void ISSKeypoints::ComputeISSKeypoints(){
std::cout<<"computing keypoints of a model with "<<model->points.size()<<std::endl;
double model_resolution= static_cast<double>(computeCloudResolution(model));
if(!normals_set){
CalcNormals();
}
if(iss_use_multipliers){
iss_salient_radius_ = iss_sal_rad_multiplier_ * model_resolution;
iss_border_radius_ = iss_bord_rad_multiplier_ * model_resolution;
iss_normal_radius_= iss_norm_rad_multiplier_ * model_resolution;
iss_non_max_radius_ = iss_non_max_multiplier_ * model_resolution;
}
else{
iss_sal_rad_multiplier_ = iss_salient_radius_/model_resolution;
iss_bord_rad_multiplier_ = iss_border_radius_/model_resolution;
iss_norm_rad_multiplier_ = iss_normal_radius_/model_resolution;
iss_non_max_multiplier_ = iss_non_max_radius_/model_resolution;
}
iss_detector.setSalientRadius (iss_salient_radius_);
iss_detector.setNonMaxRadius (iss_non_max_radius_);
iss_detector.setNormalRadius (iss_normal_radius_);
iss_detector.setBorderRadius (iss_border_radius_);
iss_detector.setSearchMethod (tree);
iss_detector.setThreshold21 (iss_gamma_21_);
iss_detector.setThreshold32 (iss_gamma_32_);
iss_detector.setMinNeighbors (iss_min_neighbors_);
iss_detector.setNumberOfThreads (iss_threads_);
iss_detector.setInputCloud (model);
iss_detector.compute (*keypoints);
ShowParameters();
}
IndexedModel IndexedModel::Finalize()
{
if(IsValid())
{
return *this;
}
if(m_texCoords.size() == 0)
{
for(unsigned int i = m_texCoords.size(); i < m_positions.size(); i++)
{
m_texCoords.push_back(Vector2f(0.0f, 0.0f));
}
}
if(m_normals.size() == 0)
{
CalcNormals();
}
if(m_tangents.size() == 0)
{
CalcTangents();
}
return *this;
}
void LMesh::Optimize(LOptimizationLevel value)
{
switch (value)
{
case oNone:
TransformVertices();
break;
case oSimple:
//TransformVertices();
CalcNormals(false);
break;
case oFull:
//TransformVertices();
CalcNormals(true);
CalcTextureSpace();
break;
}
}
void CCourse::MakeCourseNormals () {
if (nmls != NULL) delete[] nmls;
try {
nmls = new TVector3[nx * ny];
} catch(...) {
nmls = NULL;
Message ("Allocation failed in MakeCourseNormals" , "");
}
CalcNormals ();
}
void Mesh::Init()
{
CalcNormals();
glGenBuffers(1, &m_VBO);
glBindBuffer(GL_ARRAY_BUFFER, m_VBO);
glBufferData(GL_ARRAY_BUFFER, m_vert_size * sizeof(Vertex), m_vertexes, GL_STATIC_DRAW);
glGenBuffers(1, &m_IBO);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_IBO);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, m_i_size * sizeof(GLuint), m_indexes, GL_STATIC_DRAW);
}
Mesh::Mesh(Vertex* vertices, int nVertices, INDEX* indices, int nIndices, bool calcNormals, bool calcTangents, const VertexFormat& vertexFormat)
{
if(calcNormals)
CalcNormals(vertices, nVertices, indices, nIndices);
if(calcTangents)
CalcTangents(vertices, nVertices, indices, nIndices);
m_nVertices = nVertices;
m_nIndices = nIndices;
