid,laxis);
/* Calculate the bounding interval of the selected points in line coordinates: */
LidarLineFitter llf(centroid,laxis);
octree->processSelectedPoints(llf);
double min=llf.getMin();
double max=llf.getMax();
double size=max-min;
min-=0.1*size;
max+=0.1*size;
/* Store the number of points and the RMS residual: */
numPoints=lle.getNumPoints();
rms=llf.getRMS();
/* Store the line: */
laxis.normalize();
center=Point(centroid+laxis*Math::mid(min,max));
axis=Vector(laxis);
length=Scalar(max-min);
/* Print the line's equation: */
std::cout<<"Line fitting "<<numPoints<<" points"<<std::endl;
Point tCenter=center;
tCenter+=translation;
std::cout<<"Center point: ("<<tCenter[0]<<", "<<tCenter[1]<<", "<<tCenter[2]<<")"<<std::endl;
std::cout<<"Axis direction: ("<<axis[0]<<", "<<axis[1]<<", "<<axis[2]<<")"<<std::endl;
std::cout<<"Length: "<<length<<std::endl;
std::cout<<"RMS approximation residual: "<<rms<<std::endl;
if(pipe!=0)
{
/* Send the extracted primitive over the pipe: */
pipe->write<int>(1);
pipe->write<unsigned int>((unsigned int)(numPoints));
pipe->write<Scalar>(rms);
pipe->write<Scalar>(center.getComponents(),3);
pipe->write<Scalar>(axis.getComponents(),3);
pipe->write<Scalar>(length);
pipe->flush();
}
}
else
{
if(pipe!=0)
{
pipe->write<int>(0);
pipe->flush();
}
Misc::throwStdErr("LinePrimitive::LinePrimitive: Not enough selected points");
}
}
