// Add semantics to Interior room polyhedra
void set_semantic_InteriorLoD4(Polyhedron& polyhe) {
std::transform( polyhe.facets_begin(), polyhe.facets_end(),polyhe.planes_begin(),Plane_Newel_equation());
for (Polyhedron::Facet_iterator fIt = polyhe.facets_begin(); fIt != polyhe.facets_end(); ++fIt) { // Iterate over faces
Kernel::FT z = fIt->plane().orthogonal_vector().z();
if (z <= -HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "FloorSurface";
else if (z >= HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "CeilingSurface";
else fIt->semanticBLA = "InteriorWallSurface";
} }
void set_semantic_AABB_C2V(Polyhedron& exteriorPolyhe,PolVector& polyVec) {
if (exteriorPolyhe.is_pure_triangle()) {
std::transform( exteriorPolyhe.facets_begin(), exteriorPolyhe.facets_end(),exteriorPolyhe.planes_begin(),Plane_equation());
std::vector<std::string> semList;
std::vector<std::shared_ptr<AAbbTree>> treeList;
// Build Trees. One for each semantic
for(PolVector::iterator pvIt = polyVec.begin();pvIt!=polyVec.end();++pvIt) {// Get AABB trees of all semantics
if (pvIt->is_pure_triangle()) {
std::string semP = pvIt->facets_begin()->semanticBLA;
std::vector<std::string>::iterator strIt = std::find(semList.begin(), semList.end(),semP);
if (strIt==semList.end()) { // If new sematic
semList.push_back(semP); // Add sem
std::shared_ptr<AAbbTree> tree = std::make_shared<AAbbTree>(pvIt->facets_begin(),pvIt->facets_end()); // Create tree
tree->accelerate_distance_queries(); // accelerate
treeList.push_back(tree); // Add tree
} else // If not new
treeList[strIt-semList.begin()]->insert(pvIt->facets_begin(),pvIt->facets_end()); // Append to tree
} else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
// For each facet calculate the least distance to each tree
std::string semListStr = boost::algorithm::join((semList), " ");
int percCount = 1;
Polyhedron::Facet_iterator exfIt; // Iterate over exterior faces
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt,++percCount) {
std::cout << "\r"<<semListStr<<". ("<<100*percCount/exteriorPolyhe.size_of_facets()<<"%)";
Vector_3 orthVec = exfIt->plane().orthogonal_vector();
normalizeVector(orthVec); //if (!normalizeVector(ortVec)) continue;
std::vector<distSemFace> dsfList(semList.size());
Point_3 centerPoint = comp_facetCentroid(exfIt); // Compute centroid
std::vector<Kernel::FT> leastSemDistances;
for (int intIt=0;intIt<(int)treeList.size();++intIt) { // Loop over all trees
AAbbTree::Point_and_primitive_id pp = treeList[intIt]->closest_point_and_primitive(centerPoint);
dsfList[intIt].dist = CGAL::squared_distance(centerPoint,pp.first); // Store distance semantic and facet for each tree
dsfList[intIt].sem = semList[intIt];
dsfList[intIt].fh = pp.second;
}
std::sort(dsfList.begin(),dsfList.end(),by_dist());
exfIt->leastSqDistance = dsfList[0].dist; // least sqrt distance
if (exfIt->isMinkFacet = dsfList[0].dist > SEMANTIC_DISTANCE_THRESHOLD) {
exfIt->semanticBLA = TO_DIST_SEMANTIC; // Default semantic if too distant
continue;
} else
exfIt->semanticBLA = dsfList[0].sem; // Semantics of closest
Vector_3 faceNormal;
Kernel::FT faceSqArea;
double minAngle = 10;
Kernel::FT maxArea= 0;
for (std::vector<distSemFace>::iterator slIt = dsfList.begin();slIt != dsfList.end();++slIt)// HANDLE ANYTHING AS LESS IMPORTANT
if (slIt->dist < dsfList[0].dist+OVERLAP_DIST_THRESHOLD) { // Check if Equidistant
pointVector facetPoints = comp_facetPoints(exfIt);
CGAL::normal_vector_newell_3(facetPoints.begin(),facetPoints.end(),faceNormal); // Calculate normal vector, ortVec set to zero in newell
double angle = comp_angle(orthVec,faceNormal);
if (angle!=-1 && angle < minAngle+OVERLAP_ANGLE_THRESHOLD) {
if (minAngle >= angle+OVERLAP_ANGLE_THRESHOLD) exfIt->equidistSems.clear();
if (angle < minAngle) minAngle = angle;
faceSqArea = comp_facetSquaredArea(facetPoints);
if (faceSqArea>maxArea-OVERLAP_AREA_THRESHOLD) {
if (maxArea<=faceSqArea-OVERLAP_AREA_THRESHOLD) exfIt->equidistSems.clear();
if (faceSqArea>maxArea) maxArea = faceSqArea;
exfIt->equidistSems.push_back(slIt->sem); // Add equidist semantics
}
}
}
}
std::cout << "\r"<<semListStr<<". (100%)" << std::endl;
}else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