m_hVertexBuffer = Engine::GetRenderer()->CreateVertexBuffer(vertices, nVertices * sizeof(Vertex));
m_hIndexBuffer = Engine::GetRenderer()->CreateIndexBuffer(indices, nIndices * sizeof(int));
m_pVertexFormat = &vertexFormat;
}
void RawSceneLoader::load(Scene& r , const std::string fileName)
{
Vector3f positions[] = {
Vector3f(-0.5f, -0.5f, 0.5f), // left front
Vector3f(-0.5f, -0.5f, -0.5f), // left rear
Vector3f( 0.5f, -0.5f, 0.5f), // right front
Vector3f( 0.5f, -0.5f, -0.5f), // right rear
Vector3f( 0.0f, 0.5f, 0.0f), // peak
};
Vector3f colors[] = {
Vector3f(0.0f, 0.0f, 1.0f),
Vector3f(0.0f, 0.0f, 1.0f),
Vector3f(0.0f, 1.0f, 0.0f),
Vector3f(1.0f, 1.0f, 0.0f),
Vector3f(1.0f, 0.0f, 0.0f),
};
unsigned int indices[] = {
1, 3, 0,
0, 3, 2,
1, 0, 4,
3, 1, 4,
2, 3, 4,
0, 2, 4
};
Vector3f normals[sizeof(positions) / sizeof(Vector3f)];
CalcNormals(indices, sizeof(indices) / sizeof(unsigned int), positions,sizeof(positions) / sizeof(Vector3f), normals);
Vector2f tex[] = {
Vector2f(0.0f, 0.0f),
Vector2f(1.0f, 0.0f),
Vector2f(1.0f, 0.0f),
Vector2f(0.0f, 0.0f),
Vector2f(0.5f, 1.0f),
};
Vector3f lightColor = Vector3f(1.0f, 1.0f, 1.0f);
float ambientLightIntensity = 0.1f;
float diffuseLightIntensity = 0.3f;
float specularIntensity = 1.0f;
float specularPower = 32.0f;
Vector3f direction = Vector3f(0.0,0.0f,1.0f);
r.meshes.push_back(Mesh(5, positions, colors, tex, normals, 6, indices));
r.lights.push_back(Light(lightColor,ambientLightIntensity,diffuseLightIntensity,direction));
r.textures.push_back(Texture()); // load texture from file
r.materials.push_back(Material(specularIntensity, specularPower));
}
void CreateVertexBuffer(const unsigned int* pIndices, unsigned int IndexCount)
{
Vertex Vertices[4] = { Vertex(Vector3f(-10.0f, -2.0f, -10.0f), Vector2f(0.0f, 0.0f)),
Vertex(Vector3f(10.0f, -2.0f, -10.0f), Vector2f(1.0f, 0.0f)),
Vertex(Vector3f(10.0f, -2.0f, 10.0f), Vector2f(1.0f, 1.0f)),
Vertex(Vector3f(-10.0f, -2.0f, 10.0f), Vector2f(0.0f, 1.0f))};
unsigned int VertexCount = ARRAY_SIZE_IN_ELEMENTS(Vertices);
CalcNormals(pIndices, IndexCount, Vertices, VertexCount);
glGenBuffers(1, &m_VBO);
glBindBuffer(GL_ARRAY_BUFFER, m_VBO);
glBufferData(GL_ARRAY_BUFFER, sizeof(Vertices), Vertices, GL_STATIC_DRAW);
}
void Terrain::CreateVertices()
{
CU::GrowingArray<VertexPosNormUV> vertices(myHeightMap->myWidth * myHeightMap->myDepth);
CU::GrowingArray<int> indices(myHeightMap->myWidth * myHeightMap->myDepth * 6);
for (int z = 0; z < myHeightMap->myDepth; ++z)
{
for (int x = 0; x < myHeightMap->myWidth; ++x)
{
VertexPosNormUV vertex;
vertex.myPos.x = float(x) * mySize.x / float(myHeightMap->myWidth);
vertex.myPos.y = myHeightMap->myData[z * myHeightMap->myWidth + x] * myHeight / 255.f;
vertex.myPos.z = float(z) * mySize.y / float(myHeightMap->myDepth);
vertex.myUV.x = float(x) / float(myHeightMap->myWidth);
vertex.myUV.y = float(z) / float(myHeightMap->myDepth);
vertices.Add(vertex);
}
}
CalcNormals(vertices);
for (int z = 0; z < myHeightMap->myDepth - 1; ++z)
{
for (int x = 0; x < myHeightMap->myWidth - 1; ++x)
{
indices.Add(z * myHeightMap->myWidth + x);
indices.Add(z * myHeightMap->myWidth + x + 1);
indices.Add((z + 1) * myHeightMap->myWidth + x);
indices.Add((z + 1) * myHeightMap->myWidth + x);
indices.Add(z * myHeightMap->myWidth + x + 1);
indices.Add((z + 1) * myHeightMap->myWidth + x + 1);
}
}
SetupVertexBuffer(vertices.Size(), sizeof(VertexPosNormUV), reinterpret_cast<char*>(&vertices[0])
, "Terrain::VertexBuffer");
SetupIndexBuffer(indices.Size(), reinterpret_cast<char*>(&indices[0]), "Terrain::IndexBuffer");
mySurfaces[0]->SetVertexCount(vertices.Size());
mySurfaces[0]->SetIndexCount(indices.Size());
}
void SVSBuilder::GenerateTrainingSet() {
CalcDistanceToNN();
srand(Params_.Seed);
TrainingSetGenerator tsg(
1, // temporary hack
Params_.TakeProb,
Params_.StepWidth);
if (Params_.UseNormals) {
CalcNormals();
tsg.GenerateUsingNormals(*Input, *Normals, Params_.SupportSize);
} else {
tsg.GenerateFromSensor(*Input, LocalResolution);
}
Objects.reset(new PointCloud(tsg.Objects));
Labels = tsg.Labels;
Num2Grid_ = tsg.Num2Grid;
Grid2Num_ = tsg.Grid2Num;
Pixel2TrainNum = tsg.Pixel2Num;
}
bool C3DSModel::CMesh::Complete()
{
bool succ = m_nFace > 0 && m_nVertex > 0;
if (succ)
{
CalcNormals();
}
if (m_pVB && m_pVertices != NULL)
{
m_pVB->Unlock();
m_pVertices = NULL;
}
if (!succ)
{
SAFE_RELEASE(m_pVB);
SAFE_RELEASE(m_pIB);
}
else
{
ComputeBoundBox();
}
return succ;
}
void G308_Geometry::ReadOBJ(const char *filename) {
FILE* fp;
char mode, vmode;
char str[200];
int v1, v2, v3, v4, n1, n2, n3, t1, t2, t3, t4;
float x, y, z;
float u, v;
numVert = numNorm = numUV = numFace = 0;
fp = fopen(filename, "r");
if (fp == NULL)
printf("Error reading %s file\n", filename);
else
printf("Reading %s file\n", filename);
// Check number of vertex, normal, uvCoord, and Face
while (fgets(str, 200, fp) != NULL) {
sscanf(str, "%c%c", &mode, &vmode);
switch (mode) {
case 'v': /* vertex, uv, normal */
if (vmode == 't') // uv coordinate
numUV++;
else if (vmode == 'n') // normal
numNorm++;
else if (vmode == ' ') // vertex
numVert++;
break;
case 'f': /* faces */
numFace++;
break;
}
}
m_nNumPoint = numVert;
m_nNumUV = numUV;
m_nNumPolygon = numFace;
m_nNumNormal = numVert;
printf("Number of Point %d, UV %d, Normal %d, Face %d\n", numVert, numUV,
numNorm, numFace);
//-------------------------------------------------------------
// Allocate memory for array
//-------------------------------------------------------------
if (m_pVertexArray != NULL)
delete[] m_pVertexArray;
m_pVertexArray = new G308_Point[m_nNumPoint];
if (m_pNormalArray != NULL)
delete[] m_pNormalArray;
m_pNormalArray = new G308_Normal[m_nNumNormal];
if (m_pFaceNormalArray != NULL)
delete[] m_pFaceNormalArray;
m_pFaceNormalArray = new G308_Normal[2*m_nNumPolygon];
if (m_pUVArray != NULL)
delete[] m_pUVArray;
m_pUVArray = new G308_UVcoord[m_nNumUV];
if (m_pTriangles != NULL)
delete[] m_pTriangles;
m_pTriangles = new G308_Triangle[2*m_nNumPolygon];
if (m_pDisplaced != NULL)
delete[] m_pDisplaced;
m_pDisplaced = new G308_Point[m_nNumPoint];
// VBO
if (vertexSet != NULL)
delete[] vertexSet;
vertexSet = new GLfloat[m_nNumPoint*6];
if (indices != NULL)
delete[] indices;
indices = new GLuint[m_nNumPolygon*6];
//-----------------------------------------------------------
// Read obj file
//-----------------------------------------------------------
numVert = numNorm = numUV = numFace = 0;
fseek(fp, 0L, SEEK_SET);
while (fgets(str, 200, fp) != NULL) {
sscanf(str, "%c%c", &mode, &vmode);
switch (mode) {
case 'v': /* vertex, uv, normal */
if (vmode == 't') // uv coordinate
{
sscanf(str, "vt %f %f", &u, &v);
m_pUVArray[numUV].u = u;
m_pUVArray[numUV].v = v;
numUV++;
//numUV=0;
} else if (vmode == 'n') // normal
{
sscanf(str, "vn %f %f %f", &x, &y, &z);
m_pNormalArray[numNorm].x = x;
m_pNormalArray[numNorm].y = y;
m_pNormalArray[numNorm].z = z;
numNorm++;
} else if (vmode == ' ') // vertex
{
sscanf(str, "v %f %f %f", &x, &y, &z);
//if (numVert<100) printf("v %f %f %f", x, y, z);
m_pVertexArray[numVert].x = x;
m_pVertexArray[numVert].y = y;
m_pVertexArray[numVert].z = z;
// displacements - zero
m_pDisplaced[numVert].x = x;
m_pDisplaced[numVert].y = y;
m_pDisplaced[numVert].z = z;
numVert++;
}
break;
case 'f': /* faces : stored value is index - 1 since our index starts from 0, but obj starts from 1 */
{
int match = sscanf(str, "f %d/%d %d/%d %d/%d %d/%d", &v1, &t1, &v2, &t2, &v3, &t3, &v4, &t4);
if (numFace==0) printf (str);
// Vertex indicies for triangle:
if (numVert != 0) {
m_pTriangles[numFace].v1 = v1 - 1;
m_pTriangles[numFace].v2 = v3 - 1;
m_pTriangles[numFace].v3 = v4 - 1;
}
// Normal indicies for triangle
m_pTriangles[numFace].n1 = v1 - 1;
m_pTriangles[numFace].n2 = v3 - 1;
m_pTriangles[numFace].n3 = v4 - 1;
// UV indicies for triangle
if (numUV != 0) {
m_pTriangles[numFace].t1 = t1 - 1;
m_pTriangles[numFace].t2 = t3 - 1;
m_pTriangles[numFace].t3 = t4 - 1;
}
numFace++;
// SECOND TRIANGLE OF
// Vertex indicies for triangle:
if (numVert != 0) {
m_pTriangles[numFace].v1 = v1 - 1;
m_pTriangles[numFace].v2 = v2 - 1;
m_pTriangles[numFace].v3 = v3 - 1;
}
// Normal indicies for triangle
m_pTriangles[numFace].n1 = v1 - 1;
m_pTriangles[numFace].n2 = v2 - 1;
m_pTriangles[numFace].n3 = v3 - 1;
// UV indicies for triangle
if (numUV != 0) {
m_pTriangles[numFace].t1 = t1 - 1;
m_pTriangles[numFace].t2 = t2 - 1;
m_pTriangles[numFace].t3 = t3 - 1;
}
numFace++;
}
break;
default:
break;
}
}
fclose(fp);
printf("Reading OBJ file is DONE.\n");
// NORMALS
CalcNormals();
//CalcDistances();
CreateEyes();
int i = 17784;
/*
printf (" %d %f \n", i, distances[i-EYES]);
i = 17930;
printf (" %d %f \n", i, distances[i-EYES]);
i = 16921;
printf (" %d %f \n", i, distances[i-EYES]);
i = 17668;
printf (" %d %f \n", i, distances[i-EYES]);
i = 17771;
printf (" %d %f \n", i, distances[i-EYES]);
i = 17309;
printf (" %d %f \n", i, distances[i-EYES]);
i = 17142;
printf (" %d %f \n", i, distances[i-EYES]);
*/
// initialize displacement data for RBF interpolation
for (int i = 0; i<cp_num; i++)
{
controlPointPosX.push_back(m_pVertexArray[cp_numbers[i]].x);
controlPointPosY.push_back(m_pVertexArray[cp_numbers[i]].y);
controlPointPosZ.push_back(m_pVertexArray[cp_numbers[i]].z);
controlPointDisplacementX.push_back(0.0f);
controlPointDisplacementY.push_back(0.0f);
controlPointDisplacementZ.push_back(0.0f);
}
// initialize interpolation functions
rbfX = RBFInterpolator(controlPointPosX, controlPointPosY, controlPointPosZ, controlPointDisplacementX );
rbfY = RBFInterpolator(controlPointPosX, controlPointPosY, controlPointPosZ, controlPointDisplacementY );
rbfZ = RBFInterpolator(controlPointPosX, controlPointPosY, controlPointPosZ, controlPointDisplacementZ );
// VBO
for(int i = 0; i < m_nNumPoint-EYES; i++){
/*
if (i<=16134) {
vertexSet[6*i] = 0;
vertexSet[6*i+1] = 0;
vertexSet[6*i+2] = 0;
vertexSet[6*i+3] = 0;
vertexSet[6*i+4] = 0;
vertexSet[6*i+5] = 0;
} else { */
vertexSet[6*i] = m_pVertexArray[i+EYES].x;
vertexSet[6*i+1] = m_pVertexArray[i+EYES].y;
vertexSet[6*i+2] = m_pVertexArray[i+EYES].z;
vertexSet[6*i+3] = m_pNormalArray[i+EYES].x;
vertexSet[6*i+4] = m_pNormalArray[i+EYES].y;
vertexSet[6*i+5] = m_pNormalArray[i+EYES].z;
//}
//if (i==17784 || i==17643 || i==17918) printf( " %f, %f, %f, ", vertexSet[3*i], vertexSet[3*i+1],vertexSet[3*i+2]);
//vertexSet[i] = v;
}
/* for(int i = 0; i < 6*m_nNumPoint; i++){
printf( " %f ", vertexSet[i]);
} */
printf( " ( %d %d ) ", numFace, m_nNumPoint);
for(int i = 0; i < m_nNumPolygon*2; i++){
if (m_pTriangles[i].v1>=EYES && m_pTriangles[i].v2>=EYES && m_pTriangles[i].v1>=EYES) {
indices[3*m_nNumPolygon_Head] = m_pTriangles[i].v1-EYES;
indices[3*m_nNumPolygon_Head+1] = m_pTriangles[i].v2-EYES;
indices[3*m_nNumPolygon_Head+2] = m_pTriangles[i].v3-EYES;
m_nNumPolygon_Head++;
}
}
m_nNumPolygon_Eyes=m_nNumPolygon*2 - m_nNumPolygon_Head;
//printf( " %f, %f, %f, %f, %f, %f, %f, %f, %f ", vertexSet[0], vertexSet[1],vertexSet[2], vertexSet[6], vertexSet[7],vertexSet[8], vertexSet[12], vertexSet[13],vertexSet[14]);
printf( " %d %d %d ", indices[0], indices[1], indices[2]);
//glGenVertexArrays(1, &VertexArrayID);
//glBindVertexArray(VertexArrayID);
// Generate 1 buffer, put the resulting identifier in vertexbuffer
glGenBuffers(1, &vertexbuffer);
// The following commands will talk about our 'vertexbuffer' buffer
glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
// Give our vertices to OpenGL.
//glBufferData(GL_ARRAY_BUFFER, sizeof(g_vertex_buffer_data), g_vertex_buffer_data, GL_STATIC_DRAW);
glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat)*(m_nNumPoint-EYES)*6 , vertexSet, GL_STATIC_DRAW); // sizeof(vertexSet)
glGenBuffers(1, &indexbuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, indexbuffer);
//glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(g_index_buffer_data), g_index_buffer_data, GL_STATIC_DRAW);
//glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLuint)*m_nNumPolygon*6, indices, GL_STATIC_DRAW); // sizeof(indices)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLuint)*m_nNumPolygon_Head*3, indices, GL_STATIC_DRAW); // sizeof(indices)
printf(" !!! %d !!! ", m_nNumPoint-EYES);
}
TDSScene * Load3DSFile(const char * fileName)
{
int i;
unsigned short chunk, count;
int fileSize, chunkLen;
FILE * f;
TDSScene * tds;
TDSObject * obj;
// Open file
f = fopen(fileName, "rb");
if(!f)
return (TDSScene *) 0;
// Get file size
fseek(f, 0, SEEK_END);
fileSize = ftell(f);
fseek(f, 0, SEEK_SET);
// Check file size (rough initial check)
if(fileSize < 6)
{
fclose(f);
return (TDSScene *) 0;
}
// Read & check file header identifier
chunk = ReadInt16(f);
chunkLen = ReadInt32(f);
if((chunk != CHUNK_MAIN) || (chunkLen != fileSize))
{
fclose(f);
return (TDSScene *) 0;
}
// Create new TDSScene instance
tds = (TDSScene *) malloc(sizeof(TDSScene));
if(!tds)
{
fclose(f);
return (TDSScene *) 0;
}
memset(tds, 0, sizeof(TDSScene));
// Parse chunks...
obj = (TDSObject *) 0;
while(ftell(f) < fileSize)
{
// Read next chunk
chunk = ReadInt16(f);
chunkLen = ReadInt32(f);
// What chunk did we get?
switch(chunk)
{
// 3D Edit -> Step into
case CHUNK_3DEDIT:
break;
// Object -> Step into
case CHUNK_OBJECT:
// Skip object name (null terminated string)
while((ftell(f) < fileSize) && fgetc(f));
// Create a new object
obj = malloc(sizeof(TDSObject));
if(obj)
{
memset(obj, 0, sizeof(TDSObject));
obj->vertices = (TDSVertex *) 0;
obj->vertCount = 0;
obj->indices = (unsigned short *) 0;
obj->faceCount = 0;
AddObject(tds, obj);
}
break;
// Triangle mesh -> Step into
case CHUNK_TRIMESH:
break;
// Vertex list (point coordinates)
case CHUNK_VERTEXLIST:
count = ReadInt16(f);
if((!obj) || ((obj->vertCount > 0) && (obj->vertCount != count)))
{
fseek(f, count * 12, SEEK_CUR);
break;
}
if(obj->vertCount == 0)
{
obj->vertCount = count;
obj->vertices = (TDSVertex *) malloc(sizeof(TDSVertex) * count);
memset(obj->vertices, 0, sizeof(TDSVertex) * count);
}
for(i = 0; i < count; ++ i)
ReadVector3D(f, obj->vertices[i].point);
break;
// Texture map coordinates (UV coordinates)
case CHUNK_MAPPINGCOORDS:
count = ReadInt16(f);
if((!obj) || ((obj->vertCount > 0) && (obj->vertCount != count)))
{
fseek(f, count * 8, SEEK_CUR);
break;
}
if(obj->vertCount == 0)
{
obj->vertCount = count;
obj->vertices = (TDSVertex *) malloc(sizeof(TDSVertex) * count);
memset(obj->vertices, 0, sizeof(TDSVertex) * count);
}
for(i = 0; i < count; ++ i)
{
obj->vertices[i].u = ReadFloat32(f);
obj->vertices[i].v = ReadFloat32(f);
}
break;
// Face description (triangle indices)
case CHUNK_FACES:
count = ReadInt16(f);
if(!obj)
{
fseek(f, count * 8, SEEK_CUR);
break;
}
if(obj->faceCount == 0)
{
obj->faceCount = count;
obj->indices = (unsigned short *) malloc(sizeof(unsigned short) * 3 * count);
}
for(i = 0; i < count; ++ i)
{
obj->indices[i * 3] = ReadInt16(f);
obj->indices[i * 3 + 1] = ReadInt16(f);
obj->indices[i * 3 + 2] = ReadInt16(f);
ReadInt16(f); // Skip face flag
}
break;
default: // Unknown/ignored - skip past this one
fseek(f, chunkLen - 6, SEEK_CUR);
}
}
// Close file
fclose(f);
// Calculate normals for all the objects
for(i = 0; i < tds->objectCount; ++ i)
CalcNormals(tds->objects[i]);
return tds;
}
